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Bump to WPILib 2025 Beta 1 & remove C++ protobuf (#1484)

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Remove C++ protobuf support until
https://github.com/wpilibsuite/allwpilib/issues/7250 is addressed.
Developers should upgrade to wpilib vscode 2025 beta 1.

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Cameron (3539)
2024-10-31 02:59:39 -04:00
committed by GitHub
parent 3d18ded3f6
commit 937bafa8e2
67 changed files with 185 additions and 824 deletions
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14
photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp
View File

@@ -44,20 +44,22 @@ SwerveDriveSim::SwerveDriveSim(
: SwerveDriveSim(
frc::LinearSystem<2, 1, 2>{
(Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-driveFF.kV.to<double>() / driveFF.kA.to<double>())
-driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
.finished(),
Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.kA.to<double>()},
Eigen::Matrix<double, 2, 1>{0.0,
1.0 / driveFF.GetKa().to<double>()},
(Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
driveFF.kS, driveMotor, driveGearing, driveWheelRadius,
driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
frc::LinearSystem<2, 1, 2>{
(Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-steerFF.kV.to<double>() / steerFF.kA.to<double>())
-steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
.finished(),
Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.kA.to<double>()},
Eigen::Matrix<double, 2, 1>{0.0,
1.0 / steerFF.GetKa().to<double>()},
(Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
steerFF.kS, steerMotor, steerGearing, kinematics) {}
steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}
SwerveDriveSim::SwerveDriveSim(
const frc::LinearSystem<2, 1, 2>& drivePlant, units::volt_t driveKs,

7
photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp
View File

@@ -64,12 +64,11 @@ void SwerveModule::Periodic() {
driveMotor.SetVoltage(driveFF + drivePID);
}
void SwerveModule::SetDesiredState(const frc::SwerveModuleState& newState,
void SwerveModule::SetDesiredState(frc::SwerveModuleState newState,
bool shouldBeOpenLoop, bool steerInPlace) {
frc::Rotation2d currentRotation = GetAbsoluteHeading();
frc::SwerveModuleState optimizedState =
frc::SwerveModuleState::Optimize(newState, currentRotation);
desiredState = optimizedState;
newState.Optimize(currentRotation);
desiredState = newState;
}
frc::Rotation2d SwerveModule::GetAbsoluteHeading() const {