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

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>
2026-06-19 00:41:41 +00:00 · 2024-10-31 02:59:39 -04:00
parent 3d18ded3f6
commit 937bafa8e2
67 changed files with 185 additions and 824 deletions
--- a/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": false,
    "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
    "teamNumber": 4512
 }
--- a/photonlib-java-examples/aimandrange/build.gradle
+++ b/photonlib-java-examples/aimandrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
@@ -15,8 +15,8 @@ repositories {
 }

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"


 // Define my targets (RoboRIO) and artifacts (deployable files)
--- a/photonlib-java-examples/aimandrange/settings.gradle
+++ b/photonlib-java-examples/aimandrange/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
+++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
@@ -115,20 +115,20 @@ public class SwerveDriveSim {
            SwerveDriveKinematics kinematics) {
        this(
                new LinearSystem<N2, N1, N2>(
-                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.kv / driveFF.ka),
-                        VecBuilder.fill(0.0, 1.0 / driveFF.ka),
+                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.getKv() / driveFF.getKa()),
+                        VecBuilder.fill(0.0, 1.0 / driveFF.getKa()),
                        MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0),
                        VecBuilder.fill(0.0, 0.0)),
-                driveFF.ks,
+                driveFF.getKs(),
                driveMotor,
                driveGearing,
                driveWheelRadius,
                new LinearSystem<N2, N1, N2>(
-                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.kv / steerFF.ka),
-                        VecBuilder.fill(0.0, 1.0 / steerFF.ka),
+                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.getKv() / steerFF.getKa()),
+                        VecBuilder.fill(0.0, 1.0 / steerFF.getKa()),
                        MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0),
                        VecBuilder.fill(0.0, 0.0)),
-                steerFF.ks,
+                steerFF.getKs(),
                steerMotor,
                steerGearing,
                kinematics);
--- a/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": false,
    "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
    "teamNumber": 4512
 }
--- a/photonlib-java-examples/aimattarget/build.gradle
+++ b/photonlib-java-examples/aimattarget/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
@@ -11,8 +11,8 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"


 // Define my targets (RoboRIO) and artifacts (deployable files)
--- a/photonlib-java-examples/aimattarget/settings.gradle
+++ b/photonlib-java-examples/aimattarget/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
+++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
@@ -115,20 +115,20 @@ public class SwerveDriveSim {
            SwerveDriveKinematics kinematics) {
        this(
                new LinearSystem<N2, N1, N2>(
-                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.kv / driveFF.ka),
-                        VecBuilder.fill(0.0, 1.0 / driveFF.ka),
+                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.getKv() / driveFF.getKa()),
+                        VecBuilder.fill(0.0, 1.0 / driveFF.getKa()),
                        MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0),
                        VecBuilder.fill(0.0, 0.0)),
-                driveFF.ks,
+                driveFF.getKs(),
                driveMotor,
                driveGearing,
                driveWheelRadius,
                new LinearSystem<N2, N1, N2>(
-                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.kv / steerFF.ka),
-                        VecBuilder.fill(0.0, 1.0 / steerFF.ka),
+                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.getKv() / steerFF.getKa()),
+                        VecBuilder.fill(0.0, 1.0 / steerFF.getKa()),
                        MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0),
                        VecBuilder.fill(0.0, 0.0)),
-                steerFF.ks,
+                steerFF.getKs(),
                steerMotor,
                steerGearing,
                kinematics);
--- a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists
--- a/photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json
+++ b/photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": false,
    "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
    "teamNumber": 4512
 }
--- a/photonlib-java-examples/poseest/build.gradle
+++ b/photonlib-java-examples/poseest/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
@@ -11,8 +11,8 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"


 // Define my targets (RoboRIO) and artifacts (deployable files)
--- a/photonlib-java-examples/poseest/settings.gradle
+++ b/photonlib-java-examples/poseest/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java
+++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java
@@ -26,6 +26,7 @@ package frc.robot.subsystems;

 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
@@ -61,10 +62,15 @@ public class GamepieceLauncher {
    // -- SIMULATION SUPPORT
    private DCMotor motorSim;
    private FlywheelSim launcherSim;
+    private final double flywheelMoiKgM2 = 0.002;
+    private final double flywheelGearRatio = 1.0;

    private void simulationInit() {
        motorSim = DCMotor.getFalcon500(1);
-        launcherSim = new FlywheelSim(motorSim, 1.0, 0.002);
+        launcherSim =
+                new FlywheelSim(
+                        LinearSystemId.createFlywheelSystem(motorSim, flywheelMoiKgM2, flywheelGearRatio),
+                        motorSim);
    }

    public void simulationPeriodic() {
--- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
+++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
@@ -115,20 +115,20 @@ public class SwerveDriveSim {
            SwerveDriveKinematics kinematics) {
        this(
                new LinearSystem<N2, N1, N2>(
-                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.kv / driveFF.ka),
-                        VecBuilder.fill(0.0, 1.0 / driveFF.ka),
+                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.getKv() / driveFF.getKa()),
+                        VecBuilder.fill(0.0, 1.0 / driveFF.getKa()),
                        MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0),
                        VecBuilder.fill(0.0, 0.0)),
-                driveFF.ks,
+                driveFF.getKs(),
                driveMotor,
                driveGearing,
                driveWheelRadius,
                new LinearSystem<N2, N1, N2>(
-                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.kv / steerFF.ka),
-                        VecBuilder.fill(0.0, 1.0 / steerFF.ka),
+                        MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.getKv() / steerFF.getKa()),
+                        VecBuilder.fill(0.0, 1.0 / steerFF.getKa()),
                        MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0),
                        VecBuilder.fill(0.0, 0.0)),
-                steerFF.ks,
+                steerFF.getKs(),
                steerMotor,
                steerGearing,
                kinematics);