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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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8
photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java
View File

@@ -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() {

12
photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java
View File

@@ -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);