Update to wpilib 2023 beta 7 (#607)

We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.

photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp

@@ -0,0 +1,71 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2022 PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "Robot.h"
+
+#include <photonlib/PhotonUtils.h>
+
+void Robot::TeleopPeriodic() {
+  double forwardSpeed;
+  double rotationSpeed;
+
+  if (xboxController.GetAButton()) {
+    // Vision-alignment mode
+    // Query the latest result from PhotonVision
+    const auto& result = camera.GetLatestResult();
+
+    if (result.HasTargets()) {
+      // First calculate range
+      units::meter_t range = photonlib::PhotonUtils::CalculateDistanceToTarget(
+          CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
+          units::degree_t{result.GetBestTarget().GetPitch()});
+
+      // Use this range as the measurement we give to the PID controller.
+      // -1.0 required to ensure positive PID controller effort _increases_
+      // range
+      forwardSpeed = -forwardController.Calculate(range.value(),
+                                                  GOAL_RANGE_METERS.value());
+
+      // Also calculate angular power
+      // -1.0 required to ensure positive PID controller effort _increases_ yaw
+      rotationSpeed =
+          -turnController.Calculate(result.GetBestTarget().GetYaw(), 0);
+    } else {
+      // If we have no targets, stay still.
+      forwardSpeed = 0;
+      rotationSpeed = 0;
+    }
+  } else {
+    // Manual Driver Mode
+    forwardSpeed = -xboxController.GetRightY();
+    rotationSpeed = xboxController.GetLeftX();
+  }
+
+  // Use our forward/turn speeds to control the drivetrain
+  drive.ArcadeDrive(forwardSpeed, rotationSpeed);
+}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

photonlib-cpp-examples/aimandrange/src/main/include/Robot.h

@@ -0,0 +1,71 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2022 PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <photonlib/PhotonCamera.h>
+
+#include <frc/TimedRobot.h>
+#include <frc/XboxController.h>
+#include <frc/controller/PIDController.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/PWMVictorSPX.h>
+#include <units/angle.h>
+#include <units/length.h>
+
+class Robot : public frc::TimedRobot {
+ public:
+  void TeleopPeriodic() override;
+
+ private:
+  // Constants such as camera and target height stored. Change per robot and
+  // goal!
+  const units::meter_t CAMERA_HEIGHT = 24_in;
+  const units::meter_t TARGET_HEIGHT = 5_ft;
+
+  // Angle between horizontal and the camera.
+  const units::radian_t CAMERA_PITCH = 0_deg;
+
+  // How far from the target we want to be
+  const units::meter_t GOAL_RANGE_METERS = 3_ft;
+
+  // PID constants should be tuned per robot
+  const double LINEAR_P = 0.1;
+  const double LINEAR_D = 0.0;
+  frc2::PIDController forwardController{LINEAR_P, 0.0, LINEAR_D};
+
+  const double ANGULAR_P = 0.1;
+  const double ANGULAR_D = 0.0;
+  frc2::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};
+
+  // Change this to match the name of your camera
+  photonlib::PhotonCamera camera{"photonvision"};
+
+  frc::XboxController xboxController{0};
+
+  // Drive motors
+  frc::PWMVictorSPX leftMotor{0};
+  frc::PWMVictorSPX rightMotor{1};
+  frc::DifferentialDrive drive{leftMotor, rightMotor};
+};