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/aimattarget/src/main/cpp/Robot.cpp

@@ -0,0 +1,56 @@
+/*
+ * 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 = -xboxController.GetRightY();
+  double rotationSpeed;
+
+  if (xboxController.GetAButton()) {
+    // Vision-alignment mode
+    // Query the latest result from PhotonVision
+    photonlib::PhotonPipelineResult result = camera.GetLatestResult();
+
+    if (result.HasTargets()) {
+      // Rotation speed is the output of the PID controller
+      rotationSpeed = -controller.Calculate(result.GetBestTarget().GetYaw(), 0);
+    } else {
+      // If we have no targets, stay still.
+      rotationSpeed = 0;
+    }
+  } else {
+    // Manual Driver Mode
+    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