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-java-examples/getinrange/src/main/java/frc/robot/Robot.java

@@ -0,0 +1,107 @@
+/*
+ * 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.
+ */
+
+package frc.robot;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonUtils;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+    // Constants such as camera and target height stored. Change per robot and goal!
+    final double CAMERA_HEIGHT_METERS = Units.inchesToMeters(24);
+    final double TARGET_HEIGHT_METERS = Units.feetToMeters(5);
+
+    // Angle between horizontal and the camera.
+    final double CAMERA_PITCH_RADIANS = Units.degreesToRadians(0);
+
+    // How far from the target we want to be
+    final double GOAL_RANGE_METERS = Units.feetToMeters(3);
+
+    // Change this to match the name of your camera
+    PhotonCamera camera = new PhotonCamera("photonvision");
+
+    // PID constants should be tuned per robot
+    final double P_GAIN = 0.1;
+    final double D_GAIN = 0.0;
+    PIDController controller = new PIDController(P_GAIN, 0, D_GAIN);
+
+    XboxController xboxController;
+
+    // Drive motors
+    PWMVictorSPX leftMotor = new PWMVictorSPX(0);
+    PWMVictorSPX rightMotor = new PWMVictorSPX(1);
+    DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor);
+
+    @Override
+    public void robotInit() {
+        xboxController = new XboxController(0);
+    }
+
+    @Override
+    public void teleopPeriodic() {
+        double forwardSpeed;
+        double rotationSpeed = xboxController.getLeftX();
+
+        if (xboxController.getAButton()) {
+            // Vision-alignment mode
+            // Query the latest result from PhotonVision
+            var result = camera.getLatestResult();
+
+            if (result.hasTargets()) {
+                // First calculate range
+                double range =
+                        PhotonUtils.calculateDistanceToTargetMeters(
+                                CAMERA_HEIGHT_METERS,
+                                TARGET_HEIGHT_METERS,
+                                CAMERA_PITCH_RADIANS,
+                                Units.degreesToRadians(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 = -controller.calculate(range, GOAL_RANGE_METERS);
+            } else {
+                // If we have no targets, stay still.
+                forwardSpeed = 0;
+            }
+        } else {
+            // Manual Driver Mode
+            forwardSpeed = -xboxController.getRightY();
+        }
+
+        // Use our forward/turn speeds to control the drivetrain
+        drive.arcadeDrive(forwardSpeed, rotationSpeed);
+    }
+}