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/simposeest/src/main/java/frc/robot/Robot.java

@@ -0,0 +1,90 @@
+/*
+ * 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.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+public class Robot extends TimedRobot {
+    AutoController autoCtrl = new AutoController();
+    Drivetrain dt = new Drivetrain();
+    OperatorInterface opInf = new OperatorInterface();
+
+    DrivetrainSim dtSim = new DrivetrainSim();
+
+    PoseTelemetry pt = new PoseTelemetry();
+
+    @Override
+    public void robotInit() {
+        // Flush NetworkTables every loop. This ensures that robot pose and other values
+        // are sent during every iteration.
+        setNetworkTablesFlushEnabled(true);
+    }
+
+    @Override
+    public void autonomousInit() {
+        resetOdometery();
+        autoCtrl.startPath();
+    }
+
+    @Override
+    public void autonomousPeriodic() {
+        ChassisSpeeds speeds = autoCtrl.getCurMotorCmds(dt.getCtrlsPoseEstimate());
+        dt.drive(speeds.vxMetersPerSecond, speeds.omegaRadiansPerSecond);
+        pt.setDesiredPose(autoCtrl.getCurPose2d());
+    }
+
+    @Override
+    public void teleopPeriodic() {
+        dt.drive(opInf.getFwdRevSpdCmd(), opInf.getRotateSpdCmd());
+    }
+
+    @Override
+    public void robotPeriodic() {
+        pt.setEstimatedPose(dt.getCtrlsPoseEstimate());
+        pt.update();
+    }
+
+    @Override
+    public void disabledPeriodic() {
+        dt.drive(0, 0);
+    }
+
+    @Override
+    public void simulationPeriodic() {
+        if (opInf.getSimKickCmd()) {
+            dtSim.applyKick();
+        }
+        dtSim.update();
+        pt.setActualPose(dtSim.getCurPose());
+    }
+
+    private void resetOdometery() {
+        Pose2d startPose = autoCtrl.getInitialPose();
+        dtSim.resetPose(startPose);
+        dt.resetOdometry(startPose);
+    }
+}