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Upgrade to wpilib alpha-6 (#2434)

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Ryanforce08 <rradtke1208@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Sam Freund
2026-05-26 21:47:48 -04:00
committed by GitHub
parent d3de87f72b
commit e9006a2803
97 changed files with 732 additions and 1139 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
photonlib-java-examples/aimandrange/build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
}
java {
@@ -15,7 +15,7 @@ repositories {
}
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
wpi.versions.wpilibVersion = "2027.0.0-alpha-6"
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
@@ -103,7 +103,7 @@ jar {
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

6
photonlib-java-examples/aimattarget/build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
}
java {
@@ -11,7 +11,7 @@ java {
def ROBOT_MAIN_CLASS = "frc.robot.Main"
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
wpi.versions.wpilibVersion = "2027.0.0-alpha-6"
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
@@ -99,7 +99,7 @@ jar {
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

2
photonlib-java-examples/build.gradle
View File

@@ -1,5 +1,6 @@
plugins {
id "com.diffplug.spotless" version "8.4.0"
id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
}
allprojects {
@@ -8,6 +9,7 @@ allprojects {
mavenCentral()
mavenLocal()
maven { url = "https://maven.photonvision.org/releases" }
wpilibRepositories.use2027Repos()
}
}

6
photonlib-java-examples/poseest/build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
}
java {
@@ -11,7 +11,7 @@ java {
def ROBOT_MAIN_CLASS = "frc.robot.Main"
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
wpi.versions.wpilibVersion = "2027.0.0-alpha-6"
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
@@ -99,7 +99,7 @@ jar {
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

14
photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
View File

@@ -41,6 +41,7 @@ import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.*;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.simulation.OnboardIMUSim;
import org.wpilib.smartdashboard.SmartDashboard;
public class SwerveDrive {
@@ -69,8 +70,7 @@ public class SwerveDrive {
private ChassisSpeeds targetChassisSpeeds = new ChassisSpeeds();
// ----- Simulation
// TODO(Jade) WPILib doesn't have onboard IMU sim yet
// private final ADXRS450_GyroSim gyroSim;
private final OnboardIMUSim gyroSim;
private final SwerveDriveSim swerveDriveSim;
private double totalCurrentDraw = 0;
@@ -91,7 +91,7 @@ public class SwerveDrive {
visionStdDevs);
// ----- Simulation
// gyroSim = new ADXRS450_GyroSim(gyro);
gyroSim = new OnboardIMUSim(gyro);
swerveDriveSim =
new SwerveDriveSim(
kDriveFF,
@@ -188,8 +188,8 @@ public class SwerveDrive {
for (int i = 0; i < swerveMods.length; i++) {
swerveMods[i].simulationUpdate(0, 0, 0, 0, 0, 0);
}
// gyroSim.setAngle(-pose.getRotation().getDegrees());
// gyroSim.setRate(0);
gyroSim.setYaw(-pose.getRotation().getDegrees());
gyroSim.setRate(0);
}
poseEstimator.resetPosition(getGyroYaw(), getModulePositions(), pose);
@@ -312,8 +312,8 @@ public class SwerveDrive {
drivePos, driveRate, driveCurrents[i], steerPos, steerRate, steerCurrents[i]);
}
// gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec());
// gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees());
gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec());
gyroSim.setYaw(-swerveDriveSim.getPose().getRotation().getDegrees());
}
/**