Bump wpilib to 2023.4.1 (#811)

build.gradle

@@ -26,7 +26,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2023.3.2"
+    wpilibVersion = "2023.4.1"
     opencvVersion = "4.6.0-4"
     joglVersion = "2.4.0-rc-20200307"
     pubVersion = versionString

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -133,8 +133,8 @@ public class PhotonCamera {
                         .getRawTopic("rawBytes")
                         .subscribe(
                                 "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
-        driverModePublisher = cameraTable.getBooleanTopic("driverMode").publish();
+        driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish();
-        driverModeSubscriber = cameraTable.getBooleanTopic("driverModeRequest").subscribe(false);
+        driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
         inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
         outputSaveImgEntry = cameraTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
         pipelineIndexRequest = cameraTable.getIntegerTopic("pipelineIndexRequest").publish();

photonlib-cpp-examples/aimandrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/aimattarget/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/apriltagExample/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/getinrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-java-examples/aimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/apriltagExample/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/getinrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/simaimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/simposeest/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11