Imported to 2025

.gitignore

@@ -169,10 +169,19 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
 logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json
+
+# Eclipse generated file for annotation processors
+.factorypath

.vscode/settings.json

@@ -25,5 +25,36 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.import.gradle.annotationProcessing.enabled": false,
+  "java.completion.favoriteStaticMembers": [
+    "org.junit.Assert.*",
+    "org.junit.Assume.*",
+    "org.junit.jupiter.api.Assertions.*",
+    "org.junit.jupiter.api.Assumptions.*",
+    "org.junit.jupiter.api.DynamicContainer.*",
+    "org.junit.jupiter.api.DynamicTest.*",
+    "org.mockito.Mockito.*",
+    "org.mockito.ArgumentMatchers.*",
+    "org.mockito.Answers.*",
+    "edu.wpi.first.units.Units.*"
+  ],
+  "java.completion.filteredTypes": [
+    "java.awt.*",
+    "com.sun.*",
+    "sun.*",
+    "jdk.*",
+    "org.graalvm.*",
+    "io.micrometer.shaded.*",
+    "java.beans.*",
+    "java.util.Base64.*",
+    "java.util.Timer",
+    "java.sql.*",
+    "javax.swing.*",
+    "javax.management.*",
+    "javax.smartcardio.*",
+    "edu.wpi.first.math.proto.*",
+    "edu.wpi.first.math.**.proto.*",
+    "edu.wpi.first.math.**.struct.*",
+  ]
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 1899
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
 }
 
 java {
@@ -33,6 +33,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                                           // longer exist in deploy directory of this project
                 }
             }
         }
@@ -42,14 +44,15 @@ deploy {
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
 // Set to true to use debug for JNI.
-// wpi.java.debugJni = false
+wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -67,13 +70,13 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    // testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    // testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {
-    // useJUnitPlatform()
-    // systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

simgui.json

@@ -13,6 +13,12 @@
     },
     "windows": {
       "/SmartDashboard/Field": {
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "top": 79,
+        "width": 16.541748046875,
         "window": {
           "visible": true
         }
@@ -28,5 +34,8 @@
         "open": true
       }
     }
+  },
+  "NetworkTables Info": {
+    "visible": true
   }
 }

src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -4,7 +4,8 @@
 
 package frc.robot.subsystems;
 
-import com.kauailabs.navx.frc.AHRS;
+import com.studica.frc.AHRS;
+import com.studica.frc.AHRS.NavXComType;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
@@ -52,7 +53,7 @@ public class DriveSubsystem extends SubsystemBase {
       DriveConstants.kRearRightDriveMotorReversed,
       DriveConstants.kRearRightTurningEncoderOffset);
 
-  private final AHRS m_gyro = new AHRS();
+  private final AHRS m_gyro = new AHRS(NavXComType.kI2C); //TODO: verify this is the correct type
   private double m_gyroAngle;
 
   private final Timer m_headingCorrectionTimer = new Timer();

src/main/java/frc/robot/subsystems/SwerveModule.java

@@ -4,12 +4,14 @@
 
 package frc.robot.subsystems;
 
-import com.ctre.phoenix6.configs.CANcoderConfigurator;
-import com.ctre.phoenix6.configs.MagnetSensorConfigs;
 import com.ctre.phoenix6.hardware.CANcoder;
-import com.revrobotics.CANSparkBase.IdleMode;
-import com.revrobotics.CANSparkLowLevel.MotorType;
-import com.revrobotics.CANSparkMax;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.EncoderConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -19,11 +21,10 @@
 import frc.robot.Robot;
 
 public class SwerveModule {
-  private final CANSparkMax m_driveMotor;
-  private final CANSparkMax m_turningMotor;
+  private final SparkMax m_driveMotor;
+  private final SparkMax m_turningMotor;
 
   private final CANcoder m_turningEncoder;
-  private final CANcoderConfigurator m_turningEncoderConfigurator;
 
   private final PIDController m_turningPIDController = new PIDController(DriveConstants.kPModuleTurningController, 0,
       0);
@@ -49,22 +50,26 @@ public SwerveModule(
       int turningEncoderPort,
       boolean driveMotorReversed,
       double turningEncoderOffset) {
-    m_driveMotor = new CANSparkMax(driveMotorPort, MotorType.kBrushless);
-    m_turningMotor = new CANSparkMax(turningMotorPort, MotorType.kBrushless);
-    m_turningEncoder = new CANcoder(turningEncoderPort);
-    m_turningEncoderConfigurator = m_turningEncoder.getConfigurator();
 
-    // converts default units to meters per second
-    m_driveMotor.getEncoder().setVelocityConversionFactor(
-        DriveConstants.kWheelDiameterMeters * Math.PI / 60 / DriveConstants.kDrivingGearRatio);
+    SparkMaxConfig driveMotorConfig = new SparkMaxConfig();
+    EncoderConfig driveEncoderConfig = new EncoderConfig();
+    SparkMaxConfig turnMotorConfig = new SparkMaxConfig();
+    EncoderConfig turnEncoderConfig = new EncoderConfig();
+
+    m_driveMotor = new SparkMax(driveMotorPort, MotorType.kBrushless);
+    m_turningMotor = new SparkMax(turningMotorPort, MotorType.kBrushless);
+    m_turningEncoder = new CANcoder(turningEncoderPort);
 
-    m_driveMotor.setInverted(driveMotorReversed);
+    driveMotorConfig.inverted(driveMotorReversed);
 
-    m_turningMotor.setIdleMode(IdleMode.kBrake);
+    turnMotorConfig.idleMode(IdleMode.kBrake);
+    turnEncoderConfig.velocityConversionFactor(DriveConstants.kWheelDiameterMeters * Math.PI / 60 / DriveConstants.kDrivingGearRatio);
 
-    // TODO: CANcoder offsets are now set on the device manually using Pheonix Tuner
-    // (or maybe Pheonix X)
-    m_turningEncoderConfigurator.apply(new MagnetSensorConfigs().withMagnetOffset(-turningEncoderOffset));
+    driveMotorConfig.encoder.apply(driveEncoderConfig);
+    m_driveMotor.configure(driveMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); //TODO: consider if other parameters are better
+
+    turnMotorConfig.encoder.apply(turnEncoderConfig);
+    m_turningMotor.configure(turnMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); //TODO: consider if other parameters are better
 
     m_turningPIDController.enableContinuousInput(-Math.PI, Math.PI);
   }
@@ -93,7 +98,8 @@ public SwerveModulePosition getPosition() {
    * @param desiredState Desired state with speed and angle.
    */
   public void setDesiredState(SwerveModuleState desiredState) {
-    m_state = SwerveModuleState.optimize(desiredState, getEncoderAngle(m_turningEncoder));
+    m_state = desiredState;
+    m_state.optimize(getEncoderAngle(m_turningEncoder));
     driveOutput = m_state.speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond;
 
     turnOutput = m_turningPIDController.calculate(getEncoderAngle(m_turningEncoder).getRadians(),