Swerveonly

.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
 }

README.md

@@ -1,21 +1,26 @@
-# swerve-base
-Code for a basic swerve drive base
+# Reefscape2025
+FRC team Saints Robotics 1899's code for the 2025 season.
 
-## Features:
-* Swerve drive
-* Heading correction
-* WPILib Sim support
-* AdvantageScope support
-* Pose estimation
 
-## TODO/WIP:
-* Auton setup
-* Test heading correction
+## Commit Message Prefixes
 
+All commit messages must start with one of the following prefixes.
 
-### Sim Controls
-* W, A, S, D - Basic field-relative translation movement
-* Left Arrow, Right Arrow - Rotational movement
-* R, E - Increase/Decrease speed scaling (needs to be held down)
-* N (Holding down) + W, A, S, D - Robot Relative driving
-* Comma - Reset heading
+* **"docs:"** - Documentation changes
+* **"feat:"** - New features
+* **"fix:"** - Bug fixes
+* **"refactor:"** - Changes that affect code organization
+* **"style:"** - Changes that are formatting related (white-space, formatting, missing semi-colons, etc)
+* **"test:"** - New tests or correcting existing tests
+* **"perf:"** - Improves performance
+* **"chore:"** - Miscellaneous changes
+
+### Examples
+
+* feat: created swerve functions
+* fix: autonomous turning bug
+* refactor: decoupled functions into new file
+* docs: added more info about the codebase
+* style: formatted the gradle file
+* test: fixed deadzone test
+* chore: licensing and credits

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 "2025.3.2"
 }
 
 java {
@@ -33,6 +33,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = true // 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 +70,16 @@ 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'
+    testLogging {
+        exceptionFormat = 'full'
+    }
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -99,3 +105,4 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+

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')
@@ -20,8 +20,8 @@ pluginManagement {
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name 'frcHome'
-            url frcHomeMaven
+            name = 'frcHome'
+            url = frcHomeMaven
         }
     }
 }

simgui-ds.json

@@ -12,30 +12,18 @@
         },
         {
           "decKey": 69,
-          "decayRate": 0.009999999776482582,
+          "decayRate": 0.0,
           "incKey": 82,
           "keyRate": 0.009999999776482582
-        },
-        {
-          "decKey": 264,
-          "incKey": 265
-        },
-        {
-          "decKey": 262,
-          "incKey": 263
         }
       ],
-      "axisCount": 5,
-      "buttonCount": 8,
+      "axisCount": 3,
+      "buttonCount": 4,
       "buttonKeys": [
         90,
         88,
         67,
-        86,
-        66,
-        78,
-        77,
-        44
+        86
       ],
       "povConfig": [
         {
@@ -65,14 +53,24 @@
       "axisCount": 2,
       "buttonCount": 4,
       "buttonKeys": [
-        -1,
-        -1,
+        77,
+        44,
         46,
         47
       ],
       "povCount": 0
     },
     {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
       "axisCount": 2,
       "buttonCount": 6,
       "buttonKeys": [
@@ -93,10 +91,8 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "Keyboard0"
-    },
-    {
-      "guid": "Keyboard1"
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
     }
   ]
 }