updateTo2024

.gitignore

@@ -53,7 +53,7 @@
 *.war
 *.nar
 *.ear
-# *.zip
+*.zip
 *.tar.gz
 *.rar
 
@@ -159,5 +159,21 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 5572
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,11 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
-
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 repositories {
     mavenLocal()
     maven { url 'https://jitpack.io' }
@@ -70,11 +71,9 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
-
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     annotationProcessor 'com.github.Frc5572:RobotTools:main-SNAPSHOT'
+
 }
 
 test {
@@ -91,6 +90,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
@@ -113,7 +113,7 @@ tasks.withType(JavaCompile) {
 javadoc {
     configure(options) {
         options.addBooleanOption("-allow-script-in-comments",true)
-        options.addStringOption("link", "https://first.wpi.edu/wpilib/allwpilib/docs/release/java")
+         options.addStringOption("link", "https://github.wpilib.org/allwpilib/docs/release/java/")
         options.header = "<script type=\"text/javascript\" async" +
             "  src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/MathJax.js?config=TeX-MML-AM_CHTML\">" +
             "</script>"

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# 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
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

gradlew.bat

@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -26,3 +26,5 @@ pluginManagement {
     }
 }
 
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

src/main/java/frc/lib/util/DynamicWaitCommand.java

@@ -2,12 +2,12 @@
 
 import java.util.function.DoubleSupplier;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 
 /**
  * Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
  */
-public class DynamicWaitCommand extends CommandBase {
+public class DynamicWaitCommand extends Command {
     protected Timer m_timer = new Timer();
     private double m_duration = 0;
     private final DoubleSupplier secondsSupplier;

src/main/java/frc/lib/util/FieldConstants.java

@@ -249,7 +249,7 @@ public static final class StagingLocations {
      * the rightmost point on the BLUE ALLIANCE wall.
      */
     public static Translation2d allianceFlip(Translation2d translation) {
-        if (DriverStation.getAlliance() == Alliance.Red) {
+        if (DriverStation.getAlliance().get() == Alliance.Red) {
             return new Translation2d(fieldLength - translation.getX(), translation.getY());
         } else {
             return translation;
@@ -265,7 +265,7 @@ public static Translation2d allianceFlip(Translation2d translation) {
      * @return Pose2d flipped to Red Alliance
      */
     public static Pose2d allianceFlip(Pose2d pose) {
-        if (DriverStation.getAlliance() == Alliance.Red) {
+        if (DriverStation.getAlliance().get() == Alliance.Red) {
             return new Pose2d(fieldLength - pose.getX(), pose.getY(),
                 new Rotation2d(-pose.getRotation().getCos(), pose.getRotation().getSin()));
         } else {

src/main/java/frc/lib/util/PhotonCameraWrapper.java

@@ -31,22 +31,15 @@ public PhotonCameraWrapper(String cameraName, Transform3d robotToCam) {
         // Change the name of your camera here to whatever it is in the PhotonVision UI.
         photonCamera = new PhotonCamera(cameraName);
 
-        try {
+
             // Attempt to load the AprilTagFieldLayout that will tell us where the tags are on the
             // field.
             AprilTagFieldLayout fieldLayout =
                 AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
             // Create pose estimator
-            photonPoseEstimator = new PhotonPoseEstimator(fieldLayout, PoseStrategy.MULTI_TAG_PNP,
+            photonPoseEstimator = new PhotonPoseEstimator(fieldLayout, PoseStrategy.MULTI_TAG_PNP_ON_RIO,
                 photonCamera, robotToCam);
             photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT);
-        } catch (IOException e) {
-            // The AprilTagFieldLayout failed to load. We won't be able to estimate poses if we
-            // don't know
-            // where the tags are.
-            DriverStation.reportError("Failed to load AprilTagFieldLayout", e.getStackTrace());
-            photonPoseEstimator = null;
-        }
     }
 
     /**

src/main/java/frc/lib/util/Scoring.java

@@ -1,6 +1,9 @@
 package frc.lib.util;
 
 import java.util.Map;
+import java.util.Optional;
+
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Transform2d;
@@ -70,9 +73,9 @@ public static Pose2d getScoreAlignment(double xPosition) {
         int column = Robot.column;
         // int level = Robot.level;
         Rotation2d rotation = Rotation2d.fromDegrees(180);
-        if (DriverStation.getAlliance() == Alliance.Blue) {
+        if (DriverStation.getAlliance().get() == Alliance.Blue) {
             basePos = FieldConstants.aprilTags.get(8).toPose2d();
-        } else if (DriverStation.getAlliance() == Alliance.Red) {
+        } else if (DriverStation.getAlliance().get() == Alliance.Red) {
             basePos = FieldConstants.aprilTags.get(3).toPose2d();
         }
         Map<Integer, Translation2d> columns =