2025 - draft

.github/workflows/javadoc.yml

@@ -17,7 +17,7 @@ jobs:
  - name: Generate Javadoc
  run: ./gradlew javadoc
  - name: Build Artifact
- uses: actions/upload-pages-artifact@v3
+ uses: actions/upload-pages-artifact@v4
  with:
  path: ./build/docs/javadoc
  deploy-javadoc:

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
  "enableCppIntellisense": false,
  "currentLanguage": "java",
- "projectYear": "2024",
+ "projectYear": "2025",
  "teamNumber": 199
 }

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 "2024.3.1"
+ id "edu.wpi.first.GradleRIO" version "2025.3.2"
  id "maven-publish"
  id "eclipse"
 }
@@ -11,7 +11,6 @@ java {
 }
 
 group 'org.carlmontrobotics'
-
 def ROBOT_MAIN_CLASS = ""
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -37,6 +36,8 @@ 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
  }
  }
  }
@@ -54,6 +55,7 @@ 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()
 
@@ -71,17 +73,24 @@ 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 'junit:junit:4.13.2'
 
  implementation 'org.mockito:mockito-core:5.11.0'
  implementation group: 'org.apache.commons', name: 'commons-csv', version: '1.6'
 }
 
+test {
+ useJUnitPlatform()
+ systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
-// Setting up my Jar File.
+// Setting up my Jar File.
 jar {
  // Note: Do NOT add all the libraries to the jar. Doing so will cause robot programs to have
  // 2 copies of each of the libraries classes, one from lib199 and one from the robot program.
@@ -111,21 +120,20 @@ deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
 
-// Configure string concat to always inline compile
-tasks.withType(JavaCompile) {
- options.compilerArgs.add '-XDstringConcat=inline'
-}
-
 // Allow the generated javadocs to link to the documentation of WPILib and vendor libraries
 javadoc {
  options.with {
  links 'https://github.wpilib.org/allwpilib/docs/release/java/'
  links 'https://www.kauailabs.com/public_files/navx-mxp/apidocs/java/'
  links 'https://pathplanner.dev/api/java/'
- links 'https://api.ctr-electronics.com/phoenix/release/java/'
- links 'https://api.ctr-electronics.com/phoenix6/release/java/'
+ links 'https://api.ctr-electronics.com/phoenix/stable/java/'
+ links 'https://api.ctr-electronics.com/phoenix6/stable/java/'
  links 'https://www.playingwithfusion.com/frc/2022/javadoc/'
  links 'https://codedocs.revrobotics.com/java/'
  }
 }
 
+// Configure string concat to always inline compile
+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

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
  }
  }
 }

src/main/java/org/carlmontrobotics/lib199/Lib199Subsystem.java

@@ -13,9 +13,6 @@ public class Lib199Subsystem implements Subsystem {
  private static final CopyOnWriteArrayList<Runnable> periodicSimulationMethods = new CopyOnWriteArrayList<>();
  private static final Consumer<Runnable> RUN_RUNNABLE = Runnable::run;
 
- @Deprecated
- public static final long asyncSleepTime = 20;
-
  static {
  ensureRegistered();
  }
@@ -43,37 +40,10 @@ public static void registerPeriodic(Runnable method) {
  periodicMethods.add(method);
  }
 
- @Deprecated
- /**
- * @deprecated Use registerSimulationPeriodic
- * @param method
- */
- public static void simulationPeriodic(Runnable method) {
- registerSimulationPeriodic(method);
- }
-
  public static void registerSimulationPeriodic(Runnable method) {
  periodicSimulationMethods.add(method);
  }
 
- @Deprecated
- /**
- * @deprecated Use registerPeriodic
- * @param method
- */
- public static void registerAsyncPeriodic(Runnable method) {
- registerPeriodic(method);
- }
-
- @Deprecated
- /**
- * @deprecated Use registerSimulationPeriodic
- * @param method
- */
- public static void registerAsyncSimulationPeriodic(Runnable method) {
- registerSimulationPeriodic(method);
- }
-
  @Override
  public void periodic() {
  periodicMethods.forEach(RUN_RUNNABLE);
@@ -84,13 +54,6 @@ public void simulationPeriodic() {
  periodicSimulationMethods.forEach(RUN_RUNNABLE);
  }
 
- @Deprecated
- /**
- * No longer does anything.
- */
- public synchronized void asyncPeriodic() {
- }
-
  private Lib199Subsystem() {}
 
 }

src/main/java/org/carlmontrobotics/lib199/MotorConfig.java

@@ -2,21 +2,27 @@
 
 public class MotorConfig {
 
- public static final MotorConfig NEO = new MotorConfig(70, 40);
- public static final MotorConfig NEO_550 = new MotorConfig(40, 20);
+ public static final MotorConfig NEO = new MotorConfig(70, 40, MotorControllerType.SPARK_MAX);
+ public static final MotorConfig NEO_550 = new MotorConfig(70, 40, MotorControllerType.SPARK_MAX);
+ public static final MotorConfig NEO_2 = new MotorConfig(70, 40, MotorControllerType.SPARK_MAX); //TODO: find the max temp for NEO 2.0
 
  // The temp limit of 100C for the Vortex is based on the fact that its temp sensors are mounted directly on the
  // windings (which is not the case for the Neo or Neo550, causing them to have very delayed temp readings) and the 
  // fact that the winding enamel will melt at 140C. 
  // See: https://www.chiefdelphi.com/t/rev-robotics-spark-flex-and-neo-vortex/442595/349?u=brettle
  // As a result I think 100C should be safe. I wouldn't increase it past 120. --Dean
- public static final MotorConfig NEO_VORTEX = new MotorConfig(100, 60);
-
+ public static final MotorConfig NEO_VORTEX = new MotorConfig(100, 40, MotorControllerType.SPARK_FLEX);
+ public static final MotorConfig NEO_SOLO_VORTEX = new MotorConfig(100, 40, MotorControllerType.SPARK_MAX);
  public final int temperatureLimitCelsius, currentLimitAmps;
+ public final MotorControllerType controllerType;
 
- public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps) {
+ public MotorConfig(int temperatureLimitCelsius, int currentLimitAmps, MotorControllerType controllerType) {
  this.temperatureLimitCelsius = temperatureLimitCelsius;
  this.currentLimitAmps = currentLimitAmps;
+ this.controllerType = controllerType;
  }
 
+ public MotorControllerType getControllerType() {
+ return controllerType;
+ }
 }