Update to WPILib 2024

build.gradle

@@ -1,14 +1,16 @@
 plugins {
-  id 'java-library'
-  id 'maven-publish'
-  id "edu.wpi.first.GradleRIO" version "2023.4.3"
-  id 'edu.wpi.first.WpilibTools' version '1.3.0'
+  id "java-library"
+  id "maven-publish"
+  id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
+  id "edu.wpi.first.WpilibTools" version "1.3.0"
 }
 
-group = 'com.github.lasarobotics'
+java {
+  sourceCompatibility = JavaVersion.VERSION_17
+  targetCompatibility = JavaVersion.VERSION_17
+}
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+group = 'com.github.lasarobotics'
 
 repositories {
   maven {
@@ -39,7 +41,7 @@ dependencies {
 
   testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.+'
 
-  annotationProcessor 'org.littletonrobotics.akit.junction:junction-autolog:2.2.4'
+  annotationProcessor 'org.littletonrobotics.akit.junction:junction-autolog:3.0.0-beta-2'
 }
 
 test {

src/main/java/org/lasarobotics/hardware/Analog.java

@@ -59,7 +59,7 @@ private void updateInputs() {
   @Override
   public void periodic() {
     updateInputs();
-    Logger.getInstance().processInputs(m_id.name, m_inputs);
+    Logger.processInputs(m_id.name, m_inputs);
   }
 
   /**

src/main/java/org/lasarobotics/hardware/DMAService.java

@@ -43,7 +43,7 @@ public static DMAService getInstance() {
 
   private void run() {
     m_readStatus = m_dmaSample.update(m_dma, TIMEOUT);
-    Logger.getInstance().recordOutput(READ_STATUS_ENTRY, m_readStatus.name());
+    Logger.recordOutput(READ_STATUS_ENTRY, m_readStatus.name());
   }
 
   public void start() {

src/main/java/org/lasarobotics/hardware/LimitSwitch.java

@@ -75,7 +75,7 @@ private void updateInputs() {
   @Override
   public void periodic() {
     updateInputs();
-    Logger.getInstance().processInputs(m_id.name, m_inputs);
+    Logger.processInputs(m_id.name, m_inputs);
   }
 
   /**

src/main/java/org/lasarobotics/hardware/NavX2.java

@@ -149,7 +149,7 @@ private void updateInputs() {
   @Override
   public void periodic() {
     updateInputs();
-    Logger.getInstance().processInputs(m_name, m_inputs);
+    Logger.processInputs(m_name, m_inputs);
   }
 
   /**
@@ -161,16 +161,6 @@ public NavX2InputsAutoLogged getInputs() {
     return m_inputs;
   }
 
-  /**
-   * Calibrate the gyro. It's important to make sure that the robot is
-   * not moving while the calibration is in progress, this is typically done
-   * when the robot is first turned on while it's sitting at rest before the
-   * match starts.
-   */
-  public void calibrate() {
-    m_navx.calibrate();
-  }
-
   /**
    * Returns true if the sensor is currently performing automatic
    * gyro/accelerometer calibration. Automatic calibration occurs when the
@@ -221,6 +211,6 @@ public double getSimAngle() {
    */
   @Override
   public void close() {
-    m_navx.close();
+    m_navx = null;
   }
 }

src/main/java/org/lasarobotics/hardware/Servo.java

@@ -51,7 +51,7 @@ public Servo(Servo.ID id) {
   }
 
   private void logOutputs(double value) {
-    Logger.getInstance().recordOutput(m_id.name + VALUE_LOG_ENTRY, value);
+    Logger.recordOutput(m_id.name + VALUE_LOG_ENTRY, value);
   }
 
   @Override

src/main/java/org/lasarobotics/hardware/SparkMax.java

@@ -75,6 +75,7 @@ public static class SparkMaxInputs {
 
   private boolean m_isSmoothMotionEnabled = false;
   private Timer m_motionTimer;
+  private TrapezoidProfile.State m_desiredState;
   private Function<TrapezoidProfile.State, Double> m_feedforwardSupplier;
 
   private TrapezoidProfile m_motionProfile;
@@ -114,6 +115,7 @@ public SparkMax(ID id, MotorType motorType, SparkPIDConfig config, FeedbackSenso
 
     this.m_config = config;
     this.m_motionTimer = new Timer();
+    this.m_desiredState = new TrapezoidProfile.State();
     initializeSparkPID(m_config, feedbackSensor);
   }
 
@@ -123,10 +125,10 @@ public SparkMax(ID id, MotorType motorType, SparkPIDConfig config, FeedbackSenso
    * @param ctrl Control mode that was used
    */
   private void logOutputs(double value, ControlType ctrl) {
-    Logger.getInstance().recordOutput(m_id.name + VALUE_LOG_ENTRY, value);
-    Logger.getInstance().recordOutput(m_id.name + MODE_LOG_ENTRY, ctrl.name());
-    Logger.getInstance().recordOutput(m_id.name + CURRENT_LOG_ENTRY, m_spark.getOutputCurrent());
-    Logger.getInstance().recordOutput(m_id.name + MOTION_LOG_ENTRY, m_isSmoothMotionEnabled);
+    Logger.recordOutput(m_id.name + VALUE_LOG_ENTRY, value);
+    Logger.recordOutput(m_id.name + MODE_LOG_ENTRY, ctrl.name());
+    Logger.recordOutput(m_id.name + CURRENT_LOG_ENTRY, m_spark.getOutputCurrent());
+    Logger.recordOutput(m_id.name + MOTION_LOG_ENTRY, m_isSmoothMotionEnabled);
   }
 
   /**
@@ -246,7 +248,23 @@ private void handleSmoothMotion() {
     if (!m_isSmoothMotionEnabled) return;
 
     m_isSmoothMotionEnabled = !isSmoothMotionFinished();
-    TrapezoidProfile.State motionProfileState = m_motionProfile.calculate(m_motionTimer.get());
+    TrapezoidProfile.State currentState;
+    switch (m_feedbackSensor) {
+      case NEO_ENCODER:
+        currentState = new TrapezoidProfile.State(getInputs().encoderPosition, getInputs().encoderVelocity);
+        break;
+      case ANALOG:
+        currentState = new TrapezoidProfile.State(getInputs().analogPosition, getInputs().analogVelocity);
+        break;
+      case THROUGH_BORE_ENCODER:
+        currentState = new TrapezoidProfile.State(getInputs().absoluteEncoderPosition, getInputs().absoluteEncoderVelocity);
+        break;
+      default:
+        currentState = new TrapezoidProfile.State(getInputs().encoderPosition, getInputs().encoderVelocity);
+        break;
+    }
+
+    TrapezoidProfile.State motionProfileState = m_motionProfile.calculate(m_motionTimer.get(), m_desiredState, currentState);
     set(
       motionProfileState.position,
       ControlType.kPosition,
@@ -265,7 +283,7 @@ public void addToSimulation(DCMotor motor) {
   @Override
   public void periodic() {
     updateInputs();
-    Logger.getInstance().processInputs(m_id.name, m_inputs);
+    Logger.processInputs(m_id.name, m_inputs);
 
     handleSmoothMotion();
   }
@@ -447,37 +465,18 @@ public void setVelocityConversionFactor(FeedbackSensor sensor, double factor) {
   }
 
   /**
-   * Start smooth motion
+   * Execute a smooth motion to desired position
    * @param value The target value for the motor
    * @param motionConstraint The constraints for the motor
    * @param feedforwardSupplier Lambda function to calculate feed forward
    */
-  public void setSmoothMotion(double value, TrapezoidProfile.Constraints motionConstraint, Function<TrapezoidProfile.State, Double> feedforwardSupplier) {
+  public void smoothMotion(double value, TrapezoidProfile.Constraints motionConstraint, Function<TrapezoidProfile.State, Double> feedforwardSupplier) {
     m_isSmoothMotionEnabled = true;
     m_feedforwardSupplier = feedforwardSupplier;
     m_motionConstraint = motionConstraint;
-
-    // Generate states
-    TrapezoidProfile.State desiredState = new TrapezoidProfile.State(value, 0.0);
-    TrapezoidProfile.State currentState;
-    switch (m_feedbackSensor) {
-      case NEO_ENCODER:
-        currentState = new TrapezoidProfile.State(getInputs().encoderPosition, getInputs().encoderVelocity);
-        break;
-      case ANALOG:
-        currentState = new TrapezoidProfile.State(getInputs().analogPosition, getInputs().analogVelocity);
-        break;
-      case THROUGH_BORE_ENCODER:
-        currentState = new TrapezoidProfile.State(getInputs().absoluteEncoderPosition, getInputs().absoluteEncoderVelocity);
-        break;
-      default:
-        currentState = new TrapezoidProfile.State(getInputs().encoderPosition, getInputs().encoderVelocity);
-        break;
-    }
-
-    // Generate motion profile
-    m_motionTimer.restart();
-    m_motionProfile = new TrapezoidProfile(m_motionConstraint, desiredState, currentState);
+    m_desiredState = new TrapezoidProfile.State(value, 0.0);
+    m_motionProfile = new TrapezoidProfile(m_motionConstraint);
+    m_motionTimer.reset();
   }
 
   /**

src/main/java/org/lasarobotics/led/LEDStrip.java

@@ -425,7 +425,7 @@ public void set(Pattern pattern, Section... sections) {
 
     // Log patterns
     for (Section section : sections)
-      Logger.getInstance().recordOutput(String.join("/", m_leds.getName(), section.name()), pattern.name());
+      Logger.recordOutput(String.join("/", m_leds.getName(), section.name()), pattern.name());
   }
 
   /**

vendordeps/AdvantageKit.json

@@ -1,32 +1,33 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "2.2.4",
+    "version": "3.0.0-beta-2",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2024",
     "mavenUrls": [],
     "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
     "javaDependencies": [
         {
             "groupId": "org.littletonrobotics.akit.junction",
             "artifactId": "wpilib-shim",
-            "version": "2.2.4"
+            "version": "3.0.0-beta-2"
         },
         {
             "groupId": "org.littletonrobotics.akit.junction",
             "artifactId": "junction-core",
-            "version": "2.2.4"
+            "version": "3.0.0-beta-2"
         },
         {
             "groupId": "org.littletonrobotics.akit.conduit",
             "artifactId": "conduit-api",
-            "version": "2.2.4"
+            "version": "3.0.0-beta-2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit.conduit",
             "artifactId": "conduit-wpilibio",
-            "version": "2.2.4",
+            "version": "3.0.0-beta-2",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [

vendordeps/NavX.json

@@ -1,25 +1,26 @@
 {
     "fileName": "NavX.json",
-    "name": "KauaiLabs_navX_FRC",
-    "version": "2023.0.3",
+    "name": "NavX",
+    "version": "2024.0.1-beta-3",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "frcYear": "2024",
     "mavenUrls": [
-        "https://dev.studica.com/maven/release/2023/"
+        "https://dev.studica.com/maven/release/2024/"
     ],
-    "jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
+    "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
     "javaDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-java",
-            "version": "2023.0.3"
+            "version": "2024.0.1-beta-3"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.kauailabs.navx.frc",
             "artifactId": "navx-frc-cpp",
-            "version": "2023.0.3",
+            "version": "2024.0.1-beta-3",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
             "sharedLibrary": false,
@@ -30,7 +31,7 @@
                 "linuxraspbian",
                 "linuxarm32",
                 "linuxarm64",
-                "linux86-64",
+                "linuxx86-64",
                 "osxuniversal",
                 "windowsx86-64"
             ]

vendordeps/PathplannerLib.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib.json",
+    "name": "PathplannerLib",
+    "version": "2024.0.0-beta-4",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.0.0-beta-4"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.0.0-beta-4",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}

vendordeps/REVLib.json

@@ -1,24 +1,25 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.3",
+    "version": "2024.0.0",
+    "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.3"
+            "version": "2024.0.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.0.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.3",
+            "version": "2024.0.0",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -54,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.0.0",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/WPILibNewCommands.json

@@ -3,6 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [