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.
@@ -111,11 +120,6 @@ 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 {
@@ -129,3 +133,7 @@ javadoc {
     }
 }
 
+// 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

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
         }
     }
 }

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;
+    }
 }