2025 - draft

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 "2025.2.1"
     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()
 
@@ -71,27 +73,30 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'junit:junit:4.13.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     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. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
 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.
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     from sourceSets.main.allSource
-
-    // Add the manifest so WPILib knows where to look for our Robot Class.
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-
-    // There shouldn't be any duplicate classes.
-    duplicatesStrategy = DuplicatesStrategy.FAIL
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 publishing {
@@ -111,11 +116,6 @@ 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 +129,7 @@ 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

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/CachedSparkMax.java

@@ -1,14 +1,14 @@
 package org.carlmontrobotics.lib199;
 
-import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkPIDController;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
 
 @Deprecated
-public class CachedSparkMax extends CANSparkMax {
+public class CachedSparkMax extends SparkMax {
 
     private RelativeEncoder encoder;
-    private SparkPIDController pidController;
+    private SparkClosedLoopController pidController;
 
     public CachedSparkMax(int deviceId, MotorType type) {
         super(deviceId, type);
@@ -22,8 +22,8 @@ public RelativeEncoder getEncoder() {
     }
 
     @Override
-    public SparkPIDController getPIDController() {
-        return pidController == null ? (pidController = super.getPIDController()) : pidController;
+    public SparkClosedLoopController getClosedLoopController() {
+        return pidController == null ? (pidController = super.getClosedLoopController()) : pidController;
     }
 
 }

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

@@ -1,14 +1,15 @@
 package org.carlmontrobotics.lib199;
 
-import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkAbsoluteEncoder;
-import com.revrobotics.SparkAnalogSensor;
-import com.revrobotics.SparkLimitSwitch;
-import com.revrobotics.SparkPIDController;
-import com.revrobotics.CANSparkBase.IdleMode;
-import com.revrobotics.CANSparkLowLevel.MotorType;
-import com.revrobotics.SparkPIDController.AccelStrategy;
+import com.revrobotics.spark.SparkAbsoluteEncoder;
+import com.revrobotics.spark.SparkAnalogSensor;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkLimitSwitch;
+import com.revrobotics.spark.SparkLowLevel;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.MAXMotionConfig;
+import com.revrobotics.spark.SparkMax;
 
 import org.mockito.invocation.InvocationOnMock;
 
@@ -18,12 +19,12 @@ public class DummySparkMaxAnswer extends REVLibErrorAnswer {
 
     public static final DummySparkMaxAnswer ANSWER = new DummySparkMaxAnswer();
 
-    public static final CANSparkMax DUMMY_SPARK_MAX = Mocks.mock(CANSparkMax.class, ANSWER);
+    public static final SparkMax DUMMY_SPARK_MAX = Mocks.mock(SparkMax.class, ANSWER);
 
     public static final RelativeEncoder DUMMY_ENCODER = Mocks.mock(RelativeEncoder.class, REVLibErrorAnswer.ANSWER);
     public static final SparkAnalogSensor DUMMY_ANALOG_SENSOR = Mocks.mock(SparkAnalogSensor.class, REVLibErrorAnswer.ANSWER);
     public static final SparkLimitSwitch DUMMY_LIMIT_SWITCH = Mocks.mock(SparkLimitSwitch.class, REVLibErrorAnswer.ANSWER);
-    public static final SparkPIDController DUMMY_PID_CONTROLLER = Mocks.mock(SparkPIDController.class, ANSWER);
+    public static final SparkClosedLoopController DUMMY_PID_CONTROLLER = Mocks.mock(SparkClosedLoopController.class, ANSWER);
     public static final SparkAbsoluteEncoder DUMMY_ABSOLUTE_ENCODER = Mocks.mock(SparkAbsoluteEncoder.class, ANSWER);
 
 
@@ -36,14 +37,14 @@ public Object answer(InvocationOnMock invocation) throws Throwable {
             return DUMMY_ANALOG_SENSOR;
         } else if(returnType == SparkLimitSwitch.class) {
             return DUMMY_LIMIT_SWITCH;
-        } else if(returnType == SparkPIDController.class) {
+        } else if(returnType == SparkClosedLoopController.class) {
             return DUMMY_PID_CONTROLLER;
         } else if(returnType == MotorType.class) {
             return MotorType.kBrushless;
         } else if(returnType == IdleMode.class) {
             return IdleMode.kBrake;
-        } else if(returnType == AccelStrategy.class) {
-            return AccelStrategy.kTrapezoidal;
+        } else if(returnType == MAXMotionConfig.MAXMotionPositionMode.class) {
+            return MAXMotionConfig.MAXMotionPositionMode.kMAXMotionTrapezoidal;
         } else if(returnType == SparkAbsoluteEncoder.class) {
             return DUMMY_ABSOLUTE_ENCODER;
         }