Fix deprecation warnings in PhotonLib examples (#1699)

DeltaDizzy · web-flow · commit d487e1c4666a · 2025-01-11T23:30:24.000-05:00
The following deprecation warnings have been fixed:
- `SwerveModuleState.optimize(desiredState, currentRotation);`, which is
now an instance method
- `AprilTagFields.kDefaultField.loadAprilTagLayoutField();`, which is
now `AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);`

WIP:
- [x] C++
- [x] Python
diff --git a/photon-lib/py/disableUsingDevBuilds.sh b/photon-lib/py/disableUsingDevBuilds.sh
@@ -0,0 +1 @@
+python3 -m pip config unset global.find-links
diff --git a/photon-lib/py/enableUsingDevBuilds.sh b/photon-lib/py/enableUsingDevBuilds.sh
@@ -0,0 +1 @@
+python3 -m pip config set global.find-links dist
diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Constants.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Constants.java
@@ -48,7 +48,7 @@ public static class Vision {
 
         // The layout of the AprilTags on the field
         public static final AprilTagFieldLayout kTagLayout =
-                AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+                AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
 
         // The standard deviations of our vision estimated poses, which affect correction rate
         // (Fake values. Experiment and determine estimation noise on an actual robot.)
diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
@@ -108,7 +108,7 @@ public void setDesiredState(
             SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {
         Rotation2d currentRotation = getAbsoluteHeading();
         // Avoid turning more than 90 degrees by inverting speed on large angle changes
-        desiredState = SwerveModuleState.optimize(desiredState, currentRotation);
+        desiredState.optimize(currentRotation);
 
         this.desiredState = desiredState;
     }
diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Constants.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Constants.java
@@ -48,7 +48,7 @@ public static class Vision {
 
         // The layout of the AprilTags on the field
         public static final AprilTagFieldLayout kTagLayout =
-                AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+                AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
 
         // The standard deviations of our vision estimated poses, which affect correction rate
         // (Fake values. Experiment and determine estimation noise on an actual robot.)
diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
@@ -108,7 +108,7 @@ public void setDesiredState(
             SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {
         Rotation2d currentRotation = getAbsoluteHeading();
         // Avoid turning more than 90 degrees by inverting speed on large angle changes
-        desiredState = SwerveModuleState.optimize(desiredState, currentRotation);
+        desiredState.optimize(currentRotation);
 
         this.desiredState = desiredState;
     }
diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/Constants.java
@@ -46,7 +46,7 @@ public static class Vision {
 
         // The layout of the AprilTags on the field
         public static final AprilTagFieldLayout kTagLayout =
-                AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+                AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
 
         // The standard deviations of our vision estimated poses, which affect correction rate
         // (Fake values. Experiment and determine estimation noise on an actual robot.)
diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
@@ -108,7 +108,7 @@ public void setDesiredState(
             SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {
         Rotation2d currentRotation = getAbsoluteHeading();
         // Avoid turning more than 90 degrees by inverting speed on large angle changes
-        desiredState = SwerveModuleState.optimize(desiredState, currentRotation);
+        desiredState.optimize(currentRotation);
 
         this.desiredState = desiredState;
     }
diff --git a/photonlib-python-examples/aimandrange/swervemodule.py b/photonlib-python-examples/aimandrange/swervemodule.py
@@ -142,25 +142,23 @@ def setDesiredState(
         encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
 
         # Optimize the reference state to avoid spinning further than 90 degrees
-        state = wpimath.kinematics.SwerveModuleState.optimize(
-            self.desiredState, encoderRotation
-        )
+        desiredState.optimize(encoderRotation)
 
         # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
         # direction of travel that can occur when modules change directions. This results in smoother
         # driving.
-        state.speed *= (state.angle - encoderRotation).cos()
+        desiredState.speed *= (desiredState.angle - encoderRotation).cos()
 
         # Calculate the drive output from the drive PID controller.
         driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), state.speed
+            self.driveEncoder.getRate(), desiredState.speed
         )
 
-        driveFeedforward = self.driveFeedforward.calculate(state.speed)
+        driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
 
         # Calculate the turning motor output from the turning PID controller.
         turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), state.angle.radians()
+            self.turningEncoder.getDistance(), desiredState.angle.radians()
         )
 
         turnFeedforward = self.turnFeedforward.calculate(
diff --git a/photonlib-python-examples/aimattarget/swervemodule.py b/photonlib-python-examples/aimattarget/swervemodule.py
@@ -142,25 +142,23 @@ def setDesiredState(
         encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
 
         # Optimize the reference state to avoid spinning further than 90 degrees
-        state = wpimath.kinematics.SwerveModuleState.optimize(
-            self.desiredState, encoderRotation
-        )
+        desiredState.optimize(encoderRotation)
 
         # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
         # direction of travel that can occur when modules change directions. This results in smoother
         # driving.
-        state.speed *= (state.angle - encoderRotation).cos()
+        desiredState.speed *= (desiredState.angle - encoderRotation).cos()
 
         # Calculate the drive output from the drive PID controller.
         driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), state.speed
+            self.driveEncoder.getRate(), desiredState.speed
         )
 
-        driveFeedforward = self.driveFeedforward.calculate(state.speed)
+        driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
 
         # Calculate the turning motor output from the turning PID controller.
         turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), state.angle.radians()
+            self.turningEncoder.getDistance(), desiredState.angle.radians()
         )
 
         turnFeedforward = self.turnFeedforward.calculate(
diff --git a/photonlib-python-examples/poseest/swervemodule.py b/photonlib-python-examples/poseest/swervemodule.py
@@ -141,25 +141,23 @@ def setDesiredState(
         encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
 
         # Optimize the reference state to avoid spinning further than 90 degrees
-        state = wpimath.kinematics.SwerveModuleState.optimize(
-            self.desiredState, encoderRotation
-        )
+        self.desiredState.optimize(encoderRotation)
 
         # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
         # direction of travel that can occur when modules change directions. This results in smoother
         # driving.
-        state.speed *= (state.angle - encoderRotation).cos()
+        self.desiredState.speed *= (self.desiredState.angle - encoderRotation).cos()
 
         # Calculate the drive output from the drive PID controller.
         driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), state.speed
+            self.driveEncoder.getRate(), self.desiredState.speed
         )
 
-        driveFeedforward = self.driveFeedforward.calculate(state.speed)
+        driveFeedforward = self.driveFeedforward.calculate(self.desiredState.speed)
 
         # Calculate the turning motor output from the turning PID controller.
         turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), state.angle.radians()
+            self.turningEncoder.getDistance(), self.desiredState.angle.radians()
         )
 
         self.driveMotor.setVoltage(driveOutput + driveFeedforward)
diff --git a/photonlib-python-examples/run.sh b/photonlib-python-examples/run.sh
@@ -0,0 +1,25 @@
+# Check if the first argument is provided
+if [ $# -eq 0 ]
+  then
+    echo "Error: No example-to-run provided."
+    exit 1
+fi
+
+# To run any example, we want to use photonlib out of this repo
+# Build the wheel first
+pushd ../photon-lib/py
+if [ -d build ]
+  then rm -rdf build
+fi
+python3 setup.py bdist_wheel
+popd
+
+# Add the output directory to PYTHONPATH to make sure it gets picked up
+export PHOTONLIBPY_ROOT=../photon-lib/py
+export PYTHONPATH=$PHOTONLIBPY_ROOT
+
+# Move to the right example folder
+cd $1
+
+# Run the example
+robotpy sim

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	`+python3 -m pip config unset global.find-links`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	`+python3 -m pip config set global.find-links dist`
Original file line number	Diff line number	Diff line change
`@@ -108,7 +108,7 @@ public void setDesiredState(`
`108`	`108`	`SwerveModuleState desiredState, boolean openLoop, boolean steerInPlace) {`
`109`	`109`	`Rotation2d currentRotation = getAbsoluteHeading();`
`110`	`110`	`// Avoid turning more than 90 degrees by inverting speed on large angle changes`
`111`		`- desiredState = SwerveModuleState.optimize(desiredState, currentRotation);`
	`111`	`+ desiredState.optimize(currentRotation);`
`112`	`112`
`113`	`113`	`this.desiredState = desiredState;`
`114`	`114`	`}`