Merge pull request #28 from DeepBlueRobotics/2023-update

Update libraries and code for the 2023 release of WPILib

Author: CoolSpy3

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2022",
+    "projectYear": "2023",
     "teamNumber": 199
 }

build.gradle

@@ -1,8 +1,6 @@
-import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
-
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.4.1"
+    id "edu.wpi.first.GradleRIO" version "2023.1.1"
     id "maven-publish"
 }
 
@@ -94,7 +92,7 @@ publishing {
         gpr(MavenPublication) {
             groupId = 'org.carlmontrobotics'
             artifactId = 'lib199'
-            version = '1.0.2'
+            version = '2.0.0'
 
             from components.java
         }
@@ -105,3 +103,8 @@ publishing {
 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'
+}

gradle/wrapper/gradle-wrapper.jar

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradle/wrapper/gradle-wrapper.properties

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2022'
+        String frcYear = '2023'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

gradlew

@@ -60,6 +60,16 @@ public interface DifferentialDriveInterface extends DrivetrainInterface {
      */
     public void setOdometry(DifferentialDriveOdometry odometry);
 
+    /**
+     * @return The left encoder position in meters
+     */
+    public double getLeftEncoderPosition();
+
+    /**
+     * @return The right encoder position in meters
+     */
+    public double getRightEncoderPosition();
+
     /**
      * Creates Ramsete Controller
      * 
@@ -105,14 +115,13 @@ public default Command createAutoCommand(Trajectory trajectory, Supplier<Rotatio
     }
 
     /**
-     * Sets odometry based on current gyro angle and pose
+     * Sets odometry to the specified pose
      * 
-     * @param gyroAngle   The angle reported by the gyroscope.
      * @param initialPose The starting position of the robot on the field.
      */
     @Override
-    public default void setOdometry(Rotation2d gyroAngle, Pose2d initialPose) {
-        setOdometry(new DifferentialDriveOdometry(gyroAngle, initialPose));
+    public default void setOdometry(Pose2d initialPose) {
+        setOdometry(new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeadingDeg()), getLeftEncoderPosition(), getRightEncoderPosition(), initialPose));
     }
 
 }