Import StuyLib to 2024 WPILib (#82)

* Import StuyLib into 2024 WPILib * Resolve gradle deprecation warnings * Bump wpilib beta ver to beta-2 * Bump wpilib version to 2024.1.1-beta-3 * Update wpilib to 2024.1.1 * Make Xbox behave like BootlegXbox, add .flipped() * Create streams/numbers, delete IFuser * Spotless apply * Fix Xbox .flipped(), right Y instead of right X * Fix default Xbox axis orientation * Fix flipped orientation again * Make SmartBoolean and SmartString final classes --------- Co-authored-by: BenG49 <[email protected]>
StuyPulse · Jan 8, 2024 · 576046c · 576046c
1 parent 5d9f830
commit 576046c
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diff --git a/.classpath b/.classpath
@@ -6,7 +6,7 @@
 			<attribute name="gradle_used_by_scope" value="main,test"/>
 		</attributes>
 	</classpathentry>
-	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-11/"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-17/"/>
 	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
 	<classpathentry kind="output" path="bin/default"/>
 </classpath>
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -3,8 +3,8 @@ name: Build
 on: [push, fork, pull_request]
 
 env:
-  JAVA_VERSION: 1.11
-  GRADLE_VERSION: 7.2
+  JAVA_VERSION: 1.17
+  GRADLE_VERSION: 8.4
 
 jobs:   
   spotless-check:

diff --git a/.github/workflows/build_release.yml b/.github/workflows/build_release.yml
@@ -10,8 +10,8 @@ permissions:
   id-token: write
 
 env:
-  JAVA_VERSION: 1.11
-  GRADLE_VERSION: 7.2
+  JAVA_VERSION: 1.17
+  GRADLE_VERSION: 8.4
 
 jobs:
   pages:

diff --git a/build.gradle b/build.gradle
@@ -1,5 +1,5 @@
 buildscript {
-   ext.WPI_VER = "2023.4.3"
+   ext.WPI_VER = "2024.1.1"
 }
 
 plugins {
@@ -8,14 +8,16 @@ plugins {
    id "maven-publish"
 
    id "edu.wpi.first.GradleRIO" version "${WPI_VER}"
-   id "com.diffplug.spotless" version "6.11.0"
-   id "com.github.spotbugs" version "5.0.13"
+   id "com.diffplug.spotless" version "6.22.0"
+   id "com.github.spotbugs" version "5.2.0"
 }
 
 group = 'com.stuypulse'
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+   sourceCompatibility = JavaVersion.VERSION_17
+   targetCompatibility = JavaVersion.VERSION_17
+}
 
 sourceSets {
    main {

diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/src/com/stuypulse/stuylib/control/Controller.java b/src/com/stuypulse/stuylib/control/Controller.java
@@ -1,10 +1,10 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
 package com.stuypulse.stuylib.control;
 
-import com.stuypulse.stuylib.streams.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
 
 /**
  * A controller calculates an output variable given a setpoint and measurement of a single variable.

diff --git a/src/com/stuypulse/stuylib/control/ControllerGroup.java b/src/com/stuypulse/stuylib/control/ControllerGroup.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/control/angle/AngleController.java b/src/com/stuypulse/stuylib/control/angle/AngleController.java
@@ -1,12 +1,12 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
 package com.stuypulse.stuylib.control.angle;
 
 import com.stuypulse.stuylib.math.Angle;
 import com.stuypulse.stuylib.streams.angles.filters.AFilter;
-import com.stuypulse.stuylib.streams.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
 
 /**
  * Base class of controller classes of continuous systems. This means that both the setpoint and

diff --git a/src/com/stuypulse/stuylib/control/angle/AngleControllerGroup.java b/src/com/stuypulse/stuylib/control/angle/AngleControllerGroup.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDCalculator.java b/src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDCalculator.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -8,9 +8,9 @@
 import com.stuypulse.stuylib.math.Angle;
 import com.stuypulse.stuylib.math.SLMath;
 import com.stuypulse.stuylib.network.SmartNumber;
-import com.stuypulse.stuylib.streams.filters.IFilter;
-import com.stuypulse.stuylib.streams.filters.IFilterGroup;
-import com.stuypulse.stuylib.streams.filters.TimedMovingAverage;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilterGroup;
+import com.stuypulse.stuylib.streams.numbers.filters.TimedMovingAverage;
 import com.stuypulse.stuylib.util.StopWatch;
 
 /**

diff --git a/src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDController.java b/src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDController.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -8,8 +8,8 @@
 import com.stuypulse.stuylib.math.Angle;
 import com.stuypulse.stuylib.math.SLMath;
 import com.stuypulse.stuylib.network.SmartNumber;
-import com.stuypulse.stuylib.streams.filters.IFilter;
-import com.stuypulse.stuylib.streams.filters.IFilterGroup;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilterGroup;
 import com.stuypulse.stuylib.util.StopWatch;
 
 /**

diff --git a/src/com/stuypulse/stuylib/control/angle/feedforward/AngleArmFeedforward.java b/src/com/stuypulse/stuylib/control/angle/feedforward/AngleArmFeedforward.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/control/angle/feedforward/AnglePositionFeedforwardController.java b/src/com/stuypulse/stuylib/control/angle/feedforward/AnglePositionFeedforwardController.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/control/feedback/PIDCalculator.java b/src/com/stuypulse/stuylib/control/feedback/PIDCalculator.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -7,9 +7,9 @@
 import com.stuypulse.stuylib.control.Controller;
 import com.stuypulse.stuylib.math.SLMath;
 import com.stuypulse.stuylib.network.SmartNumber;
-import com.stuypulse.stuylib.streams.filters.IFilter;
-import com.stuypulse.stuylib.streams.filters.IFilterGroup;
-import com.stuypulse.stuylib.streams.filters.TimedMovingAverage;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilterGroup;
+import com.stuypulse.stuylib.streams.numbers.filters.TimedMovingAverage;
 import com.stuypulse.stuylib.util.StopWatch;
 
 /**

diff --git a/src/com/stuypulse/stuylib/control/feedback/PIDController.java b/src/com/stuypulse/stuylib/control/feedback/PIDController.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -7,8 +7,8 @@
 import com.stuypulse.stuylib.control.Controller;
 import com.stuypulse.stuylib.math.SLMath;
 import com.stuypulse.stuylib.network.SmartNumber;
-import com.stuypulse.stuylib.streams.filters.IFilter;
-import com.stuypulse.stuylib.streams.filters.IFilterGroup;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilterGroup;
 import com.stuypulse.stuylib.util.StopWatch;
 
 /**

diff --git a/src/com/stuypulse/stuylib/control/feedforward/ArmFeedforward.java b/src/com/stuypulse/stuylib/control/feedforward/ArmFeedforward.java
@@ -1,11 +1,11 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
 package com.stuypulse.stuylib.control.feedforward;
 
 import com.stuypulse.stuylib.control.Controller;
-import com.stuypulse.stuylib.streams.filters.IFilter;
+import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
 
 /**
  * A feedforward term to account for gravity for motorized arms.

diff --git a/src/com/stuypulse/stuylib/control/feedforward/ElevatorFeedforward.java b/src/com/stuypulse/stuylib/control/feedforward/ElevatorFeedforward.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/control/feedforward/MotorFeedforward.java b/src/com/stuypulse/stuylib/control/feedforward/MotorFeedforward.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -7,7 +7,7 @@
 import com.stuypulse.stuylib.control.Controller;
 import com.stuypulse.stuylib.control.angle.AngleController;
 import com.stuypulse.stuylib.control.angle.feedforward.AnglePositionFeedforwardController;
-import com.stuypulse.stuylib.streams.filters.Derivative;
+import com.stuypulse.stuylib.streams.numbers.filters.Derivative;
 
 /**
  * A motor feedforward model, which can be used to calculate an output voltage given a desired

diff --git a/src/com/stuypulse/stuylib/control/feedforward/PositionFeedforwardController.java b/src/com/stuypulse/stuylib/control/feedforward/PositionFeedforwardController.java
@@ -1,11 +1,11 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
 package com.stuypulse.stuylib.control.feedforward;
 
 import com.stuypulse.stuylib.control.Controller;
-import com.stuypulse.stuylib.streams.filters.Derivative;
+import com.stuypulse.stuylib.streams.numbers.filters.Derivative;
 
 /**
  * A positional controller that uses a feedforward model to calculate motor outputs given positional

diff --git a/src/com/stuypulse/stuylib/control/feedforward/VelocityFeedforwardController.java b/src/com/stuypulse/stuylib/control/feedforward/VelocityFeedforwardController.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/Gamepad.java b/src/com/stuypulse/stuylib/input/Gamepad.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/GamepadState.java b/src/com/stuypulse/stuylib/input/GamepadState.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/WPIGamepad.java b/src/com/stuypulse/stuylib/input/WPIGamepad.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/gamepads/AutoGamepad.java b/src/com/stuypulse/stuylib/input/gamepads/AutoGamepad.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/gamepads/Logitech.java b/src/com/stuypulse/stuylib/input/gamepads/Logitech.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/gamepads/PS4.java b/src/com/stuypulse/stuylib/input/gamepads/PS4.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/gamepads/Xbox.java b/src/com/stuypulse/stuylib/input/gamepads/Xbox.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -18,9 +18,17 @@ public class Xbox extends Gamepad {
 
     private XboxController mJoystick;
 
+    private final boolean flipped;
+
     // Constructor //
     public Xbox(XboxController joystick) {
+        this(joystick, true);
+    }
+
+    protected Xbox(XboxController joystick, boolean flipped) {
         mJoystick = joystick;
+
+        this.flipped = flipped;
     }
 
     public Xbox(int port) {
@@ -46,7 +54,7 @@ public double getLeftX() {
 
     @Override
     public double getLeftY() {
-        return getJoystick().getLeftY();
+        return (flipped ? -1 : +1) * getJoystick().getLeftY();
     }
 
     // Right Stick //
@@ -57,7 +65,7 @@ public double getRightX() {
 
     @Override
     public double getRightY() {
-        return getJoystick().getRightY();
+        return (flipped ? -1 : +1) * getJoystick().getRightY();
     }
 
     // D-Pad //
@@ -152,4 +160,8 @@ public void setRumble(double intensity) {
         mJoystick.setRumble(RumbleType.kLeftRumble, intensity);
         mJoystick.setRumble(RumbleType.kRightRumble, intensity);
     }
+
+    public Xbox flipped() {
+        return new Xbox(mJoystick, !flipped);
+    }
 }
diff --git a/src/com/stuypulse/stuylib/input/gamepads/keyboard/KeyGamepad.java b/src/com/stuypulse/stuylib/input/gamepads/keyboard/KeyGamepad.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -19,7 +19,7 @@
  *
  * <br>
  *
- * @see com.stuypulse.stuylib.streams.filters.IFilter
+ * @see com.stuypulse.stuylib.streams.numbers.filters.IFilter
  * @author Myles Pasetsky (selym3)
  */
 public class KeyGamepad extends Gamepad {

diff --git a/src/com/stuypulse/stuylib/input/gamepads/keyboard/NetKeyGamepad.java b/src/com/stuypulse/stuylib/input/gamepads/keyboard/NetKeyGamepad.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/gamepads/keyboard/SimKeyGamepad.java b/src/com/stuypulse/stuylib/input/gamepads/keyboard/SimKeyGamepad.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/keyboard/NetKeyboard.java b/src/com/stuypulse/stuylib/input/keyboard/NetKeyboard.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyListener.java b/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyListener.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyWindow.java b/src/com/stuypulse/stuylib/input/keyboard/computer/NetKeyWindow.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/math/Angle.java b/src/com/stuypulse/stuylib/math/Angle.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/math/Polar2D.java b/src/com/stuypulse/stuylib/math/Polar2D.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

diff --git a/src/com/stuypulse/stuylib/math/SLMath.java b/src/com/stuypulse/stuylib/math/SLMath.java
@@ -1,4 +1,4 @@
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */