Swerve out of control

.gitignore

@@ -1,4 +1,5 @@
-# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
 
 ### C++ ###
 # Prerequisites
@@ -151,11 +152,21 @@ gradle-app.setting
 # gradle/wrapper/gradle-wrapper.properties
 
 # # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
 .classpath
 .project
 .settings/
 bin/
-imgui.ini
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
 
-# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+*-window.json

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
   "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
   "files.exclude": {
     "**/.git": true,
     "**/.svn": true,
@@ -10,6 +11,19 @@
     "**/.classpath": true,
     "**/.project": true,
     "**/.settings": true,
-    "**/.factorypath": true
-  }
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2020",
+    "projectYear": "2023",
     "teamNumber": 4388
 }

WPILib-License.md

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -9,61 +9,91 @@ targetCompatibility = JavaVersion.VERSION_11
 def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
+// This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roboRIO("roborio") {
+        roborio(getTargetTypeClass('RoboRIO')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = frc.getTeamNumber()
-        }
-    }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            targets << "roborio"
-            // Debug can be overridden by command line, for use with VSCode
-            debug = frc.getDebugOrDefault(false)
-        }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
-        fileTreeArtifact('frcStaticFileDeploy') {
-            // The directory below is the local directory to deploy
-            files = fileTree(dir: 'src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
-            targets << "roborio"
-            directory = '/home/lvuser/deploy'
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
         }
     }
 }
 
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
 // Set this to true to enable desktop support.
-def includeDesktopSupport = true
+def includeDesktopSupport = false
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 4.
+// Also defines JUnit 5.
 dependencies {
-    implementation wpi.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
 
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    implementation wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-    testImplementation 'junit:junit:4.12'
-    testCompile "org.mockito:mockito-core:2.+"
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
 
-    // Enable simulation gui support. Must check the box in vscode to enable support
-    // upon debugging
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+}
+
+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. 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 {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+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.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists