Start beta updates

MODULE.bazel

@@ -4,7 +4,7 @@ bazel_dep(name = "rules_bazelrio", version = "0.0.14")
 bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1")
 bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.8.1-1")
 bazel_dep(name = "rules_pmd", version = "7.2.0")
-bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.3.2")
+bazel_dep(name = "bzlmodrio-allwpilib", version = "2025.1.1-beta-1")
 bazel_dep(name = "bzlmodrio-navx", version = "2024.1.0")
 bazel_dep(name = "bzlmodrio-phoenix", version = "5.33.1")
 bazel_dep(name = "bzlmodrio-phoenix6", version = "24.0.0-beta-8")

build_scripts/base_java.gradle

@@ -41,7 +41,7 @@ ext.getCurrentOs = {
 }
 
 ext {
-    wpiVersion = '2024.3.2'
+    wpiVersion = '2025.1.1-beta-1'
     opencvYear = '2024'
     opencvVersion = '4.8.0-1'
     phoenix5Version = '5.33.1'

build_scripts/bazel/deps/download_external_archives.bzl

@@ -2,11 +2,13 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 def download_external_archives():
     # Download bzlmodRio <3
+    BZLMODRIO_COMMITISH = "5fc8b394699149fe870963e26ea672d2b00dfa37"
+    BZLMODRIO_SHA256 = "b09a5f93efb7231212f87038dfb30146d6ed9f26007349ba2a0c532d3976e675"
     http_archive(
         name = "bzlmodrio",
-        url = "https://github.com/bzlmodRio/bzlmodRio/archive/17983128beaeb12f184d22a426fecd8b536a5452.tar.gz",
-        sha256 = "aec41ceddbb412c32202ec84246ca5e65fa41325693f8bfc27e2c44c756f66a6",
-        strip_prefix = "bzlmodRio-17983128beaeb12f184d22a426fecd8b536a5452",
+        url = "https://github.com/bzlmodRio/bzlmodRio/archive/{}.tar.gz".format(BZLMODRIO_COMMITISH),
+        sha256 = BZLMODRIO_SHA256,
+        strip_prefix = "bzlmodRio-{}".format(BZLMODRIO_COMMITISH),
     )
     # native.local_repository(
     #     name = "bzlmodrio",

build_scripts/bazel/deps/setup_dependencies.bzl

@@ -3,7 +3,7 @@ load("@bzlmodrio//private/non_bzlmod:download_dependencies.bzl", "download_depen
 def setup_dependencies():
     download_dependencies(
         # toolchain_versions = "2024-1",
-        allwpilib_version = "2024.3.2",
+        allwpilib_version = "2025.1.1-beta-1",
         # ni_version = "2024.1.1",
         # opencv_version = "2024.4.8.0-1",
         revlib_version = "2024.2.4",

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java

@@ -1,27 +1,39 @@
 package org.snobotv2.examples.base.commands.auton;
 
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj2.command.PIDCommand;
+import edu.wpi.first.wpilibj2.command.Command;
 import org.snobotv2.examples.base.subsystems.DrivetrainSubsystem;
 
-public class TurnToAngle extends PIDCommand
+public class TurnToAngle extends Command
 {
+    private final PIDController mController;
+    private final DrivetrainSubsystem mDrivetrain;
+    private final double mGoal;
+
     @SuppressWarnings("PMD.ConstructorCallsOverridableMethod")
     public TurnToAngle(DrivetrainSubsystem drivetrain, double goal)
     {
-        super(new PIDController(.02, 0, 0.001),
-                drivetrain::getHeadingDegrees,
-                goal,
-                (double output) -> drivetrain.arcadeDrive(0, output),
-                drivetrain);
+        mController = new PIDController(.02, 0, 0.001);
+        mController.enableContinuousInput(-180, 180);
+        mController.setTolerance(3, 1);
+
+        mDrivetrain = drivetrain;
+        mGoal = goal;
+
+        addRequirements(mDrivetrain);
+    }
 
-        getController().enableContinuousInput(-180, 180);
-        getController().setTolerance(3, 1);
+    @Override
+    public void execute()
+    {
+        double currentAngle = mDrivetrain.getHeadingDegrees();
+        double output = mController.calculate(currentAngle, mGoal);
+        mDrivetrain.arcadeDrive(0, output);
     }
 
     @Override
     public boolean isFinished()
     {
-        return m_controller.atSetpoint();
+        return mController.atSetpoint();
     }
 }

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java

@@ -1,5 +1,8 @@
 package org.snobotv2.examples.base.subsystems;
 
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.system.LinearSystem;
+import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -14,7 +17,9 @@ final class FlywheelSimConstants
 
         public static FlywheelSim createSim()
         {
-            return new FlywheelSim(kGearbox, kGearing, kInertia);
+            LinearSystem<N1, N1, N1> plant =
+                    LinearSystemId.createFlywheelSystem(kGearbox, kInertia, kGearing);
+            return new FlywheelSim(plant, kGearbox);
         }
 
         private FlywheelSimConstants()

examples/test_robot_rev/build.gradle

@@ -13,6 +13,7 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("wpimath")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibJava("wpiutil")
     implementation wpilibTools.deps.wpilibJava("cscore")
     implementation wpilibTools.deps.wpilibJava("ntcore")

examples/test_robot_wpi/build.gradle

@@ -12,6 +12,7 @@ apply from: "${rootDir}/build_scripts/base_java.gradle"
 dependencies {
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("wpimath")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpiutil")
     implementation wpilibTools.deps.wpilibJava("cameraserver")

snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve/SimpleMotorWithMassModel.java

@@ -1,6 +1,9 @@
 package edu.wpi.first.wpilibj.simulation.swerve;
 
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
 
 
@@ -16,7 +19,9 @@ class SimpleMotorWithMassModel {
      * @param moi Moment of inertia of the controlled mass
      */
     SimpleMotorWithMassModel(DCMotor motor, double gearing, double moi) {
-        m_fwSim = new FlywheelSim(motor, gearing, moi);
+        LinearSystem<N1, N1, N1> plant =
+                LinearSystemId.createFlywheelSystem(motor, moi, gearing);
+        m_fwSim = new FlywheelSim(plant, motor);
     }
 
     void update(double motorVoltage, double dtSeconds) {