Update to latest vendor versions

snobotsim · Jan 9, 2024 · c90277a · c90277a
1 parent 780b514
commit c90277a
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Showing 9 changed files with 1,859 additions and 1,833 deletions.
diff --git a/MODULE.bazel b/MODULE.bazel
@@ -3,11 +3,11 @@ bazel_dep(name = "rules_java", version = "6.4.0")
 bazel_dep(name = "rules_bazelrio", version = "0.0.14")
 bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1")
 bazel_dep(name = "rules_pmd", version = "6.43.0")
-bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.1.1-beta-4")
-bazel_dep(name = "bzlmodrio-navx", version = "2024.0.1-beta-4")
-bazel_dep(name = "bzlmodrio-phoenix", version = "5.32.0-beta-4.bcr1")
-bazel_dep(name = "bzlmodrio-phoenix6", version = "24.0.0-beta-7")
-bazel_dep(name = "bzlmodrio-revlib", version = "2024.1.1")
+bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.1.1")
+bazel_dep(name = "bzlmodrio-navx", version = "2024.1.0")
+bazel_dep(name = "bzlmodrio-phoenix", version = "5.32.0-beta-5")
+bazel_dep(name = "bzlmodrio-phoenix6", version = "24.0.0-beta-8")
+bazel_dep(name = "bzlmodrio-revlib", version = "2024.2.0")
 
 maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
 maven.install(

diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
diff --git a/build_scripts/base_java.gradle b/build_scripts/base_java.gradle
@@ -41,13 +41,13 @@ ext.getCurrentOs = {
 }
 
 ext {
-    wpiVersion = '2024.1.1-beta-4'
+    wpiVersion = '2024.1.1'
     opencvYear = '2024'
     opencvVersion = '4.8.0-1'
-    phoenix5Version = '5.32.0-beta-4'
-    phoenix6Version = "24.0.0-beta-7"
-    revVersion = '2024.1.1'
-    navxVersion = '2024.0.1-beta-4'
+    phoenix5Version = '5.32.0-beta-5'
+    phoenix6Version = "24.0.0-beta-8"
+    revVersion = '2024.2.0'
+    navxVersion = '2024.1.0'
 
     nativeOs = getCurrentOs() + getCurrentArch()
 }

diff --git a/build_scripts/bazel/deps/download_external_archives.bzl b/build_scripts/bazel/deps/download_external_archives.bzl
@@ -4,9 +4,9 @@ def download_external_archives():
     # Download bzlmodRio <3
     http_archive(
         name = "bzlmodrio",
-        url = "https://github.com/bzlmodRio/bzlmodRio/archive/5f40922b4a2abb9d1c31fc1e688e336eaca4ac79.tar.gz",
-        sha256 = "60cdd1a8e4abd8a903cc6f07be0cea5687b45ad28ebdbf2f35cb625b33c66a0e",
-        strip_prefix = "bzlmodRio-5f40922b4a2abb9d1c31fc1e688e336eaca4ac79",
+        url = "https://github.com/bzlmodRio/bzlmodRio/archive/8962df6bad4c1d6a9d23d917c36c868deca75b42.tar.gz",
+        sha256 = "d845a46533f7dfcba4819472392e538f8c43bc3c505a0c98e358e0f0b8d868e1",
+        strip_prefix = "bzlmodRio-8962df6bad4c1d6a9d23d917c36c868deca75b42",
     )
     # native.local_repository(
     #     name = "bzlmodrio",

diff --git a/build_scripts/bazel/deps/setup_dependencies.bzl b/build_scripts/bazel/deps/setup_dependencies.bzl
@@ -3,13 +3,13 @@ load("@bzlmodrio//private/non_bzlmod:download_dependencies.bzl", "download_depen
 def setup_dependencies():
     download_dependencies(
         # toolchain_versions = "2024-1",
-        allwpilib_version = "2024.1.1-beta-4",
+        allwpilib_version = "2024.1.1",
         # ni_version = "2024.1.1",
         # opencv_version = "2024.4.8.0-1",
-        revlib_version = "2024.1.1",
-        phoenix_version = "5.32.0-beta-4.bcr1",
-        phoenix6_version = "24.0.0-beta-7",
-        navx_version = "2024.0.1-beta-4",
+        revlib_version = "2024.2.0",
+        phoenix_version = "5.32.0-beta-5",
+        phoenix6_version = "24.0.0-beta-8",
+        navx_version = "2024.1.0",
         # imgui_version = None,
         # libssh_version = None,
     )
diff --git a/...est_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java b/...est_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java
@@ -5,7 +5,6 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SimableCANSparkMax;
 import com.revrobotics.SparkPIDController;
-import com.revrobotics.SparkRelativeEncoder;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.snobotv2.examples.base.BaseConstants;
@@ -25,12 +24,12 @@ public class RevShooterSubsystem extends SubsystemBase implements ShooterSubsyst
 
     public RevShooterSubsystem()
     {
-        mLeadMotor = new SimableCANSparkMax(BaseConstants.SHOOTER_MOTOR_A, CANSparkLowLevel.MotorType.kBrushed);
-        mFollower = new SimableCANSparkMax(BaseConstants.SHOOTER_MOTOR_B, CANSparkLowLevel.MotorType.kBrushed);
+        mLeadMotor = new SimableCANSparkMax(BaseConstants.SHOOTER_MOTOR_A, CANSparkLowLevel.MotorType.kBrushless);
+        mFollower = new SimableCANSparkMax(BaseConstants.SHOOTER_MOTOR_B, CANSparkLowLevel.MotorType.kBrushless);
 
         mFollower.follow(mLeadMotor);
 
-        mEncoder = mLeadMotor.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 8192);
+        mEncoder = mLeadMotor.getEncoder();
         mPidController = mLeadMotor.getPIDController();
 
         mPidController.setP(0.0005);

diff --git a/...ples/test_robot_wpi/src/main/java/org/snobotv2/examples/wpi/subsystems/WpiDrivetrain.java b/...ples/test_robot_wpi/src/main/java/org/snobotv2/examples/wpi/subsystems/WpiDrivetrain.java
@@ -2,9 +2,9 @@
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.math.geometry.Pose2d;
 import org.snobotv2.examples.base.BaseConstants;
@@ -20,8 +20,8 @@ public class WpiDrivetrain extends BaseDrivetrainSubsystem
     private final PWMVictorSPX mDriveLeftB;
     private final PWMVictorSPX mDriveRightA;
     private final PWMVictorSPX mDriveRightB;
-    private final MotorControllerGroup mLeftMotors;
-    private final MotorControllerGroup mRightMotors;
+    private final MotorController mLeftMotors;
+    private final MotorController mRightMotors;
     private final DifferentialDrive mDrive;
 
     private final Encoder mLeftEncoder;
@@ -37,8 +37,8 @@ public WpiDrivetrain()
         mDriveRightA = new PWMVictorSPX(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_A);
         mDriveRightB = new PWMVictorSPX(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_B);
 
-        mLeftMotors = new MotorControllerGroup(mDriveLeftA, mDriveLeftB);
-        mRightMotors = new MotorControllerGroup(mDriveRightA, mDriveRightB);
+        mLeftMotors = mDriveLeftA;
+        mRightMotors = mDriveRightA;
         mRightMotors.setInverted(true);
 
         mDrive = new DifferentialDrive(mLeftMotors, mRightMotors);
@@ -54,7 +54,7 @@ public WpiDrivetrain()
         if (RobotBase.isSimulation())
         {
             mSimulator = new DifferentialDrivetrainSimWrapper(DRIVETRAIN_CONSTANTS.createSim(),
-                    mDriveLeftA, mDriveRightA,
+                    mLeftMotors, mDriveRightA,
                     mLeftEncoder, mRightEncoder,
                     new ADXRS450GyroWrapper(mGyro));
         }

diff --git a/...m_java_base/src/main/java/org/snobotv2/sim_wrappers/DifferentialDrivetrainSimWrapper.java b/...m_java_base/src/main/java/org/snobotv2/sim_wrappers/DifferentialDrivetrainSimWrapper.java
@@ -59,7 +59,7 @@ public DifferentialDrivetrainSimWrapper(
         mLeftPdpSlots = new PdpSlots();
         mRightPdpSlots = new PdpSlots();
 
-        mRightMultiplier = -1;
+        mRightMultiplier = 1;
     }
 
     public void setRightInverted(boolean inverted)

diff --git a/...va_base/src/test/java/org/snobotv2/sim_wrappers/DifferentialDrivetrainSimWrapperTest.java b/...va_base/src/test/java/org/snobotv2/sim_wrappers/DifferentialDrivetrainSimWrapperTest.java
@@ -23,7 +23,7 @@ public void testDriveStraight()
                 drivetrainSim.arcadeDrive(1, 0);
                 drivetrainSim.simulationPeriodic();
 
-//            System.out.println(i + " - " + drivetrainSim.mLeftEncoder.getRate() + ", " + drivetrainSim.mRightEncoder.getRate() + ", " + drivetrainSim.mGyro.getAngle());
+                // System.out.println(i + " - " + drivetrainSim.getLeftRate() + ", " + drivetrainSim.getRightRate() + ", " + drivetrainSim.getRotation2d());
             }
 //        System.out.println(drivetrainSim.getLeftRate() + ", " + drivetrainSim.getRightRate() + ", " + drivetrainSim.getHeadingDegrees());
 //        System.out.println(drivetrainSim.getLeftDistance() + ", " + drivetrainSim.getRightDistance() + ", " + drivetrainSim.getHeadingDegrees());