Updated to WPILib 2023

.gitattributes

@@ -1,2 +0,0 @@
-# Auto detect text files and perform LF normalization
-* text=auto

.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 +152,11 @@ 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
 
-
+# Simulation GUI and other tools window save file
-# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+*-window.json

.templates/CommandTest.java

@@ -1,40 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.commands;
-
-import edu.wpi.first.wpilibj2.command.*;
-import frc4388.robot.subsystems.*;
-import org.junit.*;
-
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verify;
-
-public class CommandTest {
-    private CommandScheduler scheduler = null;
-
-    @Before
-    public void setup() {
-        scheduler = CommandScheduler.getInstance();
-    }
-
-    // TODO: Update this to use an actual command. Won't work with inline commands for some reason
-
-    @Test
-    public void testExample() {
-        // Arrange
-        Drive drive = mock(Drive.class);
-        RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
-
-        // Act
-        scheduler.schedule(command);
-        scheduler.run();
-
-        // Assert
-        verify(drive).driveWithInput(0, 0);
-    }
-}

.templates/SubsystemTest.java

@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import org.junit.*;
-
-import edu.wpi.first.wpilibj.Spark;
-import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.LEDPatterns;
-
-/**
- * Based off the LEDSubsystemTest class
- */
-public class SubsystemTest {
-    @Test
-    public void testConstructor() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-
-        // Act
-        LED led = new LED(ledController);
-
-        // Assert
-        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-
-    @Test
-    public void testPatterns() {
-        // Arrange
-        Spark ledController = mock(Spark.class);
-        LED led = new LED(ledController);
-
-        // Act
-        led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
-
-        // Assert
-        assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.BLUE_BREATH);
-
-        // Assert
-        assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
-
-        // Act
-        led.setPattern(LEDPatterns.SOLID_BLACK);
-
-        // Assert
-        assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
-    }
-}

.templates/UtilityTest.java

@@ -1,61 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-
-import com.kauailabs.navx.frc.AHRS;
-
-import org.junit.*;
-
-import frc4388.mocks.MockPigeonIMU;
-import frc4388.robot.Constants.DriveConstants;
-
-/**
- * Based on the RobotGyroUtilityTest class
- */
-public class UtilityTest {
-    private RobotGyro gyroPigeon;
-    private RobotGyro gyroNavX;
-
-    @Test
-    public void testConstructor() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        AHRS navX = mock(AHRS.class);
-        gyroPigeon = new RobotGyro(pigeon);
-        gyroNavX = new RobotGyro(navX);
-
-        // Assert
-        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
-        assertEquals(pigeon, gyroPigeon.getPigeon());
-        assertEquals(null, gyroPigeon.getNavX());
-        assertEquals(false, gyroNavX.m_isGyroAPigeon);
-        assertEquals(navX, gyroNavX.getNavX());
-        assertEquals(null, gyroNavX.getPigeon());
-    }
-
-    @Test
-    public void testHeadingPigeon() {
-        // Arrange
-        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        gyroPigeon = new RobotGyro(pigeon);
-
-        // Act & Assert
-        assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
-        assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
-        assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
-        assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
-        assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
-        assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
-        assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
-        assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
-        assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
-    }
-}

.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
 }

LICENSE

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2018 FIRST
-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 the FIRST nor the
-      names of its 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 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.

README.md

@@ -1,2 +0,0 @@
-# 2023WayOfTheRobot
-FRC Team 4388 Ridgebotics codebase for the 2023 Charged Up FRC season

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 "2023.1.1"
 }
 
 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()
+            team = project.frc.getTeamNumber()
-        }
+            debug = project.frc.getDebugOrDefault(false)
-    }
+
-    artifacts {
+            artifacts {
-        frcJavaArtifact('frcJava') {
+                // First part is artifact name, 2nd is artifact type
-            targets << "roborio"
+                // getTargetTypeClass is a shortcut to get the class type using a string
-            // Debug can be overridden by command line, for use with VSCode
+
-            debug = frc.getDebugOrDefault(false)
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-        }
+                }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
+
-        fileTreeArtifact('frcStaticFileDeploy') {
+                // Static files artifact
-            // The directory below is the local directory to deploy
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-            files = fileTree(dir: 'src/main/deploy')
+                    files = project.fileTree('src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
+                    directory = '/home/lvuser/deploy'
-            targets << "roborio"
+                }
-            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()
+    implementation wpi.java.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    implementation wpi.java.vendor.java()
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
 
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    implementation wpi.deps.vendor.java()
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
 
-    testImplementation 'junit:junit:4.12'
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
-    testCompile "org.mockito:mockito-core:2.+"
+    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
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-    // upon debugging
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+    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

gradlew

@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
 #
 
 ##############################################################################
-##
+#
-##  Gradle start up script for UN*X
+#   Gradle start up script for POSIX generated by Gradle.
-##
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
+app_path=$0
-# Need this for relative symlinks.
+
-while [ -h "$PRG" ] ; do
+# Need this for daisy-chained symlinks.
-    ls=`ls -ld "$PRG"`
+while
-    link=`expr "$ls" : '.*-> \(.*\)$'`
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
-    if expr "$link" : '/.*' > /dev/null; then
+    [ -h "$app_path" ]
-        PRG="$link"
+do
-    else
+    ls=$( ls -ld "$app_path" )
-        PRG=`dirname "$PRG"`"/$link"
+    link=${ls#*' -> '}
-    fi
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
+
-cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
+case "$( uname )" in                #(
-  CYGWIN* )
+  CYGWIN* )         cygwin=true  ;; #(
-    cygwin=true
+  Darwin* )         darwin=true  ;; #(
-    ;;
+  MSYS* | MINGW* )  msys=true    ;; #(
-  Darwin* )
+  NONSTOP* )        nonstop=true ;;
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,101 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
+    case $MAX_FD in #(
-    if [ $? -eq 0 ] ; then
+      max*)
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+        MAX_FD=$( ulimit -H -n ) ||
-            MAX_FD="$MAX_FD_LIMIT"
+            warn "Could not query maximum file descriptor limit"
-        fi
+    esac
-        ulimit -n $MAX_FD
+    case $MAX_FD in  #(
-        if [ $? -ne 0 ] ; then
+      '' | soft) :;; #(
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
+      *)
-        fi
+        ulimit -n "$MAX_FD" ||
-    else
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
     esac
 fi
 
-# Escape application args
+# Collect all arguments for the java command, stacking in reverse order:
-save () {
+#   * args from the command line
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+#   * the main class name
-    echo " "
+#   * -classpath
-}
+#   * -D...appname settings
-APP_ARGS=`save "$@"`
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
+# For Cygwin or MSYS, switch paths to Windows format before running java
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"

gradlew.bat

@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,10 +25,13 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,38 +64,26 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+set EXIT_CODE=%ERRORLEVEL%
-exit /b 1
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2020'
+        String frcYear = '2023'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/frc4388/robot/RobotMap.java

@@ -12,7 +12,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.RobotGyro;

src/main/java/frc4388/robot/subsystems/LED.java

@@ -7,7 +7,7 @@
 
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 

src/main/java/frc4388/utility/RobotGyro.java

@@ -12,7 +12,7 @@ import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
 import com.kauailabs.navx.frc.AHRS;
 
 import edu.wpi.first.wpilibj.GyroBase;
-import edu.wpi.first.wpiutil.math.MathUtil;
+import edu.wpi.first.math.MathUtil;
 
 /**
  * Gyro class that allows for interchangeable use between a pigeon and a navX

template.config.js

@@ -1,31 +0,0 @@
-/**
- * This file is a configuration file generated by the `Template` extension on `vscode`
- * @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template
- */
-module.exports = {
-  // You can change the template path to another path
-  templateRootPath: "./.templates",
-  // After copying the template file the `replaceFileTextFn` function is executed
-  replaceFileTextFn: (fileText, templateName, utils) => {
-    // @see https://www.npmjs.com/package/change-case
-    const { changeCase } = utils;
-    // You can change the text in the file
-    return fileText
-      .replace(/__templateName__/gm, templateName)
-      .replace(
-        /__templateNameToPascalCase__/gm,
-        changeCase.pascalCase(templateName)
-      )
-      .replace(
-        /__templateNameToParamCase__/gm,
-        changeCase.paramCase(templateName)
-      );
-  },
-  replaceFileNameFn: (fileName, templateName, utils) => {
-    const { path } = utils;
-    // @see https://nodejs.org/api/path.html#path_path_parse_path
-    const { base } = path.parse(fileName);
-    // You can change the file name
-    return base;
-  }
-};

vendordeps/Phoenix.json

@@ -1,180 +0,0 @@
-{
-    "fileName": "Phoenix.json",
-    "name": "CTRE-Phoenix",
-    "version": "5.17.3",
-    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
-    "mavenUrls": [
-        "http://devsite.ctr-electronics.com/maven/release/"
-    ],
-    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-java",
-            "version": "5.17.3"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-java",
-            "version": "5.17.3"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.17.3",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "diagnostics",
-            "version": "5.17.3",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "canutils",
-            "version": "5.17.3",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "platform-stub",
-            "version": "5.17.3",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "core",
-            "version": "5.17.3",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-cpp",
-            "version": "5.17.3",
-            "libName": "CTRE_Phoenix_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-cpp",
-            "version": "5.17.3",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.17.3",
-            "libName": "CTRE_PhoenixCCI",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "diagnostics",
-            "version": "5.17.3",
-            "libName": "CTRE_PhoenixDiagnostics",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "canutils",
-            "version": "5.17.3",
-            "libName": "CTRE_PhoenixCanutils",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "platform-stub",
-            "version": "5.17.3",
-            "libName": "CTRE_PhoenixPlatform",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "core",
-            "version": "5.17.3",
-            "libName": "CTRE_PhoenixCore",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "windowsx86-64",
-                "linuxx86-64"
-            ]
-        }
-    ]
-}

vendordeps/WPILibNewCommands.json

@@ -1,37 +1,37 @@
 {
-    "fileName": "WPILibNewCommands.json",
+  "fileName": "WPILibNewCommands.json",
-    "name": "WPILib-New-Commands",
+  "name": "WPILib-New-Commands",
-    "version": "2020.0.0",
+  "version": "1.0.0",
-    "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-    "mavenUrls": [],
+  "mavenUrls": [],
-    "jsonUrl": "",
+  "jsonUrl": "",
-    "javaDependencies": [
+  "javaDependencies": [
-        {
+      {
-            "groupId": "edu.wpi.first.wpilibNewCommands",
+          "groupId": "edu.wpi.first.wpilibNewCommands",
-            "artifactId": "wpilibNewCommands-java",
+          "artifactId": "wpilibNewCommands-java",
-            "version": "wpilib"
+          "version": "wpilib"
-        }
+      }
-    ],
+  ],
-    "jniDependencies": [],
+  "jniDependencies": [],
-    "cppDependencies": [
+  "cppDependencies": [
-        {
+      {
-            "groupId": "edu.wpi.first.wpilibNewCommands",
+          "groupId": "edu.wpi.first.wpilibNewCommands",
-            "artifactId": "wpilibNewCommands-cpp",
+          "artifactId": "wpilibNewCommands-cpp",
-            "version": "wpilib",
+          "version": "wpilib",
-            "libName": "wpilibNewCommands",
+          "libName": "wpilibNewCommands",
-            "headerClassifier": "headers",
+          "headerClassifier": "headers",
-            "sourcesClassifier": "sources",
+          "sourcesClassifier": "sources",
-            "sharedLibrary": true,
+          "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
+          "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
+          "binaryPlatforms": [
-                "linuxathena",
+              "linuxathena",
-                "linuxraspbian",
+              "linuxarm32",
-                "linuxaarch64bionic",
+              "linuxarm64",
-                "windowsx86-64",
+              "windowsx86-64",
-                "windowsx86",
+              "windowsx86",
-                "linuxx86-64",
+              "linuxx86-64",
-                "osxx86-64"
+              "osxuniversal"
-            ]
+          ]
-        }
+      }
-    ]
+  ]
-}
+}

vendordeps/navx_frc.json

@@ -1,35 +0,0 @@
-{
-    "fileName": "navx_frc.json",
-    "name": "KauaiLabs_navX_FRC",
-    "version": "3.1.413",
-    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "mavenUrls": [
-        "https://repo1.maven.org/maven2/"
-    ],
-    "jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json",
-    "javaDependencies": [
-        {
-            "groupId": "com.kauailabs.navx.frc",
-            "artifactId": "navx-java",
-            "version": "3.1.413"
-        }
-    ],
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "com.kauailabs.navx.frc",
-            "artifactId": "navx-cpp",
-            "version": "3.1.413",
-            "headerClassifier": "headers",
-            "sourcesClassifier": "sources",
-            "sharedLibrary": false,
-            "libName": "navx_frc",
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "linuxathena",
-                "linuxraspbian",
-                "windowsx86-64"
-            ]
-        }
-    ]
-}