Merge branch 'main' into SparkFlex

Beachbot330 · Jan 2, 2024 · d72adaa · d72adaa
2 parents 130e66f + 0e6ee4a
commit d72adaa
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diff --git a/.github/workflows/manual-publish.yml b/.github/workflows/manual-publish.yml
@@ -13,12 +13,13 @@ jobs:
     name: "Publish"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v4
         with:
-          java-version: 11
+          java-version: 17
+          distribution: 'temurin'
       - name: Publish
         run: ./gradlew publish -PbuildServer -PpublishVersion=${{ github.event.inputs.publish_version }}
         env:

diff --git a/README.md b/README.md
@@ -19,13 +19,13 @@ The WPILib Mission is to enable FIRST teams to focus on writing game-specific so
 Building RobotBuilder is very straightforward. WPILib uses Gradle to compile.
 
 ## Requirements
-- [JDK 17](https://adoptium.net/temurin/releases/?variant=openjdk11&jvmVariant=hotspot&version=17)
+- [JDK 17](https://adoptium.net/temurin/releases/?variant=openjdk17&jvmVariant=hotspot)
 - A c++ Compiler (for c++ compile test). Any one of:
-    - On Linux, install GCC 7+
+    - On Linux, install GCC 11+
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation
     - On macOS, install the Xcode command-line build tools via `xcode-select --install`
     - ARM compiler toolchain
-        - Run `./gradlew installRoboRioToolchain` after cloning this repository
+        - Run `./gradlew installRoboRioToolchain` from a robot project
         - If the WPILib installer was used, this toolchain is already installed
 
 ## Running

diff --git a/src/main/resources/PaletteDescription.yaml b/src/main/resources/PaletteDescription.yaml
@@ -178,9 +178,6 @@ Validators:
   - !DistinctValidator
     name: MotorControllerGroup
     fields: ["MotorController1", "MotorController2", "MotorController3", "MotorController4"]
-  - !DistinctValidator
-    name: KilloughDrive
-    fields: ["Left Motor", "Right Motor", "Back Motor"]
   - !ExistsValidator
     name: ChildDropdownSelected
     ignore: [null, "null", "", 0, 1, 2, 3, "No Choices Available", "None"]
@@ -326,13 +323,13 @@ Palette:
             type: PIDOutput
             validators: [ChildDropdownSelected]
             default: 0
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: P
             default: 1
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: I
             default: 0
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: D
             default: 0
           - !DoubleProperty
@@ -383,13 +380,13 @@ Palette:
             type: PIDOutput
             validators: [ChildDropdownSelected]
             default: 0
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: P
             default: 1
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: I
             default: 0
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: D
             default: 0
           - !DoubleProperty
@@ -494,36 +491,6 @@ Palette:
           - !DoubleProperty
             name: Safety Expiration Time
             default: .1
-      - !Component
-        name: Killough Drive
-        type: Controller
-        supports: {PIDOutput: 3}
-        help: RobotDrive handles tank and arcade drives
-        properties:
-          - !ChildSelectionProperty
-            name: Left Motor
-            type: PIDOutput
-            validators: [KilloughDrive, ChildDropdownSelected]
-            default: 0
-          - !ChildSelectionProperty
-            name: Right Motor
-            type: PIDOutput
-            validators: [KilloughDrive, ChildDropdownSelected]
-            default: 1
-          - !ChildSelectionProperty
-            name: Back Motor
-            type: PIDOutput
-            validators: [KilloughDrive, ChildDropdownSelected]
-            default: 2
-          - !DoubleProperty
-            name: Maximum Output
-            default: 1
-          - !BooleanProperty
-            name: Safety Enabled
-            default: true
-          - !DoubleProperty
-            name: Safety Expiration Time
-            default: .1
 
   - Sensors:
       - !Component
@@ -908,13 +875,13 @@ Palette:
             type: PIDOutput
             validators: [TypeDropdownSelected]
             default: "None"
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: P
             default: 1
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: I
             default: 0
-          - !DoubleProperty
+          - !PositiveDoubleProperty
             name: D
             default: 0
           - !DoubleProperty

diff --git a/src/main/resources/export/cpp/ExportDescription.yaml b/src/main/resources/export/cpp/ExportDescription.yaml
@@ -178,17 +178,6 @@ Instructions:
       #variable($Name).SetSafetyEnabled($Safety_Enabled);
               #variable($Name).SetExpiration(${Safety_Expiration_Time}_s);
               #variable($Name).SetMaxOutput($Maximum_Output);
-  Killough Drive:
-    Defaults: "Component,None"
-    ClassName: "KilloughDrive"
-    Declaration: "frc::${ClassName} #variable($Name){#variable($Left_Motor), #variable($Right_Motor),
-                    #variable($Back_Motor)};"
-    LiveWindow: "AddChild(\"$Short_Name\", &#variable($Name));"
-    Import: "\\#include <frc/drive/${ClassName}.h>"
-    Extra: >
-      #variable($Name).SetSafetyEnabled($Safety_Enabled);
-              #variable($Name).SetExpiration(${Safety_Expiration_Time}_s);
-              #variable($Name).SetMaxOutput($Maximum_Output);
 
   AnalogGyro:
     Defaults: "AnalogInput,Component,None"

diff --git a/src/main/resources/export/cpp/build.gradle b/src/main/resources/export/cpp/build.gradle
@@ -4,6 +4,11 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "${wpilib_version}"
 }
 
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = '2024.+'
+wpi.versions.wpimathVersion = '2024.+'
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployTools.
 deploy {

diff --git a/src/main/resources/export/java/build.gradle b/src/main/resources/export/java/build.gradle
@@ -5,6 +5,11 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "${wpilib_version}"
 }
 
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = '2024.+'
+wpi.versions.wpimathVersion = '2024.+'
+
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17

diff --git a/src/test/java/robotbuilder/TestUtils.java b/src/test/java/robotbuilder/TestUtils.java
@@ -73,7 +73,7 @@ public static RobotTree generateTestTree() {
         arm.add(pid);
         pid.getProperty("P").setValueAndUpdate(2);
         pid.getProperty("I").setValueAndUpdate(1);
-        pid.getProperty("D").setValueAndUpdate(-1);
+        pid.getProperty("D").setValueAndUpdate(0);
         pid.getProperty("Send to SmartDashboard").setValueAndUpdate(true);
         pid.getProperty("Continuous").setValueAndUpdate(true);
         RobotComponent motor = new RobotComponent("Motor", "Motor Controller", tree);
@@ -91,7 +91,7 @@ public static RobotTree generateTestTree() {
         subsystems.add(wrist);
         wrist.getProperty("P").setValueAndUpdate(2);
         wrist.getProperty("I").setValueAndUpdate(1);
-        wrist.getProperty("D").setValueAndUpdate(-1);
+        wrist.getProperty("D").setValueAndUpdate(0.5);
         wrist.getProperty("Continuous").setValueAndUpdate(true);
         RobotComponent wristMotor = new RobotComponent("Motor", "Motor Controller", tree);
         wristMotor.setProperty("Type", "Jaguar");
@@ -173,7 +173,8 @@ public static RobotTree generateTestTree() {
         subsystems.add(dblSol);
         RobotComponent doubleSolenoid2 = new RobotComponent("Double Solenoid", "Double Solenoid", tree);
         //Needed until #422 is fixed
-        doubleSolenoid2.getProperty("Reverse Channel (Solenoid)").setValueAndUpdate("2");
+        doubleSolenoid2.getProperty("Forward Channel (Solenoid)").setValueAndUpdate("3");
+        doubleSolenoid2.getProperty("Reverse Channel (Solenoid)").setValueAndUpdate("4");
         dblSol.add(doubleSolenoid2);
 
         // Create a simple OI