WONT BUILD Part 1 of Fix, still need Choreo

.gitignore

@@ -169,10 +169,19 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
 logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json
+
+# Eclipse generated file for annotation processors
+.factorypath

.vscode/settings.json

@@ -26,5 +26,35 @@
     },
   ],
   "java.test.defaultConfig": "WPIlibUnitTests",
-  "java.debug.settings.onBuildFailureProceed": true
+  "java.import.gradle.annotationProcessing.enabled": false,
+  "java.completion.favoriteStaticMembers": [
+    "org.junit.Assert.*",
+    "org.junit.Assume.*",
+    "org.junit.jupiter.api.Assertions.*",
+    "org.junit.jupiter.api.Assumptions.*",
+    "org.junit.jupiter.api.DynamicContainer.*",
+    "org.junit.jupiter.api.DynamicTest.*",
+    "org.mockito.Mockito.*",
+    "org.mockito.ArgumentMatchers.*",
+    "org.mockito.Answers.*",
+    "edu.wpi.first.units.Units.*"
+  ],
+  "java.completion.filteredTypes": [
+    "java.awt.*",
+    "com.sun.*",
+    "sun.*",
+    "jdk.*",
+    "org.graalvm.*",
+    "io.micrometer.shaded.*",
+    "java.beans.*",
+    "java.util.Base64.*",
+    "java.util.Timer",
+    "java.sql.*",
+    "javax.swing.*",
+    "javax.management.*",
+    "javax.smartcardio.*",
+    "edu.wpi.first.math.proto.*",
+    "edu.wpi.first.math.**.proto.*",
+    "edu.wpi.first.math.**.struct.*",
+  ]
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 111
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
 }
 
 java {
@@ -33,20 +33,14 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                                           // longer exist in deploy directory of this project
                 }
             }
         }
     }
 }
 
-// build docs in /docs folder, don't build for sample
-javadoc {
-    destinationDir = file("docs")
-    include 'org/wildstang/framework/**'
-    include 'org/wildstang/hardware/**'
-    include 'org/wildstang/sample/robot/**'
-}
-
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
 // Set to true to use debug for JNI.
@@ -58,6 +52,7 @@ def includeDesktopSupport = false
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/org/wildstang/framework/auto/steps/SwervePathFollowerStep.java

@@ -14,14 +14,16 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-import com.choreo.lib.*;
+import choreo.*;
+import choreo.trajectory.Trajectory;
+
 import com.google.gson.Gson;
 
 public class SwervePathFollowerStep extends AutoStep {
 
     private static final double mToIn = 39.3701;
     private SwerveDriveTemplate m_drive;
-    private ChoreoTrajectory pathtraj;
+    private Trajectory pathTraj;
 
     // x and y field relative
     private Pose2d fieldAutoPose, fieldRobotPose;

src/main/java/org/wildstang/hardware/roborio/RoboRIOOutputFactory.java

@@ -8,7 +8,7 @@
 import org.wildstang.hardware.roborio.outputs.WsDigitalOutput;
 import org.wildstang.hardware.roborio.outputs.WsDoubleSolenoid;
 import org.wildstang.hardware.roborio.outputs.WsI2COutput;
-import org.wildstang.hardware.roborio.outputs.WsPhoenix;
+// import org.wildstang.hardware.roborio.outputs.WsPhoenix;
 import org.wildstang.hardware.roborio.outputs.WsRelay;
 import org.wildstang.hardware.roborio.outputs.WsServo;
 import org.wildstang.hardware.roborio.outputs.WsSolenoid;
@@ -66,19 +66,19 @@ else if (config instanceof WsRelayConfig) {
             WsRelayConfig c = (WsRelayConfig) config;
             out = new WsRelay(p_output.getName(), c.getChannel());
         }
-        else if (config instanceof WsPhoenixConfig) {
-            WsPhoenixConfig c = (WsPhoenixConfig) config;
-            out = new WsPhoenix(p_output.getName(), c.getChannel(), c.getDefault(),
-                                c.getType(), c.isInverted());
-        }
+        // else if (config instanceof WsPhoenixConfig) {
+        //     WsPhoenixConfig c = (WsPhoenixConfig) config;
+        //     out = new WsPhoenix(p_output.getName(), c.getChannel(), c.getDefault(),
+        //                         c.getType(), c.isInverted());
+        // }
         // Note a WsPhoenixFollower must be defined after its corresponding WsPhoenix
-        else if (config instanceof WsPhoenixFollowerConfig) {
-            WsPhoenixFollowerConfig c = (WsPhoenixFollowerConfig) config;
-            // Returns the follwed WsPhoenix because a return is required
-            // and duplicate outputs are thrown out when encountered.
-            out = Core.getOutputManager().getOutput(c.getFollowing());
-            ((WsPhoenix) out).addFollower(c.getChannel(), c.getType(), c.isOpposing());
-        }
+        // else if (config instanceof WsPhoenixFollowerConfig) {
+        //     WsPhoenixFollowerConfig c = (WsPhoenixFollowerConfig) config;
+        //     // Returns the follwed WsPhoenix because a return is required
+        //     // and duplicate outputs are thrown out when encountered.
+        //     out = Core.getOutputManager().getOutput(c.getFollowing());
+        //     ((WsPhoenix) out).addFollower(c.getChannel(), c.getType(), c.isOpposing());
+        // }
         else if (config instanceof WsSparkConfig) {
             WsSparkConfig c = (WsSparkConfig) config;
             out = new WsSpark(p_output.getName(), c.getChannel(), c.getType(), c.getDefault(), c.isInverted());