update for current 2024 wpilib dev builds

mjansen4857 · Oct 6, 2023 · 876283a · 876283a
1 parent 204a608
commit 876283a
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diff --git a/pathplannerlib/build.gradle b/pathplannerlib/build.gradle
@@ -27,14 +27,14 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2023.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2023.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2023.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2023.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2023.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2023.+'
-    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2023.+'
-    implementation 'edu.wpi.first.hal:hal-java:2023.+'
+    implementation 'edu.wpi.first.cscore:cscore-java:2024.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2024.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2024.+'
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2024.+'
+    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.+'
+    implementation 'edu.wpi.first.hal:hal-java:2024.+'
     implementation "org.ejml:ejml-simple:0.41"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"

diff --git a/pathplannerlib/config.gradle b/pathplannerlib/config.gradle
@@ -6,12 +6,12 @@ nativeUtils.withCrossRoboRIO()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2023.+"
-            niLibVersion = "2023.+"
+            wpiVersion = "2024.+"
+            niLibVersion = "2024.+"
             opencvVersion = "4.6.0-3"
             googleTestVersion = "1.11.0-4"
             imguiVersion = "1.88-9"
-            wpimathVersion = "2023.+"
+            wpimathVersion = "2024.+"
         }
     }
 }

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp
@@ -7,22 +7,10 @@ FollowPathCommand::FollowPathCommand(std::shared_ptr<PathPlannerPath> path,
 		std::function<frc::ChassisSpeeds()> speedsSupplier,
 		std::function<void(frc::ChassisSpeeds)> output,
 		std::unique_ptr<PathFollowingController> controller,
-		ReplanningConfig replanningConfig,
-		std::initializer_list<frc2::Subsystem*> requirements) : m_path(path), m_poseSupplier(
-		poseSupplier), m_speedsSupplier(speedsSupplier), m_output(output), m_controller(
-		std::move(controller)), m_replanningConfig(replanningConfig) {
-	AddRequirements(requirements);
-}
-
-FollowPathCommand::FollowPathCommand(std::shared_ptr<PathPlannerPath> path,
-		std::function<frc::Pose2d()> poseSupplier,
-		std::function<frc::ChassisSpeeds()> speedsSupplier,
-		std::function<void(frc::ChassisSpeeds)> output,
-		std::unique_ptr<PathFollowingController> controller,
-		ReplanningConfig replanningConfig,
-		std::span<frc2::Subsystem*> requirements) : m_path(path), m_poseSupplier(
-		poseSupplier), m_speedsSupplier(speedsSupplier), m_output(output), m_controller(
-		std::move(controller)), m_replanningConfig(replanningConfig) {
+		ReplanningConfig replanningConfig, frc2::Requirements requirements) : m_path(
+		path), m_poseSupplier(poseSupplier), m_speedsSupplier(speedsSupplier), m_output(
+		output), m_controller(std::move(controller)), m_replanningConfig(
+		replanningConfig) {
 	AddRequirements(requirements);
 }
 

diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h
@@ -2,13 +2,12 @@
 
 #include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>
+#include <frc2/command/Requirements.h>
 #include <memory>
 #include <functional>
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/ChassisSpeeds.h>
 #include <frc/Timer.h>
-#include <initializer_list>
-#include <span>
 #include <units/velocity.h>
 #include <units/length.h>
 #include <units/time.h>
@@ -40,28 +39,7 @@ class FollowPathCommand: public frc2::CommandHelper<frc2::Command,
 			std::function<frc::ChassisSpeeds()> speedsSupplier,
 			std::function<void(frc::ChassisSpeeds)> output,
 			std::unique_ptr<PathFollowingController> controller,
-			ReplanningConfig replanningConfig,
-			std::initializer_list<frc2::Subsystem*> requirements);
-
-	/**
-	 * Construct a base path following command
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this
-	 *     command
-	 * @param controller Path following controller that will be used to follow the path
-	 * @param replanningConfig Path replanning configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 */
-	FollowPathCommand(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output,
-			std::unique_ptr<PathFollowingController> controller,
-			ReplanningConfig replanningConfig,
-			std::span<frc2::Subsystem*> requirements);
+			ReplanningConfig replanningConfig, frc2::Requirements requirements);
 
 	void Initialize() override;
 

diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathHolonomic.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathHolonomic.h
@@ -34,43 +34,8 @@ class FollowPathHolonomic: public FollowPathCommand {
 			PIDConstants translationConstants, PIDConstants rotationConstants,
 			units::meters_per_second_t maxModuleSpeed,
 			units::meter_t driveBaseRadius, ReplanningConfig replanningConfig,
-			std::initializer_list<frc2::Subsystem*> requirements,
-			units::second_t period = 0.02_s) : FollowPathCommand(path,
-			poseSupplier, speedsSupplier, output,
-			std::make_unique < PPHolonomicDriveController
-					> (translationConstants, rotationConstants, maxModuleSpeed, driveBaseRadius, period),
-			replanningConfig, requirements) {
-	}
-
-	/**
-	 * Construct a path following command that will use a holonomic drive controller for holonomic
-	 * drive trains
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this
-	 *     command
-	 * @param translationConstants PID constants for the translation PID controllers
-	 * @param rotationConstants PID constants for the rotation controller
-	 * @param maxModuleSpeed The max speed of a drive module in meters/sec
-	 * @param driveBaseRadius The radius of the drive base in meters. For swerve drive, this is the
-	 *     distance from the center of the robot to the furthest module. For mecanum, this is the
-	 *     drive base width / 2
-	 * @param replanningConfig Path replanning configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 * @param period Period of the control loop in seconds, default is 0.02s
-	 */
-	FollowPathHolonomic(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output,
-			PIDConstants translationConstants, PIDConstants rotationConstants,
-			units::meters_per_second_t maxModuleSpeed,
-			units::meter_t driveBaseRadius, ReplanningConfig replanningConfig,
-			std::span<frc2::Subsystem*> requirements, units::second_t period =
-					0.02_s) : FollowPathCommand(path, poseSupplier,
-			speedsSupplier, output,
+			frc2::Requirements requirements, units::second_t period = 0.02_s) : FollowPathCommand(
+			path, poseSupplier, speedsSupplier, output,
 			std::make_unique < PPHolonomicDriveController
 					> (translationConstants, rotationConstants, maxModuleSpeed, driveBaseRadius, period),
 			replanningConfig, requirements) {
@@ -92,32 +57,7 @@ class FollowPathHolonomic: public FollowPathCommand {
 			std::function<frc::Pose2d()> poseSupplier,
 			std::function<frc::ChassisSpeeds()> speedsSupplier,
 			std::function<void(frc::ChassisSpeeds)> output,
-			HolonomicPathFollowerConfig config,
-			std::initializer_list<frc2::Subsystem*> requirements) : FollowPathHolonomic(
-			path, poseSupplier, speedsSupplier, output,
-			config.translationConstants, config.rotationConstants,
-			config.maxModuleSpeed, config.driveBaseRadius,
-			config.replanningConfig, requirements, config.period) {
-	}
-
-	/**
-	 * Construct a path following command that will use a holonomic drive controller for holonomic
-	 * drive trains
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this
-	 *     command
-	 * @param config Holonomic path follower configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 */
-	FollowPathHolonomic(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output,
-			HolonomicPathFollowerConfig config,
-			std::span<frc2::Subsystem*> requirements) : FollowPathHolonomic(
+			HolonomicPathFollowerConfig config, frc2::Requirements requirements) : FollowPathHolonomic(
 			path, poseSupplier, speedsSupplier, output,
 			config.translationConstants, config.rotationConstants,
 			config.maxModuleSpeed, config.driveBaseRadius,

diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathLTV.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathLTV.h
@@ -26,40 +26,12 @@ class FollowPathLTV: public FollowPathCommand {
 			std::function<void(frc::ChassisSpeeds)> output,
 			const wpi::array<double, 3> &Qelms,
 			const wpi::array<double, 2> &Relms, units::second_t dt,
-			ReplanningConfig replanningConfig,
-			std::initializer_list<frc2::Subsystem*> requirements) : FollowPathCommand(
+			ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
 			path, poseSupplier, speedsSupplier, output,
 			std::make_unique < PPLTVController > (Qelms, Relms, dt),
 			replanningConfig, requirements) {
 	}
 
-	/**
-	 * Create a path following command that will use an LTV unicycle controller for differential drive
-	 * trains
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this command
-	 * @param Qelems The maximum desired error tolerance for each state.
-	 * @param Relems The maximum desired control effort for each input.
-	 * @param dt The amount of time between each robot control loop, default is 0.02s
-	 * @param replanningConfig Path replanning configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 */
-	FollowPathLTV(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output,
-			const wpi::array<double, 3> &Qelms,
-			const wpi::array<double, 2> &Relms, units::second_t dt,
-			ReplanningConfig replanningConfig,
-			std::span<frc2::Subsystem*> requirements) : FollowPathCommand(path,
-			poseSupplier, speedsSupplier, output,
-			std::make_unique < PPLTVController > (Qelms, Relms, dt),
-			replanningConfig, requirements) {
-	}
-
 	/**
 	 * Create a path following command that will use an LTV unicycle controller for differential drive
 	 * trains
@@ -76,34 +48,10 @@ class FollowPathLTV: public FollowPathCommand {
 			std::function<frc::Pose2d()> poseSupplier,
 			std::function<frc::ChassisSpeeds()> speedsSupplier,
 			std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
-			ReplanningConfig replanningConfig,
-			std::initializer_list<frc2::Subsystem*> requirements) : FollowPathCommand(
+			ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
 			path, poseSupplier, speedsSupplier, output,
 			std::make_unique < PPLTVController > (dt), replanningConfig,
 			requirements) {
 	}
-
-	/**
-	 * Create a path following command that will use an LTV unicycle controller for differential drive
-	 * trains
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this command
-	 * @param dt The amount of time between each robot control loop, default is 0.02s
-	 * @param replanningConfig Path replanning configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 */
-	FollowPathLTV(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
-			ReplanningConfig replanningConfig,
-			std::span<frc2::Subsystem*> requirements) : FollowPathCommand(path,
-			poseSupplier, speedsSupplier, output,
-			std::make_unique < PPLTVController > (dt), replanningConfig,
-			requirements) {
-	}
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathRamsete.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/FollowPathRamsete.h
@@ -27,41 +27,12 @@ class FollowPathRamsete: public FollowPathCommand {
 			std::function<void(frc::ChassisSpeeds)> output,
 			units::unit_t<frc::RamseteController::b_unit> b,
 			units::unit_t<frc::RamseteController::zeta_unit> zeta,
-			ReplanningConfig replanningConfig,
-			std::initializer_list<frc2::Subsystem*> requirements) : FollowPathCommand(
+			ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
 			path, poseSupplier, speedsSupplier, output,
 			std::make_unique < PPRamseteController > (b, zeta),
 			replanningConfig, requirements) {
 	}
 
-	/**
-	 * Construct a path following command that will use a Ramsete path following controller for
-	 * differential drive trains
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this command
-	 * @param b Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
-	 *     aggressive like a proportional term.
-	 * @param zeta Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
-	 *     more damping in response.
-	 * @param replanningConfig Path replanning configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 */
-	FollowPathRamsete(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output,
-			units::unit_t<frc::RamseteController::b_unit> b,
-			units::unit_t<frc::RamseteController::zeta_unit> zeta,
-			ReplanningConfig replanningConfig,
-			std::span<frc2::Subsystem*> requirements) : FollowPathCommand(path,
-			poseSupplier, speedsSupplier, output,
-			std::make_unique < PPRamseteController > (b, zeta),
-			replanningConfig, requirements) {
-	}
-
 	/**
 	 * Construct a path following command that will use a Ramsete path following controller for
 	 * differential drive trains
@@ -77,33 +48,10 @@ class FollowPathRamsete: public FollowPathCommand {
 			std::function<frc::Pose2d()> poseSupplier,
 			std::function<frc::ChassisSpeeds()> speedsSupplier,
 			std::function<void(frc::ChassisSpeeds)> output,
-			ReplanningConfig replanningConfig,
-			std::initializer_list<frc2::Subsystem*> requirements) : FollowPathCommand(
+			ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
 			path, poseSupplier, speedsSupplier, output,
 			std::make_unique<PPRamseteController>(), replanningConfig,
 			requirements) {
 	}
-
-	/**
-	 * Construct a path following command that will use a Ramsete path following controller for
-	 * differential drive trains
-	 *
-	 * @param path The path to follow
-	 * @param poseSupplier Function that supplies the current field-relative pose of the robot
-	 * @param speedsSupplier Function that supplies the current robot-relative chassis speeds
-	 * @param output Function that will apply the robot-relative output speeds of this command
-	 * @param replanningConfig Path replanning configuration
-	 * @param requirements Subsystems required by this command, usually just the drive subsystem
-	 */
-	FollowPathRamsete(std::shared_ptr<PathPlannerPath> path,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> speedsSupplier,
-			std::function<void(frc::ChassisSpeeds)> output,
-			ReplanningConfig replanningConfig,
-			std::span<frc2::Subsystem*> requirements) : FollowPathCommand(path,
-			poseSupplier, speedsSupplier, output,
-			std::make_unique<PPRamseteController>(), replanningConfig,
-			requirements) {
-	}
 };
 }
diff --git a/...annerlib/src/main/native/include/pathplanner/lib/controllers/PPHolonomicDriveController.h b/...annerlib/src/main/native/include/pathplanner/lib/controllers/PPHolonomicDriveController.h
@@ -74,8 +74,8 @@ class PPHolonomicDriveController: public PathFollowingController {
 private:
 	using rpsPerMps_t = units::unit_t<units::compound_unit<units::radians_per_second, units::inverse<units::meters_per_second>>>;
 
-	frc2::PIDController m_xController;
-	frc2::PIDController m_yController;
+	frc::PIDController m_xController;
+	frc::PIDController m_yController;
 	frc::ProfiledPIDController<units::radians> m_rotationController;
 	units::meters_per_second_t m_maxModuleSpeed;
 	rpsPerMps_t m_mpsToRps;

diff --git a/pathplannerlib/vendordeps/WPILibNewCommands.json b/pathplannerlib/vendordeps/WPILibNewCommands.json
@@ -1,7 +1,7 @@
 {
     "fileName": "WPILibNewCommands.json",
     "name": "WPILib-New-Commands",
-    "version": "2023.+",
+    "version": "2024.+",
     "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
     "mavenUrls": [],
     "jsonUrl": "",
@@ -17,7 +17,7 @@
         {
             "groupId": "edu.wpi.first.wpilibNewCommands",
             "artifactId": "wpilibNewCommands-cpp",
-            "version": "2023.+",
+            "version": "2024.+",
             "libName": "wpilibNewCommands",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",