Revert "Replace usage of deprecated ChassisSpeeds methods" (#932)

.github/workflows/build-pplib-release.yaml

@@ -14,16 +14,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: PPLib-Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/ubuntu-base:22.04
             artifact-name: PPLib-Linux
             build-options: "-Ponlylinuxx86-64"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm64
             build-options: "-Ponlylinuxarm64"
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"
@@ -56,6 +56,8 @@ jobs:
           path: pathplannerlib/build/allOutputs
 
   build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:

.github/workflows/pplib-ci.yml

@@ -117,16 +117,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: PPLib-Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/ubuntu-base:22.04
             artifact-name: PPLib-Linux
             build-options: "-Ponlylinuxx86-64"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm64
             build-options: "-Ponlylinuxarm64"
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"

pathplannerlib/build.gradle

@@ -2,16 +2,21 @@ plugins {
     id 'cpp'
     id 'java'
     id 'google-test'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-    id 'edu.wpi.first.NativeUtils' version '2025.3.0'
+    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
+    id 'edu.wpi.first.NativeUtils' version '2025.9.0'
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode' version '2.1.0'
     id 'com.diffplug.spotless' version '6.11.0'
     id 'jacoco'
 }
 
-sourceCompatibility = JavaVersion.VERSION_17
-targetCompatibility = JavaVersion.VERSION_17
+// WPILib Version
+ext.wpilibVersion = "2025.+"
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 repositories {
     mavenCentral()
@@ -27,20 +32,20 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2025.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2025.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2025.+'
-    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2025.+'
-    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
-    implementation 'edu.wpi.first.hal:hal-java:2025.+'
+    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
+    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpilibVersion"
+    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
+    implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:$wpilibVersion"
     implementation "org.ejml:ejml-simple:0.43.1"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
     implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
-    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-4'
+    implementation 'edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-2'
 
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.9.0'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.9.0'
@@ -163,7 +168,7 @@ javadoc {
 apply from: 'publish.gradle'
 
 wrapper {
-    gradleVersion '8.5'
+    gradleVersion '8.11'
 }
 
 jacocoTestReport {

pathplannerlib/config.gradle

@@ -8,10 +8,10 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2025.+"
-            opencvYear = "frc2024"
+            wpiVersion = wpilibVersion
+            opencvYear = "frc2025"
             niLibVersion = "2025.0.0"
-            opencvVersion = "4.8.0-4"
+            opencvVersion = "4.10.0-2"
         }
     }
 }

pathplannerlib/gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java

@@ -5,6 +5,7 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import java.util.Optional;
 import java.util.function.DoubleSupplier;
@@ -16,6 +17,7 @@ public class PPHolonomicDriveController implements PathFollowingController {
   private final PIDController yController;
   private final PIDController rotationController;
 
+  private Translation2d translationError = new Translation2d();
   private boolean isEnabled = true;
 
   private static Supplier<Optional<Rotation2d>> rotationTargetOverride = null;
@@ -96,10 +98,10 @@ public ChassisSpeeds calculateRobotRelativeSpeeds(
     double xFF = targetState.fieldSpeeds.vxMetersPerSecond;
     double yFF = targetState.fieldSpeeds.vyMetersPerSecond;
 
+    this.translationError = currentPose.getTranslation().minus(targetState.pose.getTranslation());
+
     if (!this.isEnabled) {
-      ChassisSpeeds ret = new ChassisSpeeds(xFF, yFF, 0);
-      ret.toRobotRelativeSpeeds(currentPose.getRotation());
-      return ret;
+      return ChassisSpeeds.fromFieldRelativeSpeeds(xFF, yFF, 0, currentPose.getRotation());
     }
 
     double xFeedback = this.xController.calculate(currentPose.getX(), targetState.pose.getX());
@@ -125,10 +127,8 @@ public ChassisSpeeds calculateRobotRelativeSpeeds(
       rotationFeedback = rotFeedbackOverride.getAsDouble();
     }
 
-    ChassisSpeeds ret =
-        new ChassisSpeeds(xFF + xFeedback, yFF + yFeedback, rotationFF + rotationFeedback);
-    ret.toRobotRelativeSpeeds(currentPose.getRotation());
-    return ret;
+    return ChassisSpeeds.fromFieldRelativeSpeeds(
+        xFF + xFeedback, yFF + yFeedback, rotationFF + rotationFeedback, currentPose.getRotation());
   }
 
   /**

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java

@@ -650,8 +650,9 @@ public Optional<PathPlannerTrajectory> getIdealTrajectory(RobotConfig robotConfi
       // The ideal starting state is known, generate the ideal trajectory
       Rotation2d heading = getInitialHeading();
       Translation2d fieldSpeeds = new Translation2d(idealStartingState.velocityMPS(), heading);
-      ChassisSpeeds startingSpeeds = new ChassisSpeeds(fieldSpeeds.getX(), fieldSpeeds.getY(), 0.0);
-      startingSpeeds.toRobotRelativeSpeeds(idealStartingState.rotation());
+      ChassisSpeeds startingSpeeds =
+          ChassisSpeeds.fromFieldRelativeSpeeds(
+              fieldSpeeds.getX(), fieldSpeeds.getY(), 0.0, idealStartingState.rotation());
       idealTrajectory =
           Optional.of(
               generateTrajectory(startingSpeeds, idealStartingState.rotation(), robotConfig));

pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java

@@ -70,7 +70,7 @@ public PathPlannerTrajectory(
 
       // Set the initial module velocities
       ChassisSpeeds fieldStartingSpeeds =
-          fromRobotRelativeSpeeds(startingSpeeds, states.get(0).pose.getRotation());
+          ChassisSpeeds.fromRobotRelativeSpeeds(startingSpeeds, states.get(0).pose.getRotation());
       var initialStates = config.toSwerveModuleStates(fieldStartingSpeeds);
       for (int m = 0; m < config.numModules; m++) {
         states.get(0).moduleStates[m].speedMetersPerSecond = initialStates[m].speedMetersPerSecond;
@@ -91,7 +91,7 @@ public PathPlannerTrajectory(
           new ChassisSpeeds(endSpeedTrans.getX(), endSpeedTrans.getY(), 0.0);
       var endStates =
           config.toSwerveModuleStates(
-              fromFieldRelativeSpeeds(
+              ChassisSpeeds.fromFieldRelativeSpeeds(
                   endFieldSpeeds, states.get(states.size() - 1).pose.getRotation()));
       for (int m = 0; m < config.numModules; m++) {
         states.get(states.size() - 1).moduleStates[m].speedMetersPerSecond =
@@ -136,9 +136,10 @@ public PathPlannerTrajectory(
         state.timeSeconds = prevState.timeSeconds + dt;
 
         ChassisSpeeds prevRobotSpeeds =
-            fromFieldRelativeSpeeds(prevState.fieldSpeeds, prevState.pose.getRotation());
+            ChassisSpeeds.fromFieldRelativeSpeeds(
+                prevState.fieldSpeeds, prevState.pose.getRotation());
         ChassisSpeeds robotSpeeds =
-            fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.getRotation());
+            ChassisSpeeds.fromFieldRelativeSpeeds(state.fieldSpeeds, state.pose.getRotation());
         double chassisAccelX =
             (robotSpeeds.vxMetersPerSecond - prevRobotSpeeds.vxMetersPerSecond) / dt;
         double chassisAccelY =
@@ -367,8 +368,8 @@ private static void forwardAccelPass(
       }
 
       ChassisSpeeds chassisAccel =
-          new ChassisSpeeds(accelVec.getX(), accelVec.getY(), angularAccel);
-      chassisAccel.toRobotRelativeSpeeds(state.pose.getRotation());
+          ChassisSpeeds.fromFieldRelativeSpeeds(
+              accelVec.getX(), accelVec.getY(), angularAccel, state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
         double moduleAcceleration = accelStates[m].speedMetersPerSecond;
@@ -445,8 +446,9 @@ private static void forwardAccelPass(
           maxChassisVel,
           maxChassisAngVel);
 
-      state.fieldSpeeds = config.toChassisSpeeds(state.moduleStates);
-      state.fieldSpeeds.toFieldRelativeSpeeds(state.pose.getRotation());
+      state.fieldSpeeds =
+          ChassisSpeeds.fromRobotRelativeSpeeds(
+              config.toChassisSpeeds(state.moduleStates), state.pose.getRotation());
       state.linearVelocity =
           Math.hypot(state.fieldSpeeds.vxMetersPerSecond, state.fieldSpeeds.vyMetersPerSecond);
     }
@@ -508,8 +510,9 @@ private static void reverseAccelPass(
       }
 
       ChassisSpeeds chassisAccel =
-          new ChassisSpeeds(accelVec.getX(), accelVec.getY(), angularAccel);
-      chassisAccel.toRobotRelativeSpeeds(state.pose.getRotation());
+          ChassisSpeeds.fromFieldRelativeSpeeds(
+              new ChassisSpeeds(accelVec.getX(), accelVec.getY(), angularAccel),
+              state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
         double moduleAcceleration = accelStates[m].speedMetersPerSecond;
@@ -576,8 +579,9 @@ private static void reverseAccelPass(
           maxChassisVel,
           maxChassisAngVel);
 
-      state.fieldSpeeds = config.toChassisSpeeds(state.moduleStates);
-      state.fieldSpeeds.toFieldRelativeSpeeds(state.pose.getRotation());
+      state.fieldSpeeds =
+          ChassisSpeeds.fromRobotRelativeSpeeds(
+              config.toChassisSpeeds(state.moduleStates), state.pose.getRotation());
       state.linearVelocity =
           Math.hypot(state.fieldSpeeds.vxMetersPerSecond, state.fieldSpeeds.vyMetersPerSecond);
     }
@@ -767,24 +771,4 @@ private static Rotation2d cosineInterpolate(Rotation2d start, Rotation2d end, do
     double t2 = (1.0 - Math.cos(t * Math.PI)) / 2.0;
     return start.interpolate(end, t2);
   }
-
-  // TODO: Remove if ChassisSpeeds factory methods get un-deprecated
-  private static ChassisSpeeds fromRobotRelativeSpeeds(
-      ChassisSpeeds speeds, Rotation2d robotRotation) {
-    ChassisSpeeds ret =
-        new ChassisSpeeds(
-            speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond);
-    ret.toFieldRelativeSpeeds(robotRotation);
-    return ret;
-  }
-
-  // TODO: Remove if ChassisSpeeds factory methods get un-deprecated
-  private static ChassisSpeeds fromFieldRelativeSpeeds(
-      ChassisSpeeds speeds, Rotation2d robotRotation) {
-    ChassisSpeeds ret =
-        new ChassisSpeeds(
-            speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond);
-    ret.toRobotRelativeSpeeds(robotRotation);
-    return ret;
-  }
 }

pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java

@@ -317,7 +317,7 @@ public SwerveSetpoint generateSetpoint(
             prevSetpoint.robotRelativeSpeeds().vxMetersPerSecond + min_s * dx,
             prevSetpoint.robotRelativeSpeeds().vyMetersPerSecond + min_s * dy,
             prevSetpoint.robotRelativeSpeeds().omegaRadiansPerSecond + min_s * dtheta);
-    retSpeeds.discretize(dt);
+    retSpeeds = ChassisSpeeds.discretize(retSpeeds, dt);
 
     double prevVelX = prevSetpoint.robotRelativeSpeeds().vxMetersPerSecond;
     double prevVelY = prevSetpoint.robotRelativeSpeeds().vyMetersPerSecond;