Merge pull request #113 from strykeforce/2025-initial

2025 initial

Author: mwitcpalek

build.gradle

@@ -4,17 +4,19 @@ plugins {
     id "java"
     id "idea"
     id "maven-publish"
-    id "org.jetbrains.kotlin.jvm" version "1.7.21"
-    id "com.google.devtools.ksp" version "1.7.21-1.0.8"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "org.jetbrains.kotlin.jvm" version "1.9.0" //1.7.21
+    id "com.google.devtools.ksp" version "1.9.0-1.0.13" //1.7.21-1.0.8
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
     id "com.diffplug.spotless" version "6.12.1"
 }
 
 group = "org.strykeforce"
-version = "24.0.6"
+version = "25.0.0"
 
-sourceCompatibility = JavaVersion.VERSION_17
-targetCompatibility = JavaVersion.VERSION_17
+java {
+    targetCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_17
+}
 
 deploy {
     targets {
@@ -82,7 +84,7 @@ dependencies {
     testImplementation("org.junit.jupiter:junit-jupiter")
     testImplementation('org.assertj:assertj-core:3.23.1')
     testImplementation('org.mockito:mockito-junit-jupiter:4.8.0')
-    testImplementation("org.mockito.kotlin:mockito-kotlin:4.0.0")
+    testImplementation("org.mockito.kotlin:mockito-kotlin:5.4.0") //4.0.0
     testImplementation('org.skyscreamer:jsonassert:1.5.1')
     testRuntimeOnly('ch.qos.logback:logback-classic:1.4.4')
 

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/strykeforce/gyro/SF_AHRS.java

@@ -1,44 +1,28 @@
 package org.strykeforce.gyro;
 
-import com.kauailabs.navx.frc.AHRS;
+// import com.kauailabs.navx.frc.AHRS;
+import com.studica.frc.AHRS;
+import com.studica.frc.AHRS.NavXComType;
+import com.studica.frc.AHRS.NavXUpdateRate;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.I2C;
-import edu.wpi.first.wpilibj.SPI;
-import edu.wpi.first.wpilibj.SerialPort;
 
-public class SF_AHRS extends AHRS implements Gyro {
+public class SF_AHRS implements Gyro {
   private AHRS ahrs;
 
-  public SF_AHRS(SPI.Port spi_port_id, byte update_rate_hz) {
-    ahrs = new AHRS(spi_port_id, update_rate_hz);
+  public SF_AHRS(NavXComType comType) {
+    ahrs = new AHRS(comType);
   }
 
-  public SF_AHRS(SPI.Port spi_port_id, int spi_bitrate, byte update_rate_hz) {
-    ahrs = new AHRS(spi_port_id, spi_bitrate, update_rate_hz);
+  public SF_AHRS(NavXComType comType, NavXUpdateRate updateRate) {
+    ahrs = new AHRS(comType, updateRate);
   }
 
-  public SF_AHRS(I2C.Port i2c_port_id, byte update_rate_hz) {
-    ahrs = new AHRS(i2c_port_id, update_rate_hz);
-  }
-
-  public SF_AHRS(SerialPort.Port serial_port_id, SerialDataType data_type, byte update_rate_hz) {
-    ahrs = new AHRS(serial_port_id, data_type, update_rate_hz);
-  }
-
-  public SF_AHRS(SPI.Port spi_port_id) {
-    ahrs = new AHRS(spi_port_id);
-  }
-
-  public SF_AHRS(I2C.Port i2c_port_id) {
-    ahrs = new AHRS(i2c_port_id);
-  }
-
-  public SF_AHRS(SerialPort.Port serial_port_id) {
-    ahrs = new AHRS(serial_port_id);
+  public SF_AHRS(NavXComType comType, int customRateHz) {
+    ahrs = new AHRS(comType, customRateHz);
   }
 
   public SF_AHRS() {
-    ahrs = new AHRS();
+    ahrs = new AHRS(NavXComType.kMXP_SPI);
   }
 
   @Override

src/main/java/org/strykeforce/gyro/SF_PIGEON2.java

@@ -1,14 +1,19 @@
 package org.strykeforce.gyro;
 
+import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.Pigeon2Configuration;
 import com.ctre.phoenix6.configs.Pigeon2Configurator;
 import com.ctre.phoenix6.hardware.Pigeon2;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
 import org.strykeforce.telemetry.TelemetryService;
 
 public class SF_PIGEON2 implements Gyro {
   private Pigeon2 pigeon2;
   private Pigeon2Configurator configurator;
+  private StatusSignal<Angle> yawGetter;
+  private StatusSignal<AngularVelocity> yawRateGetter;
 
   public SF_PIGEON2(int deviceId) {
     pigeon2 = new Pigeon2(deviceId);
@@ -18,6 +23,8 @@ public SF_PIGEON2(int deviceId) {
   public SF_PIGEON2(int deviceId, String canbus) {
     pigeon2 = new Pigeon2(deviceId, canbus);
     configurator = pigeon2.getConfigurator();
+    yawGetter = pigeon2.getYaw();
+    yawRateGetter = pigeon2.getAngularVelocityZWorld();
   }
 
   @Override
@@ -27,12 +34,12 @@ public void reset() {
 
   @Override
   public double getAngle() {
-    return pigeon2.getAngle();
+    return -yawGetter.refresh().getValueAsDouble();
   }
 
   @Override
   public double getRate() {
-    return pigeon2.getRate();
+    return -yawRateGetter.refresh().getValueAsDouble();
   }
 
   @Override
@@ -49,15 +56,15 @@ public void applyConfig(Pigeon2Configuration config) {
   }
 
   public Double getRoll() {
-    return pigeon2.getRoll().getValue();
+    return pigeon2.getRoll().getValueAsDouble();
   }
 
   public Double getPitch() {
-    return pigeon2.getPitch().getValue();
+    return pigeon2.getPitch().getValueAsDouble();
   }
 
   public Double getYaw() {
-    return pigeon2.getYaw().getValue();
+    return pigeon2.getYaw().getValueAsDouble();
   }
 
   public void registerWith(TelemetryService telemetryService) {