Merge branch 'main' of https://www.github.com/team4099/FalconUtils

Author: 00magikarp

build.gradle

@@ -1,11 +1,13 @@
+import org.jetbrains.kotlin.gradle.dsl.JvmTarget
+
 plugins {
 	id "idea"
 	id 'maven-publish'
-	id "org.jetbrains.kotlin.jvm" version "1.6.0"
-	id "edu.wpi.first.GradleRIO" version "2025.3.2"
-	id "com.diffplug.spotless" version "6.3.0"
+	id "org.jetbrains.kotlin.jvm" version "2.3.0"
+	id "edu.wpi.first.GradleRIO" version "2026.2.1"
+	id "com.diffplug.spotless" version "6.25.0"
 	id "com.peterabeles.gversion" version "1.10"
-	id "org.jetbrains.kotlinx.kover" version "0.4.2"
+	id "org.jetbrains.kotlinx.kover" version "0.8.3"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -20,7 +22,6 @@ java {
 // do not change main class (does not run without it being Main
 repositories {
 	mavenCentral()
-	jcenter()
 	maven { url "https://jitpack.io" }
 }
 // Defining my dependencies. In this case, WPILib (+ friends)
@@ -48,6 +49,7 @@ dependencies {
 
 test {
 	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 publishing {
@@ -84,12 +86,17 @@ spotless {
 			exclude "**/BuildConstants.kt", "**/build/**"
 		}
 		ktfmt()
-		ktlint().userData(['max_line_length': '120', 'insert_final_newline': 'true', 'indent_size': '2', 'continuation_indent_size': '2'])
 	}
 }
 
 wrapper {
-	gradleVersion = '7.3.3'
+	gradleVersion = '8.6.0'
+}
+
+jar {
+	from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+	from sourceSets.main.allSource
+	duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 wpi.java.configureExecutableTasks(jar)
@@ -100,9 +107,8 @@ tasks.withType(JavaCompile) {
 }
 
 compileKotlin {
-	kotlinOptions {
-		freeCompilerArgs = ["-XXLanguage:+InlineClasses"]
-		jvmTarget="17"
+	compilerOptions {
+		jvmTarget.set(JvmTarget.JVM_17)
 	}
 }
 

src/main/kotlin/org/team4099/lib/Extensions.kt

@@ -1,10 +1,10 @@
 package org.team4099.lib
 
-import org.team4099.lib.units.UnitKey
-import org.team4099.lib.units.Value
 import kotlin.math.abs
 import kotlin.math.max
 import kotlin.math.min
+import org.team4099.lib.units.UnitKey
+import org.team4099.lib.units.Value
 
 /**
  * Determines if another value is near this Double.
@@ -22,7 +22,7 @@ inline fun Double.around(around: Double, tolerance: Double): Boolean {
  *
  * @param deadband The range in which the value will be forced to zero.
  * @return This value adjusted to smoothly increase from zero if outside the deadband, zero if
- * inside the deadband.
+ *   inside the deadband.
  */
 inline fun Double.smoothDeadband(deadband: Double): Double {
   return if (abs(this) < deadband) {
@@ -60,7 +60,7 @@ inline fun Int.limit(lowerBound: Int, upperBound: Int): Int {
  * @param a The first value to interpolate between.
  * @param b The second value to interpolate between.
  * @param x The scalar that determines where the returned value falls between [a] and [b]. Limited
- * to between 0 and 1 inclusive.
+ *   to between 0 and 1 inclusive.
  * @return A value between [a] and [b] determined by [x].
  */
 inline fun interpolate(a: Double, b: Double, x: Double): Double {
@@ -73,7 +73,7 @@ inline fun interpolate(a: Double, b: Double, x: Double): Double {
  * @param a The first value to interpolate between.
  * @param b The second value to interpolate between.
  * @param x The scalar that determines where the returned value falls between [a] and [b]. Limited
- * to between 0 and 1 inclusive.
+ *   to between 0 and 1 inclusive.
  * @return A value between [a] and [b] determined by [x].
  */
 inline fun <T : UnitKey> interpolate(a: Value<T>, b: Value<T>, x: Double): Value<T> {

src/main/kotlin/org/team4099/lib/apriltag/AprilTag.kt

@@ -1,7 +1,7 @@
 package org.team4099.lib.apriltag
 
-import org.team4099.lib.geometry.Pose3d
 import edu.wpi.first.apriltag.AprilTag as AprilTagWPI
+import org.team4099.lib.geometry.Pose3d
 
 class AprilTag(val id: Int, val pose: Pose3d) {
   constructor(apriltagWpilib: AprilTagWPI) : this(apriltagWpilib.ID, Pose3d(apriltagWpilib.pose)) {}

src/main/kotlin/org/team4099/lib/apriltag/AprilTagFieldLayout.kt

@@ -10,19 +10,21 @@ import org.team4099.lib.units.base.meters
 import org.team4099.lib.units.derived.radians
 
 class AprilTagFieldLayout(
-  val aprilTags: List<AprilTag>,
-  val fieldLength: Length,
-  val fieldWidth: Length
+    val aprilTags: List<AprilTag>,
+    val fieldLength: Length,
+    val fieldWidth: Length,
 ) {
 
   init {
     setOrigin(OriginPosition.kBlueAllianceWallRightSide)
   }
 
   val apriltagFieldLayoutWPILIB =
-    AprilTagFieldLayout(
-      aprilTags.map { it.apriltagWpilib }, fieldLength.inMeters, fieldWidth.inMeters
-    )
+      AprilTagFieldLayout(
+          aprilTags.map { it.apriltagWpilib },
+          fieldLength.inMeters,
+          fieldWidth.inMeters,
+      )
 
   var origin = Pose3d()
 
@@ -35,20 +37,20 @@ class AprilTagFieldLayout(
 
   fun setOrigin(newOrigin: OriginPosition) {
     origin =
-      when (newOrigin) {
-        OriginPosition.kBlueAllianceWallRightSide -> Pose3d()
-        OriginPosition.kRedAllianceWallRightSide ->
-          Pose3d(
-            Translation3d(fieldLength, fieldWidth, 0.meters),
-            Rotation3d(0.radians, 0.radians, Math.PI.radians)
-          )
-      }
+        when (newOrigin) {
+          OriginPosition.kBlueAllianceWallRightSide -> Pose3d()
+          OriginPosition.kRedAllianceWallRightSide ->
+              Pose3d(
+                  Translation3d(fieldLength, fieldWidth, 0.meters),
+                  Rotation3d(0.radians, 0.radians, Math.PI.radians),
+              )
+        }
   }
 
   data class FieldDimensions(val fieldWidth: Length, val fieldLength: Length)
 
   enum class OriginPosition {
     kBlueAllianceWallRightSide,
-    kRedAllianceWallRightSide
+    kRedAllianceWallRightSide,
   }
 }

src/main/kotlin/org/team4099/lib/controller/ArmFeedforward.kt

@@ -1,5 +1,6 @@
 package org.team4099.lib.controller
 
+import edu.wpi.first.math.controller.ArmFeedforward as WPIArmFeedforward
 import org.team4099.lib.units.AngularAcceleration
 import org.team4099.lib.units.AngularVelocity
 import org.team4099.lib.units.derived.AccelerationFeedforward
@@ -20,97 +21,109 @@ import org.team4099.lib.units.derived.volts
 import org.team4099.lib.units.inRadiansPerSecond
 import org.team4099.lib.units.inRadiansPerSecondPerSecond
 import org.team4099.lib.units.perSecond
-import edu.wpi.first.math.controller.ArmFeedforward as WPIArmFeedforward
 
 class ArmFeedforward(
-  kS: StaticFeedforward<Volt>,
-  kG: AngularGravityFeedforward,
-  kV: VelocityFeedforward<Radian, Volt>,
-  kA: AccelerationFeedforward<Radian, Volt>
+    kS: StaticFeedforward<Volt>,
+    kG: AngularGravityFeedforward,
+    kV: VelocityFeedforward<Radian, Volt>,
+    kA: AccelerationFeedforward<Radian, Volt>,
 ) {
   private val feedforward =
-    WPIArmFeedforward(
-      kS.inVolts,
-      kG.inVolts,
-      kV.inVoltsPerRadianPerSecond,
-      kA.inVoltsPerRadianPerSecondPerSecond
-    )
+      WPIArmFeedforward(
+          kS.inVolts,
+          kG.inVolts,
+          kV.inVoltsPerRadianPerSecond,
+          kA.inVoltsPerRadianPerSecondPerSecond,
+      )
 
   constructor(
-    kS: StaticFeedforward<Volt>,
-    kG: AngularGravityFeedforward,
-    kV: VelocityFeedforward<Radian, Volt>
+      kS: StaticFeedforward<Volt>,
+      kG: AngularGravityFeedforward,
+      kV: VelocityFeedforward<Radian, Volt>,
   ) : this(kS, kG, kV, 0.volts.perRadianPerSecondPerSecond)
 
   @Deprecated(
-    message =
-    "Marked for removal since 2025. Use calculute(position: Angle, velocity: AngularVelocity) instead.",
-    level = DeprecationLevel.ERROR
+      message =
+          "Marked for removal since 2025. Use calculute(position: Angle, velocity: AngularVelocity) instead.",
+      level = DeprecationLevel.ERROR,
   )
   fun calculate(
-    position: Angle,
-    velocity: AngularVelocity,
-    acceleration: AngularAcceleration
+      position: Angle,
+      velocity: AngularVelocity,
+      acceleration: AngularAcceleration
   ): ElectricalPotential {
-    return feedforward.calculate(
-      position.inRadians,
-      velocity.inRadiansPerSecond,
-      acceleration.inRadiansPerSecondPerSecond
-    )
-      .volts
+    return feedforward
+        .calculate(
+            position.inRadians,
+            velocity.inRadiansPerSecond,
+            acceleration.inRadiansPerSecondPerSecond,
+        )
+        .volts
   }
 
   fun calculate(position: Angle, velocity: AngularVelocity): ElectricalPotential {
     return feedforward.calculate(position.inRadians, velocity.inRadiansPerSecond).volts
   }
 
   fun maxAchievableVelocity(
-    maxVoltage: ElectricalPotential,
-    angle: Angle,
-    acceleration: AngularAcceleration
+      maxVoltage: ElectricalPotential,
+      angle: Angle,
+      acceleration: AngularAcceleration,
   ): AngularVelocity {
-    return feedforward.maxAchievableVelocity(
-      maxVoltage.inVolts, angle.inRadians, acceleration.inRadiansPerSecondPerSecond
-    )
-      .radians
-      .perSecond
+    return feedforward
+        .maxAchievableVelocity(
+            maxVoltage.inVolts,
+            angle.inRadians,
+            acceleration.inRadiansPerSecondPerSecond,
+        )
+        .radians
+        .perSecond
   }
 
   fun minAchievableVelocity(
-    maxVoltage: ElectricalPotential,
-    angle: Angle,
-    acceleration: AngularAcceleration
+      maxVoltage: ElectricalPotential,
+      angle: Angle,
+      acceleration: AngularAcceleration,
   ): AngularVelocity {
-    return feedforward.minAchievableVelocity(
-      maxVoltage.inVolts, angle.inRadians, acceleration.inRadiansPerSecondPerSecond
-    )
-      .radians
-      .perSecond
+    return feedforward
+        .minAchievableVelocity(
+            maxVoltage.inVolts,
+            angle.inRadians,
+            acceleration.inRadiansPerSecondPerSecond,
+        )
+        .radians
+        .perSecond
   }
 
   fun maxAchievableAcceleration(
-    maxVoltage: ElectricalPotential,
-    angle: Angle,
-    velocity: AngularVelocity
+      maxVoltage: ElectricalPotential,
+      angle: Angle,
+      velocity: AngularVelocity,
   ): AngularAcceleration {
-    return feedforward.maxAchievableVelocity(
-      maxVoltage.inVolts, angle.inRadians, velocity.inRadiansPerSecond
-    )
-      .radians
-      .perSecond
-      .perSecond
+    return feedforward
+        .maxAchievableVelocity(
+            maxVoltage.inVolts,
+            angle.inRadians,
+            velocity.inRadiansPerSecond,
+        )
+        .radians
+        .perSecond
+        .perSecond
   }
 
   fun minAchievableAcceleration(
-    maxVoltage: ElectricalPotential,
-    angle: Angle,
-    velocity: AngularVelocity
+      maxVoltage: ElectricalPotential,
+      angle: Angle,
+      velocity: AngularVelocity,
   ): AngularAcceleration {
-    return feedforward.minAchievableAcceleration(
-      maxVoltage.inVolts, angle.inRadians, velocity.inRadiansPerSecond
-    )
-      .radians
-      .perSecond
-      .perSecond
+    return feedforward
+        .minAchievableAcceleration(
+            maxVoltage.inVolts,
+            angle.inRadians,
+            velocity.inRadiansPerSecond,
+        )
+        .radians
+        .perSecond
+        .perSecond
   }
 }