fix all build issues

Author: 00magikarp

.gitignore

@@ -1,3 +1,8 @@
+# team4099 added stuff
+/src/main/kotlin/com/team4099/robot2025/BuildConstants.kt
+
+**/*.hprof
+
 # This gitignore has been specially created by the WPILib team.
 # If you remove items from this file, intellisense might break.
 

WPILib-License.md

@@ -3,14 +3,14 @@ All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
+* Redistributions of source code must retain the above copyright
+	notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright
+	notice, this list of conditions and the following disclaimer in the
+	documentation and/or other materials provided with the distribution.
+* Neither the name of FIRST, WPILib, nor the names of other WPILib
+	contributors may be used to endorse or promote products derived from
+	this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

build.gradle

@@ -1,8 +1,8 @@
 plugins {
-    id "java"
-    id "org.jetbrains.kotlin.jvm" version "1.6.0"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
-    id "com.diffplug.spotless" version "6.3.0"
+	id "java"
+	id "org.jetbrains.kotlin.jvm" version "1.6.0"
+	id "edu.wpi.first.GradleRIO" version "2026.2.1"
+	id "com.diffplug.spotless" version "6.3.0"
 	id "com.peterabeles.gversion" version "1.10"
 	id "org.jetbrains.kotlinx.kover" version "0.4.2"
 }
@@ -17,38 +17,38 @@ def ROBOT_MAIN_CLASS = "com.team4099.robot2026.Main"
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = TEAM
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                    jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+	targets {
+		roborio(getTargetTypeClass('RoboRIO')) {
+			// Team number is loaded either from the .wpilib/wpilib_preferences.json
+			// or from command line. If not found an exception will be thrown.
+			// You can use getTeamOrDefault(team) instead of getTeamNumber if you
+			// want to store a team number in this file.
+			team = TEAM
+			debug = project.frc.getDebugOrDefault(false)
+
+			artifacts {
+				// First part is artifact name, 2nd is artifact type
+				// getTargetTypeClass is a shortcut to get the class type using a string
+
+				frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+					jvmArgs.add("-Dcom.sun.management.jmxremote=true")
 					jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
 					jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
 					jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
 					jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
 					jvmArgs.add("-Djava.rmi.server.hostname=10.40.99.2")
-                }
-
-                // Static files artifact
-                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
-                }
-            }
-        }
-    }
+				}
+
+				// Static files artifact
+				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
+				}
+			}
+		}
+	}
 }
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
@@ -68,8 +68,8 @@ def includeDesktopSupport = true
 
 // Configuration for AdvantageKit
 task(replayWatch, type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.ReplayWatch"
-    classpath = sourceSets.main.runtimeClasspath
+	mainClass = "org.littletonrobotics.junction.ReplayWatch"
+	classpath = sourceSets.main.runtimeClasspath
 }
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
@@ -108,8 +108,8 @@ dependencies {
 	annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 test {
-    useJUnitPlatform()
-    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -120,12 +120,12 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from('src') { into 'backup/src' }
-    from('vendordeps') { into 'backup/vendordeps' }
-    from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+	from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+	from('src') { into 'backup/src' }
+	from('vendordeps') { into 'backup/vendordeps' }
+	from('build.gradle') { into 'backup' }
+	manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+	duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 spotless {
@@ -147,24 +147,6 @@ spotless {
 		ktfmt()
 		ktlint().userData(['max_line_length': '120', 'insert_final_newline': 'true', 'indent_size': '2', 'continuation_indent_size': '2'])
 	}
-
-    groovyGradle {
-    target fileTree(".") {
-        include "**/*.gradle"
-        exclude "**/build/**", "**/build-*/**"
-    }
-    greclipse()
-    indentWithSpaces(4)
-    trimTrailingWhitespace()
-    endWithNewline()
-}
-json {
-    target fileTree(".") {
-        include "**/*.json"
-        exclude "**/build/**", "**/build-*/**"
-    }
-    gson().indentWithSpaces(2)
-}
 }
 
 wrapper {
@@ -179,7 +161,7 @@ wpi.java.configureTestTasks(test)
 
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
-    options.compilerArgs.add '-XDstringConcat=inline'
+	options.compilerArgs.add '-XDstringConcat=inline'
 }
 
 compileKotlin {
@@ -246,4 +228,4 @@ task(eventDeploy) {
 		}
 	}
 }
-createVersionFile.dependsOn(eventDeploy)
+createVersionFile.dependsOn(eventDeploy)

settings.gradle

@@ -1,29 +1,29 @@
 import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
-    repositories {
-        mavenLocal()
-        gradlePluginPortal()
-        String frcYear = '2026'
-        File frcHome
-        if (OperatingSystem.current().isWindows()) {
-            String publicFolder = System.getenv('PUBLIC')
-            if (publicFolder == null) {
-                publicFolder = "C:\\Users\\Public"
-            }
-            def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        } else {
-            def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
-        }
-        def frcHomeMaven = new File(frcHome, 'maven')
-        maven {
-            name = 'frcHome'
-            url = frcHomeMaven
-        }
-    }
+	repositories {
+		mavenLocal()
+		gradlePluginPortal()
+		String frcYear = '2026'
+		File frcHome
+		if (OperatingSystem.current().isWindows()) {
+			String publicFolder = System.getenv('PUBLIC')
+			if (publicFolder == null) {
+				publicFolder = "C:\\Users\\Public"
+			}
+			def homeRoot = new File(publicFolder, "wpilib")
+			frcHome = new File(homeRoot, frcYear)
+		} else {
+			def userFolder = System.getProperty("user.home")
+			def homeRoot = new File(userFolder, "wpilib")
+			frcHome = new File(homeRoot, frcYear)
+		}
+		def frcHomeMaven = new File(frcHome, 'maven')
+		maven {
+			name = 'frcHome'
+			url = frcHomeMaven
+		}
+	}
 }
 
 Properties props = System.getProperties();

src/main/kotlin/com/team4099/lib/hal/Clock.kt

@@ -1,14 +1,11 @@
 package com.team4099.lib.hal
 
 import edu.wpi.first.wpilibj.RobotController
-import org.littletonrobotics.junction.Logger
 import org.team4099.lib.units.base.Time
 import org.team4099.lib.units.base.seconds
 import org.team4099.lib.units.micro
 
 object Clock {
   val fpgaTime: Time
     get() = RobotController.getFPGATime().micro.seconds
-
-
 }

src/main/kotlin/com/team4099/lib/logging/LoggedTunableNumber.kt

@@ -37,11 +37,10 @@ class LoggedTunableNumber(dashboardKey: String) {
       this.defaultValue = defaultValue
       if (Constants.Tuning.TUNING_MODE) {
         Logger.registerDashboardInput(LoggedNetworkNumber(key))
-        }
-        //dashboardNumber = LoggedDashboardNumber(key, defaultValue)
       }
+      // dashboardNumber = LoggedDashboardNumber(key, defaultValue)
     }
-
+  }
 
   /**
    * Get the current value, from dashboard if available and in tuning mode.

src/main/kotlin/com/team4099/lib/vision/TimestampedObjectVisionUpdate.kt

@@ -1,11 +1,11 @@
 package com.team4099.lib.vision
 
 import com.team4099.robot2025.config.constants.VisionConstants
-import org.team4099.lib.geometry.Translation2d
+import org.team4099.lib.geometry.Translation3d
 import org.team4099.lib.units.base.Time
 
 data class TimestampedObjectVisionUpdate(
   val timestamp: Time,
   val targetClass: VisionConstants.OBJECT_CLASS,
-  val robotTObject: Translation2d
+  val robotTObject: Translation3d
 )

src/main/kotlin/com/team4099/lib/vision/TimestampedTrigVisionUpdate.kt

@@ -1,10 +1,10 @@
 package com.team4099.lib.vision
 
-import org.team4099.lib.geometry.Transform2d
+import org.team4099.lib.geometry.Transform3d
 import org.team4099.lib.units.base.Time
 
 data class TimestampedTrigVisionUpdate(
   val timestamp: Time,
   val targetTagID: Int,
-  val robotTReefTag: Transform2d,
+  val robotTTargetTag: Transform3d,
 )

src/main/kotlin/com/team4099/robot2025/BuildConstants.kt

@@ -149,7 +149,7 @@ object Robot : LoggedRobot() {
         .withWidget(BuiltInWidgets.kTextView)
         .entry
 
-    CommandScheduler.getInstance().schedule( FollowPathCommand.warmupCommand())
+    CommandScheduler.getInstance().schedule(FollowPathCommand.warmupCommand())
 
     Logger.recordOutput("RobotSimulation/simulateVision", Constants.Universal.SIMULATE_VISION)
 
@@ -160,7 +160,7 @@ object Robot : LoggedRobot() {
 
   override fun autonomousInit() {
     val autonCommandWithWait = runOnce({ RobotContainer.zeroSensors() }).andThen(autonomousCommand)
-    CommandScheduler.getInstance().schedule( autonCommandWithWait)
+    CommandScheduler.getInstance().schedule(autonCommandWithWait)
   }
 
   override fun disabledPeriodic() {