Update for 2024- waiting on Phoenix

Author: democat3457

build.gradle

@@ -3,8 +3,10 @@ plugins {
     id 'maven-publish'
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 allprojects {
     group 'com.swervedrivespecialties'
@@ -27,10 +29,11 @@ dependencies {
     implementation "edu.wpi.first.wpilibj:wpilibj-java:${wpilib_version}"
     implementation "edu.wpi.first.wpiutil:wpiutil-java:${wpilib_version}"
     implementation "edu.wpi.first.wpimath:wpimath-java:${wpilib_version}"
+    implementation "edu.wpi.first.wpiunits:wpiunits-java:${wpilib_version}"
 
     // CTRE is implementation because it is not a hard requirement
-    implementation "com.ctre.phoenix:api-java:${ctre_phoenix_version}"
-    implementation "com.ctre.phoenix:wpiapi-java:${ctre_phoenix_version}"
+    // implementation "com.ctre.phoenix6:api-java:${ctre_phoenix_version}"
+    implementation "com.ctre.phoenix6:wpiapi-java:${ctre_phoenix_version}"
 
     // REV is implementation because it is not a hard requirement
     implementation "com.revrobotics.frc:REVLib-java:${revlib_version}"

examples/mk3-minibot/build.gradle

@@ -1,15 +1,17 @@
 plugins {
     id 'application'
     id 'com.github.johnrengelman.shadow'
-    id 'edu.wpi.first.GradleRIO' version "2023.2.1"
+    id 'edu.wpi.first.GradleRIO' version "2024.1.1"
 }
 
 application {
     mainClass.set('com.swervedrivespecialties.examples.mk3minibot.Main')
 }
 
-targetCompatibility = JavaVersion.VERSION_11
-sourceCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 deploy {
     targets {

examples/mk3-minibot/src/main/java/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.java

@@ -2,11 +2,11 @@
 
 import com.swervedrivespecialties.examples.mk3minibot.subsystems.DrivetrainSubsystem;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 
 import java.util.function.DoubleSupplier;
 
-public class DriveCommand extends CommandBase {
+public class DriveCommand extends Command {
     private final DrivetrainSubsystem drivetrain;
     private final DoubleSupplier translationXSupplier;
     private final DoubleSupplier translationYSupplier;

examples/mk3-minibot/src/main/java/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.java

@@ -1,6 +1,6 @@
 package com.swervedrivespecialties.examples.mk3minibot.subsystems;
 
-import com.ctre.phoenix.sensors.PigeonIMU;
+import com.ctre.phoenix6.hardware.Pigeon2;
 import com.swervedrivespecialties.examples.mk3minibot.Constants;
 import com.swervedrivespecialties.swervelib.MkSwerveModuleBuilder;
 import com.swervedrivespecialties.swervelib.MotorType;
@@ -30,7 +30,7 @@ public class DrivetrainSubsystem extends SubsystemBase {
     private final SwerveModule backLeftModule;
     private final SwerveModule backRightModule;
 
-    private final PigeonIMU gyroscope = new PigeonIMU(Constants.DRIVETRAIN_PIGEON_ID);
+    private final Pigeon2 gyroscope = new Pigeon2(Constants.DRIVETRAIN_PIGEON_ID);
 
     private final SwerveDriveKinematics kinematics = new SwerveDriveKinematics(
             new Translation2d(Constants.DRIVETRAIN_TRACKWIDTH_METERS / 2.0, Constants.DRIVETRAIN_WHEELBASE_METERS / 2.0),
@@ -91,7 +91,7 @@ public DrivetrainSubsystem() {
 
         odometry = new SwerveDriveOdometry(
                 kinematics,
-                Rotation2d.fromDegrees(gyroscope.getFusedHeading()),
+                Rotation2d.fromDegrees(gyroscope.getAngle()),
                 new SwerveModulePosition[]{ frontLeftModule.getPosition(), frontRightModule.getPosition(), backLeftModule.getPosition(), backRightModule.getPosition() }
         );
 
@@ -102,7 +102,7 @@ public DrivetrainSubsystem() {
 
     public void zeroGyroscope() {
         odometry.resetPosition(
-                Rotation2d.fromDegrees(gyroscope.getFusedHeading()),
+                Rotation2d.fromDegrees(gyroscope.getAngle()),
                 new SwerveModulePosition[]{ frontLeftModule.getPosition(), frontRightModule.getPosition(), backLeftModule.getPosition(), backRightModule.getPosition() },
                 new Pose2d(odometry.getPoseMeters().getTranslation(), Rotation2d.fromDegrees(0.0))
         );
@@ -119,7 +119,7 @@ public void drive(ChassisSpeeds chassisSpeeds) {
     @Override
     public void periodic() {
         odometry.update(
-                Rotation2d.fromDegrees(gyroscope.getFusedHeading()),
+                Rotation2d.fromDegrees(gyroscope.getAngle()),
                 new SwerveModulePosition[]{ frontLeftModule.getPosition(), frontRightModule.getPosition(), backLeftModule.getPosition(), backRightModule.getPosition() }
         );