updated wpilib and vendor library betas

Team334 · Dec 22, 2024 · 9260faa · 9260faa
1 parent 55e9d39
commit 9260faa
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Showing 5 changed files with 25 additions and 21 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
     id 'com.diffplug.spotless' version '6.20.0'
 }
 

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -13,9 +13,9 @@
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.Logged.Strategy;
-import edu.wpi.first.epilogue.logging.DataLogger;
-import edu.wpi.first.epilogue.logging.FileLogger;
-import edu.wpi.first.epilogue.logging.NTDataLogger;
+import edu.wpi.first.epilogue.logging.EpilogueBackend;
+import edu.wpi.first.epilogue.logging.FileBackend;
+import edu.wpi.first.epilogue.logging.NTEpilogueBackend;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -98,15 +98,15 @@ private void setFileOnly(boolean fileOnly) {
     DogLog.setOptions(DogLog.getOptions().withNtPublish(!fileOnly));
 
     if (fileOnly) {
-      Epilogue.getConfig().dataLogger = new FileLogger(DataLogManager.getLog());
+      Epilogue.getConfig().backend = new FileBackend(DataLogManager.getLog());
       return;
     }
 
     // if doing both file and nt logging, use the datalogger multilogger setup
-    Epilogue.getConfig().dataLogger =
-        DataLogger.multi(
-            new NTDataLogger(_ntInst), // TODO: watch out unit tests
-            new FileLogger(DataLogManager.getLog()));
+    Epilogue.getConfig().backend =
+        EpilogueBackend.multi(
+            new NTEpilogueBackend(_ntInst), // TODO: watch out unit tests
+            new FileBackend(DataLogManager.getLog()));
   }
 
   private void configureBindings() {

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -342,13 +342,17 @@ public void drive(double velX, double velY, double velOmega) {
     ChassisSpeeds tempSpeeds = _driverChassisSpeeds;
     SwerveModuleState[] tempStates;
 
-    if (_isFieldOriented) tempSpeeds.toRobotRelativeSpeeds(getHeading());
+    // TODO: this might be too many memory allocations
+
+    if (_isFieldOriented)
+      tempSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(tempSpeeds, getHeading());
 
     tempStates = getKinematics().toSwerveModuleStates(tempSpeeds);
     SwerveDriveKinematics.desaturateWheelSpeeds(tempStates, SwerveConstants.maxTranslationalSpeed);
     tempSpeeds = getKinematics().toChassisSpeeds(tempStates);
 
-    if (_isFieldOriented) tempSpeeds.toFieldRelativeSpeeds(getHeading());
+    if (_isFieldOriented)
+      tempSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(tempSpeeds, getHeading());
 
     velX = tempSpeeds.vxMetersPerSecond;
     velY = tempSpeeds.vyMetersPerSecond;

diff --git a/src/test/java/frc/robot/RobotTest.java b/src/test/java/frc/robot/RobotTest.java
@@ -5,8 +5,8 @@
 
 import dev.doglog.DogLog;
 import edu.wpi.first.epilogue.Epilogue;
-import edu.wpi.first.epilogue.logging.FileLogger;
-import edu.wpi.first.epilogue.logging.MultiLogger;
+import edu.wpi.first.epilogue.logging.FileBackend;
+import edu.wpi.first.epilogue.logging.MultiBackend;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import org.junit.jupiter.api.AfterEach;
@@ -31,7 +31,7 @@ public void close() throws Exception {
   @Test
   public void fmsFileOnly() {
     // at the start should be both nt and file logging
-    assert Epilogue.getConfig().dataLogger instanceof MultiLogger; // multilogger setup
+    assert Epilogue.getConfig().backend instanceof MultiBackend; // multilogger setup
     assert DogLog.getOptions().ntPublish();
 
     DriverStationSim.setFmsAttached(true);
@@ -42,7 +42,7 @@ public void fmsFileOnly() {
     _robot.robotPeriodic();
 
     // once the fms connects, it should be file only
-    assert Epilogue.getConfig().dataLogger instanceof FileLogger;
+    assert Epilogue.getConfig().backend instanceof FileBackend;
     assertFalse(DogLog.getOptions().ntPublish());
   }
 }
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2025.0.0-beta-6",
+    "version": "v2025.0.0-beta-8",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
     "frcYear": "2025",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.0.0-beta-6",
+            "version": "v2025.0.0-beta-8",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -28,7 +28,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2025.0.0-beta-6",
+            "version": "v2025.0.0-beta-8",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -43,7 +43,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.0.0-beta-6",
+            "version": "v2025.0.0-beta-8",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -60,12 +60,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2025.0.0-beta-6"
+            "version": "v2025.0.0-beta-8"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2025.0.0-beta-6"
+            "version": "v2025.0.0-beta-8"
         }
     ]
 }