first steps to migrating to the latest 2025 wpilib and vendors

.github/workflows/main.yml

@@ -9,11 +9,12 @@ on:
     branches: [ main ]
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
+  # build job
   build:
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    container: wpilib/roborio-cross-ubuntu:2025-22.04
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
@@ -27,10 +28,11 @@ jobs:
     # Runs a single command using the runners shell
     - name: Compile and run tests on robot code
       run: ./gradlew build
-
+
+  # spotless job
   spotless:
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
@@ -41,4 +43,4 @@ jobs:
         with:
           distribution: 'zulu'
           java-version: 17
-      - run: ./gradlew spotlessCheck
+      - run: ./gradlew spotlessCheck

.gitignore

@@ -182,3 +182,6 @@ ctre_sim/
 # clangd
 /.cache
 compile_commands.json
+
+# Eclipse generated file for annotation processors
+.factorypath

.vscode/settings.json

@@ -1,7 +1,6 @@
 {
   "java.configuration.updateBuildConfiguration": "automatic",
   "java.server.launchMode": "Standard",
-  "java.import.gradle.annotationProcessing.enabled": false,
   "files.exclude": {
     "**/.git": true,
     "**/.svn": true,
@@ -26,5 +25,36 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.import.gradle.annotationProcessing.enabled": false,
+  "java.completion.favoriteStaticMembers": [
+    "org.junit.Assert.*",
+    "org.junit.Assume.*",
+    "org.junit.jupiter.api.Assertions.*",
+    "org.junit.jupiter.api.Assumptions.*",
+    "org.junit.jupiter.api.DynamicContainer.*",
+    "org.junit.jupiter.api.DynamicTest.*",
+    "org.mockito.Mockito.*",
+    "org.mockito.ArgumentMatchers.*",
+    "org.mockito.Answers.*",
+    "edu.wpi.first.units.Units.*"
+  ],
+  "java.completion.filteredTypes": [
+    "java.awt.*",
+    "com.sun.*",
+    "sun.*",
+    "jdk.*",
+    "org.graalvm.*",
+    "io.micrometer.shaded.*",
+    "java.beans.*",
+    "java.util.Base64.*",
+    "java.util.Timer",
+    "java.sql.*",
+    "javax.swing.*",
+    "javax.management.*",
+    "javax.smartcardio.*",
+    "edu.wpi.first.math.proto.*",
+    "edu.wpi.first.math.**.proto.*",
+    "edu.wpi.first.math.**.struct.*",
+  ]
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025beta",
+    "projectYear": "2025",
     "teamNumber": 334
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id 'com.diffplug.spotless' version '6.20.0'
 }
 
@@ -34,6 +34,8 @@ deploy {
                 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
                 }
             }
         }
@@ -86,11 +88,7 @@ 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 { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
@@ -107,44 +105,44 @@ tasks.withType(JavaCompile) {
 }
 
 spotless {
-    java {
-        target fileTree('.') {
+   java {
+      target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        toggleOffOn()
-        googleJavaFormat()
-        removeUnusedImports()
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    groovyGradle {
-        target fileTree('.') {
+            exclude '**/build/**', '**/build-*/**', '**/bin/**'
+      }
+      toggleOffOn()
+      googleJavaFormat()
+      removeUnusedImports()
+      trimTrailingWhitespace()
+      endWithNewline()
+   }
+   groovyGradle {
+      target fileTree('.') {
             include '**/*.gradle'
             exclude '**/build/**', '**/build-*/**'
-        }
-        greclipse()
-        indentWithSpaces(4)
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    format 'xml', {
-        target fileTree('.') {
+      }
+      greclipse()
+      indentWithSpaces(4)
+      trimTrailingWhitespace()
+      endWithNewline()
+   }
+   format 'xml', {
+      target fileTree('.') {
             include '**/*.xml'
             exclude '**/build/**', '**/build-*/**'
-        }
-        eclipseWtp('xml')
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-    format 'misc', {
-        target fileTree('.') {
+      }
+      eclipseWtp('xml')
+      trimTrailingWhitespace()
+      indentWithSpaces(2)
+      endWithNewline()
+   }
+   format 'misc', {
+      target fileTree('.') {
             include '**/*.md', '**/.gitignore'
             exclude '**/build/**', '**/build-*/**'
-        }
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
+      }
+      trimTrailingWhitespace()
+      indentWithSpaces(2)
+      endWithNewline()
+   }
 }

settings.gradle

@@ -20,8 +20,8 @@ pluginManagement {
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name 'frcHome'
-            url frcHomeMaven
+            name = 'frcHome'
+            url = frcHomeMaven
         }
     }
 }

src/main/java/frc/lib/UnitTestingUtil.java

@@ -5,7 +5,7 @@
 import dev.doglog.DogLog;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.measure.Time;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;

src/main/java/frc/robot/Constants.java

@@ -11,12 +11,12 @@
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.units.measure.AngularAcceleration;
-import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.measure.Distance;
-import edu.wpi.first.units.measure.Frequency;
-import edu.wpi.first.units.measure.LinearAcceleration;
-import edu.wpi.first.units.measure.LinearVelocity;
+import edu.wpi.first.units.measure.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.measure.AngularVelocity;
+import edu.wpi.first.units.measure.measure.Distance;
+import edu.wpi.first.units.measure.measure.Frequency;
+import edu.wpi.first.units.measure.measure.LinearAcceleration;
+import edu.wpi.first.units.measure.measure.LinearVelocity;
 import frc.robot.generated.TunerConstants;
 import frc.robot.utils.VisionPoseEstimator.VisionPoseEstimatorConstants;
 

src/main/java/frc/robot/commands/WheelRadiusCharacterization.java

@@ -10,7 +10,7 @@
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.measure.Distance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.lib.FaultLogger;
 import frc.lib.FaultsTable.FaultType;

src/main/java/frc/robot/generated/TunerConstants.java

@@ -14,7 +14,7 @@
 import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
 import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
-import edu.wpi.first.units.measure.*;
+import edu.wpi.first.units.measure.measure.*;
 import frc.robot.subsystems.Swerve;
 
 // Generated by the Tuner X Swerve Project Generator

src/main/java/frc/robot/utils/HolonomicController.java

@@ -12,7 +12,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
-import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.measure.Distance;
 import frc.robot.Constants.SwerveConstants;
 
 public class HolonomicController {