Prepare CI for next season

.github/workflows/main.yml

@@ -15,11 +15,10 @@ jobs:
   # This workflow contains a single job called "build"
   build:
     # The type of runner that the job will run on
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
 
     # This grabs the WPILib docker container
     container: wpilib/roborio-cross-ubuntu:2025-24.04
-
     # 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
@@ -29,10 +28,6 @@ jobs:
     - name: Add repository to git safe directories
       run: git config --global --add safe.directory $GITHUB_WORKSPACE
 
-    # Grant execute permission for gradlew
-    - name: Grant execute permission for gradlew
-      run: chmod +x gradlew
-
     # Runs a single command using the runners shell
     - name: Compile and run tests on robot code
       run: ./gradlew build

build.gradle

@@ -2,7 +2,7 @@ plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2025.3.2"
     id "com.diffplug.spotless" version "6.20.0"
-    id "com.gorylenko.gradle-git-properties" version '2.5.0'
+    id "com.gorylenko.gradle-git-properties" version '2.5.1'
 }
 
 gitProperties {

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.2.1-bin.zip
+distributionSha256Sum=72f44c9f8ebcb1af43838f45ee5c4aa9c5444898b3468ab3f4af7b6076c5bc3f
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

src/main/java/com/team6962/lib/digitalsensor/BeamBreak.java

@@ -6,21 +6,22 @@
 import edu.wpi.first.wpilibj.Timer;
 
 public class BeamBreak extends DigitalSensor {
-    private double simulatedDetectionTime;
-    private double lastDetectionTimestamp;
+  private double simulatedDetectionTime;
+  private double lastDetectionTimestamp;
 
-    public BeamBreak(int channel, DigitalSensor.Wiring wiring, Time simulatedDetectionTime) {
-        super(channel, wiring);
+  public BeamBreak(int channel, DigitalSensor.Wiring wiring, Time simulatedDetectionTime) {
+    super(channel, wiring);
 
-        this.simulatedDetectionTime = simulatedDetectionTime.in(Seconds);
-    }
+    this.simulatedDetectionTime = simulatedDetectionTime.in(Seconds);
+  }
 
-    @Override
-    public void simulationPeriodic() {
-        setTriggeredInSimulation(Timer.getFPGATimestamp() - lastDetectionTimestamp < simulatedDetectionTime);
-    }
+  @Override
+  public void simulationPeriodic() {
+    setTriggeredInSimulation(
+        Timer.getFPGATimestamp() - lastDetectionTimestamp < simulatedDetectionTime);
+  }
 
-    public void simulateDetection() {
-        lastDetectionTimestamp = Timer.getFPGATimestamp();
-    }
+  public void simulateDetection() {
+    lastDetectionTimestamp = Timer.getFPGATimestamp();
+  }
 }

src/main/java/com/team6962/lib/digitalsensor/DigitalSensor.java

@@ -5,43 +5,43 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DigitalSensor extends SubsystemBase {
-    private DigitalInput input;
-    private Wiring wiring;
-    private boolean triggeredSim;
-
-    public DigitalSensor(int channel, Wiring wiring) {
-        input = new DigitalInput(channel);
-        this.wiring = wiring;
+  private DigitalInput input;
+  private Wiring wiring;
+  private boolean triggeredSim;
+
+  public DigitalSensor(int channel, Wiring wiring) {
+    input = new DigitalInput(channel);
+    this.wiring = wiring;
+  }
+
+  public boolean isTriggered() {
+    if (RobotBase.isSimulation()) {
+      return triggeredSim;
     }
 
-    public boolean isTriggered() {
-        if (RobotBase.isSimulation()) {
-            return triggeredSim;
-        }
-
-        return input.get() == wiring.triggeredValue;
-    }
+    return input.get() == wiring.triggeredValue;
+  }
 
-    public boolean notTriggered() {
-        return !isTriggered();
-    }
+  public boolean notTriggered() {
+    return !isTriggered();
+  }
 
-    public void setTriggeredInSimulation(boolean triggered) {
-        this.triggeredSim = triggered;
-    }
+  public void setTriggeredInSimulation(boolean triggered) {
+    this.triggeredSim = triggered;
+  }
 
-    public static enum Wiring {
-        NormallyOpen(false),
-        NormallyClosed(true);
+  public static enum Wiring {
+    NormallyOpen(false),
+    NormallyClosed(true);
 
-        private boolean triggeredValue;
+    private boolean triggeredValue;
 
-        private Wiring(boolean triggeredValue) {
-            this.triggeredValue = triggeredValue;
-        }
+    private Wiring(boolean triggeredValue) {
+      this.triggeredValue = triggeredValue;
+    }
 
-        public boolean getValueWhenDetecting() {
-            return triggeredValue;
-        }
+    public boolean getValueWhenDetecting() {
+      return triggeredValue;
     }
+  }
 }

src/main/java/com/team6962/lib/swerve/SwerveConfig.java

@@ -28,7 +28,6 @@
 import com.team6962.lib.swerve.module.SwerveModule.Corner;
 import com.team6962.lib.utils.KinematicsUtils;
 import com.team6962.lib.utils.MeasureMath;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.system.plant.DCMotor;

src/main/java/com/team6962/lib/swerve/SwerveCore.java

@@ -62,7 +62,8 @@ public SwerveCore(SwerveConfig constants) {
 
     kinematics = KinematicsUtils.kinematicsFromChassis(constants.chassis());
     poseEstimator =
-        new PoseEstimator(kinematics, () -> getModulePositions(), () -> getModuleStates(), constants);
+        new PoseEstimator(
+            kinematics, () -> getModulePositions(), () -> getModuleStates(), constants);
 
     currentMovement = new SpeedsMovement();
 

src/main/java/com/team6962/lib/swerve/SwerveDrive.java

@@ -11,10 +11,6 @@
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.Seconds;
 
-import java.util.List;
-import java.util.Set;
-import java.util.function.Supplier;
-
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.commands.FollowPathCommand;
 import com.pathplanner.lib.config.PIDConstants;
@@ -34,7 +30,6 @@
 import com.team6962.lib.utils.CommandUtils;
 import com.team6962.lib.utils.KinematicsUtils;
 import com.team6962.lib.utils.MeasureMath;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -57,6 +52,9 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.List;
+import java.util.Set;
+import java.util.function.Supplier;
 
 /**
  * The main class for the swerve drive system. This class extends {@link SwerveCore} to provide the
@@ -561,9 +559,11 @@ public Command driveTwist(Supplier<Twist2d> twist) {
 
   public Command drivePreciselyTo(Pose2d targetPose) {
     return driveTwist(() -> getEstimatedPose().log(targetPose))
-      .deadlineFor(Commands.run(() -> {
-        Logger.getField().getObject("Target Pose").setPose(targetPose);
-      }));
+        .deadlineFor(
+            Commands.run(
+                () -> {
+                  Logger.getField().getObject("Target Pose").setPose(targetPose);
+                }));
   }
 
   private class ProfiledDriveCommand extends Command {
@@ -573,9 +573,9 @@ private class ProfiledDriveCommand extends Command {
     private double startTime;
 
     public ProfiledDriveCommand(
-      HolonomicPositionController.State targetState, // TODO: Convert to supplier or make wrapper methods use Commands.defer
-      HolonomicPositionController controller
-    ) {
+        HolonomicPositionController.State
+            targetState, // TODO: Convert to supplier or make wrapper methods use Commands.defer
+        HolonomicPositionController controller) {
       this.targetState = targetState;
       this.controller = controller;
 
@@ -611,52 +611,57 @@ public boolean isFinished() {
 
     @Override
     public void end(boolean interrupted) {
-        controller.close();
+      controller.close();
     }
   }
 
-  public Command driveQuicklyTo(HolonomicPositionController.State targetState, LinearVelocity maxVelocity) {
-    return new ProfiledDriveCommand(targetState, new HolonomicPositionController(
-      new TrapezoidProfile.Constraints(
-        maxVelocity.in(MetersPerSecond),
-        getConstants().maxLinearAcceleration().in(MetersPerSecondPerSecond)
-      ),
-      new PIDConstraints(1.0, 0.0, 0.2),
-      new TrapezoidProfile.Constraints(
-        getConstants().maxRotationSpeed().in(RadiansPerSecond),
-        getConstants().maxAngularAcceleration().in(RadiansPerSecondPerSecond)
-      ),
-      new PIDConstraints(1.0, 0.0, 0.2)
-    ))
-      .deadlineFor(Commands.run(() -> {
-        Logger.getField().getObject("Target Pose").setPose(targetState.position);
-      }));
+  public Command driveQuicklyTo(
+      HolonomicPositionController.State targetState, LinearVelocity maxVelocity) {
+    return new ProfiledDriveCommand(
+            targetState,
+            new HolonomicPositionController(
+                new TrapezoidProfile.Constraints(
+                    maxVelocity.in(MetersPerSecond),
+                    getConstants().maxLinearAcceleration().in(MetersPerSecondPerSecond)),
+                new PIDConstraints(1.0, 0.0, 0.2),
+                new TrapezoidProfile.Constraints(
+                    getConstants().maxRotationSpeed().in(RadiansPerSecond),
+                    getConstants().maxAngularAcceleration().in(RadiansPerSecondPerSecond)),
+                new PIDConstraints(1.0, 0.0, 0.2)))
+        .deadlineFor(
+            Commands.run(
+                () -> {
+                  Logger.getField().getObject("Target Pose").setPose(targetState.position);
+                }));
   }
 
-  public Command driveQuicklyTo(Pose2d targetPose, ChassisSpeeds targetSpeeds, LinearVelocity maxVelocity) {
-    return driveQuicklyTo(new HolonomicPositionController.State(targetPose, targetSpeeds), maxVelocity);
+  public Command driveQuicklyTo(
+      Pose2d targetPose, ChassisSpeeds targetSpeeds, LinearVelocity maxVelocity) {
+    return driveQuicklyTo(
+        new HolonomicPositionController.State(targetPose, targetSpeeds), maxVelocity);
   }
 
   public Command driveQuicklyTo(Pose2d targetPose, LinearVelocity maxVelocity) {
     return driveQuicklyTo(targetPose, new ChassisSpeeds(), maxVelocity);
   }
 
   public Command driveQuicklyTo(HolonomicPositionController.State targetState) {
-    return new ProfiledDriveCommand(targetState, new HolonomicPositionController(
-      new TrapezoidProfile.Constraints(
-        getConstants().maxDriveSpeed().in(MetersPerSecond),
-        getConstants().maxLinearAcceleration().in(MetersPerSecondPerSecond)
-      ),
-      new PIDConstraints(1.0, 0.0, 0.2),
-      new TrapezoidProfile.Constraints(
-        getConstants().maxRotationSpeed().in(RadiansPerSecond),
-        getConstants().maxAngularAcceleration().in(RadiansPerSecondPerSecond)
-      ),
-      new PIDConstraints(1.0, 0.0, 0.2)
-    ))
-      .deadlineFor(Commands.run(() -> {
-        Logger.getField().getObject("Target Pose").setPose(targetState.position);
-      }));
+    return new ProfiledDriveCommand(
+            targetState,
+            new HolonomicPositionController(
+                new TrapezoidProfile.Constraints(
+                    getConstants().maxDriveSpeed().in(MetersPerSecond),
+                    getConstants().maxLinearAcceleration().in(MetersPerSecondPerSecond)),
+                new PIDConstraints(1.0, 0.0, 0.2),
+                new TrapezoidProfile.Constraints(
+                    getConstants().maxRotationSpeed().in(RadiansPerSecond),
+                    getConstants().maxAngularAcceleration().in(RadiansPerSecondPerSecond)),
+                new PIDConstraints(1.0, 0.0, 0.2)))
+        .deadlineFor(
+            Commands.run(
+                () -> {
+                  Logger.getField().getObject("Target Pose").setPose(targetState.position);
+                }));
   }
 
   public Command driveQuicklyTo(Pose2d targetPose, ChassisSpeeds targetSpeeds) {
@@ -668,40 +673,42 @@ public Command driveQuicklyTo(Pose2d targetPose) {
   }
 
   public Command driveQuicklyToState(Supplier<HolonomicPositionController.State> targetState) {
-    ProfiledDriveCommand profiledDriveCommand = new ProfiledDriveCommand(targetState.get(), new HolonomicPositionController(
-      new TrapezoidProfile.Constraints(
-        getConstants().maxDriveSpeed().in(MetersPerSecond),
-        getConstants().maxLinearAcceleration().in(MetersPerSecondPerSecond)
-      ),
-      new PIDConstraints(1.0, 0.0, 0.2),
-      new TrapezoidProfile.Constraints(
-        getConstants().maxRotationSpeed().in(RadiansPerSecond),
-        getConstants().maxAngularAcceleration().in(RadiansPerSecondPerSecond)
-      ),
-      new PIDConstraints(1.0, 0.0, 0.2)
-    ));
-
-    return profiledDriveCommand.deadlineFor(Commands.run(() -> {
-      profiledDriveCommand.setTarget(targetState.get());
-      Logger.getField().getObject("Target Pose").setPose(targetState.get().position);
-    }));
+    ProfiledDriveCommand profiledDriveCommand =
+        new ProfiledDriveCommand(
+            targetState.get(),
+            new HolonomicPositionController(
+                new TrapezoidProfile.Constraints(
+                    getConstants().maxDriveSpeed().in(MetersPerSecond),
+                    getConstants().maxLinearAcceleration().in(MetersPerSecondPerSecond)),
+                new PIDConstraints(1.0, 0.0, 0.2),
+                new TrapezoidProfile.Constraints(
+                    getConstants().maxRotationSpeed().in(RadiansPerSecond),
+                    getConstants().maxAngularAcceleration().in(RadiansPerSecondPerSecond)),
+                new PIDConstraints(1.0, 0.0, 0.2)));
+
+    return profiledDriveCommand.deadlineFor(
+        Commands.run(
+            () -> {
+              profiledDriveCommand.setTarget(targetState.get());
+              Logger.getField().getObject("Target Pose").setPose(targetState.get().position);
+            }));
   }
 
   public Command driveQuicklyTo(Supplier<Pose2d> targetPose, Supplier<ChassisSpeeds> targetSpeeds) {
-    return driveQuicklyToState(() -> new HolonomicPositionController.State(targetPose.get(), targetSpeeds.get()));
+    return driveQuicklyToState(
+        () -> new HolonomicPositionController.State(targetPose.get(), targetSpeeds.get()));
   }
 
   public Command driveQuicklyTo(Supplier<Pose2d> targetPose) {
-    return driveQuicklyToState(() -> new HolonomicPositionController.State(targetPose.get(), new ChassisSpeeds()));
+    return driveQuicklyToState(
+        () -> new HolonomicPositionController.State(targetPose.get(), new ChassisSpeeds()));
   }
 
   public Command driveTo(Pose2d targetPose, ChassisSpeeds targetSpeeds) {
     return Commands.either(
-      drivePreciselyTo(targetPose),
-      driveQuicklyTo(targetPose, targetSpeeds)
-        .andThen(drivePreciselyTo(targetPose)),
-      () -> isWithinToleranceOf(targetPose, Inches.of(15), Degrees.of(30))
-    );
+        drivePreciselyTo(targetPose),
+        driveQuicklyTo(targetPose, targetSpeeds).andThen(drivePreciselyTo(targetPose)),
+        () -> isWithinToleranceOf(targetPose, Inches.of(15), Degrees.of(30)));
   }
 
   public Command driveTo(Pose2d targetPose) {

src/main/java/com/team6962/lib/swerve/auto/PoseEstimator.java

@@ -23,7 +23,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants.LIMELIGHT;
 import frc.robot.vision.AprilTags;
-
 import java.util.function.Supplier;
 
 /**