Merge branch 'Team100:main' into main

Team100 · Jan 18, 2025 · 9f32f91 · 9f32f91
2 parents cd83817 + da1e885
commit 9f32f91
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Showing 9 changed files with 507 additions and 452 deletions.
diff --git a/comp/vendordeps/Phoenix6-frc2025-latest.json b/comp/vendordeps/Phoenix6-frc2025-latest.json
diff --git a/comp/vendordeps/REVLib.json b/comp/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2025.0.0-beta-4",
+    "version": "2025.0.1",
     "frcYear": "2025",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,19 +12,18 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2025.0.0-beta-4"
+            "version": "2025.0.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.0-beta-4",
+            "version": "2025.0.1",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
-                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
@@ -37,14 +36,13 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2025.0.0-beta-4",
+            "version": "2025.0.1",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
-                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
@@ -55,14 +53,13 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.0-beta-4",
+            "version": "2025.0.1",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
-                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",

diff --git a/comp/vendordeps/ReduxLib_2025.json → comp/vendordeps/ReduxLib-2025.0.0.json b/comp/vendordeps/ReduxLib_2025.json → comp/vendordeps/ReduxLib-2025.0.0.json
@@ -1,8 +1,8 @@
 {
-    "fileName": "ReduxLib_2025.json",
+    "fileName": "ReduxLib-2025.0.0.json",
     "name": "ReduxLib",
-    "version": "2025.0.0-beta2",
-    "frcYear": 2025,
+    "version": "2025.0.0",
+    "frcYear": "2025",
     "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd",
     "mavenUrls": [
         "https://maven.reduxrobotics.com/"
@@ -12,14 +12,14 @@
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-java",
-            "version": "2025.0.0-beta2"
+            "version": "2025.0.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-driver",
-            "version": "2025.0.0-beta2",
+            "version": "2025.0.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -36,7 +36,7 @@
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-cpp",
-            "version": "2025.0.0-beta2",
+            "version": "2025.0.0",
             "libName": "ReduxLib",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
@@ -54,7 +54,7 @@
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-driver",
-            "version": "2025.0.0-beta2",
+            "version": "2025.0.0",
             "libName": "ReduxCore",
             "headerClassifier": "headers",
             "sharedLibrary": true,

diff --git a/lib/build.gradle b/lib/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"
 }
 
 java {

diff --git a/lib/src/main/java/org/team100/lib/motor/CANSparkMotor.java b/lib/src/main/java/org/team100/lib/motor/CANSparkMotor.java
@@ -10,6 +10,7 @@
 import org.team100.lib.util.Memo;
 import org.team100.lib.util.Util;
 
+import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkClosedLoopController;
@@ -127,7 +128,7 @@ public void setVelocity(double motorRad_S, double motorAccelRad_S2, double motor
 
         double motorRev_M = motorRev_S * 60;
         Rev100.warn(() -> m_pidController.setReference(
-                motorRev_M, ControlType.kVelocity, 0, kFF, ArbFFUnits.kVoltage));
+                motorRev_M, ControlType.kVelocity, ClosedLoopSlot.kSlot0, kFF, ArbFFUnits.kVoltage));
 
         m_log_desired_speed.log(() -> motorRev_S);
         m_log_desired_accel.log(() -> motorRev_S2);
@@ -157,7 +158,7 @@ public void setPosition(double motorPositionRad, double motorVelocityRad_S, doub
         double kFF = frictionFFVolts + velocityFFVolts + torqueFFVolts;
 
         Rev100.warn(() -> m_pidController.setReference(
-                motorRev, ControlType.kPosition, 0, kFF, ArbFFUnits.kVoltage));
+                motorRev, ControlType.kPosition, ClosedLoopSlot.kSlot0, kFF, ArbFFUnits.kVoltage));
 
         m_log_desired_position.log(() -> motorRev);
         m_log_desired_speed.log(() -> motorRev_S);

diff --git a/...dordeps/Phoenix5-frc2025-beta-latest.json → lib/vendordeps/Phoenix5-frc2025-latest.json b/...dordeps/Phoenix5-frc2025-beta-latest.json → lib/vendordeps/Phoenix5-frc2025-latest.json
@@ -1,50 +1,50 @@
 {
-    "fileName": "Phoenix5-frc2025-beta-latest.json",
+    "fileName": "Phoenix5-frc2025-latest.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.34.0-beta-4",
+    "version": "5.35.1",
     "frcYear": "2025",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json",
     "requires": [
         {
             "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
             "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
-            "offlineFileName": "Phoenix6-frc2025-beta-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix6-frc2025-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
         }
     ],
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
             "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
-            "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
         },
         {
             "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
             "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix5-replay-frc2025-beta-latest.json"
+            "offlineFileName": "Phoenix5-replay-frc2025-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.34.0-beta-4"
+            "version": "5.35.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.34.0-beta-4"
+            "version": "5.35.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +58,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,7 +74,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -106,7 +106,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -122,7 +122,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -154,7 +154,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.34.0-beta-4",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,