updated to 2025 beta

.github/workflows/lib.yml

@@ -44,12 +44,6 @@ jobs:
     - name: Compile and run tests on robot code
       run: ./gradlew build
 
-    - name: Generate JaCoCo Badge
-      uses: cicirello/jacoco-badge-generator@v2
-      with:
-        generate-branches-badge: false
-        jacoco-csv-file: lib/build/reports/jacoco/test/jacocoTestReport.csv
-
     - name: Publish Test Results
       uses: EnricoMi/publish-unit-test-result-action@v2
       if: ${{ always() }}

.github/workflows/main.yml

@@ -1,6 +1,6 @@
 # This is a basic workflow to build robot code.
 
-name: Swerve100 Unit Tests
+name: Comp Unit Tests
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events but only for the main branch.
@@ -19,7 +19,7 @@ jobs:
     timeout-minutes: 10 
     defaults:
       run:
-        working-directory: ./comp/swerve100
+        working-directory: ./comp
 
     # This grabs the WPILib docker container
     container: wpilib/roborio-cross-ubuntu:2024-22.04

README.md

@@ -1,21 +1,20 @@
-# all24
+# all25
 
-[![CI](https://github.com/Team100/all24/actions/workflows/main.yml/badge.svg)](https://github.com/Team100/all24/actions/workflows/main.yml)
-[![CI](https://github.com/Team100/all24/actions/workflows/lib.yml/badge.svg)](https://github.com/Team100/all24/actions/workflows/lib.yml)
-[![CI](https://github.com/Team100/all24/actions/workflows/raspberry_pi.yml/badge.svg)](https://github.com/Team100/all24/actions/workflows/raspberry_pi.yml)
+[![CI](https://github.com/Team100/all25/actions/workflows/main.yml/badge.svg)](https://github.com/Team100/all25/actions/workflows/main.yml)
+[![CI](https://github.com/Team100/all25/actions/workflows/lib.yml/badge.svg)](https://github.com/Team100/all25/actions/workflows/lib.yml)
+[![CI](https://github.com/Team100/all25/actions/workflows/raspberry_pi.yml/badge.svg)](https://github.com/Team100/all25/actions/workflows/raspberry_pi.yml)
 
 
-all24 contains *all* the Team 100 code for *2024.*  There's just one repository,
+all25 contains *all* the Team 100 code for *2025.*  There's just one repository,
 so that sharing library code across projects is easier.
 
 This style of code management is sometimes called a ["monorepo"](https://en.wikipedia.org/wiki/Monorepo) if you want to read more about it.
 
 Here is the directory layout:
 
-* **lib**: evergreen library code
-* **comp**: competition code for 2024
-  * **swerve100**: roborio code
-  * **vision**: raspberry pi code
+* **lib**: evergreen RoboRIO library code
+* **comp**: RoboRIO competition code for 2025
+* **raspberry_pi** coprocessor tasks: vision, logging, GTSAM
 * **studies**: small independent projects
   * your project
   * another project

studies/AHRS100/.gitignore → comp/.gitignore

@@ -169,10 +169,16 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
 logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json

comp/.vscode/settings.json

@@ -0,0 +1,60 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
+    },
+  ],
+  "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.*",
+  ]
+}

studies/Elevator2018/.wpilib/wpilib_preferences.json → comp/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2025beta",
     "teamNumber": 100
 }

studies/Turret/build.gradle → comp/build.gradle

@@ -1,111 +1,112 @@
-plugins {
-    id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
-}
-
-sourceSets {
-    main {
-        java {
-            srcDir "../../lib/src/main/java"
-        }
-    }
-}
-
-java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
-}
-
-def ROBOT_MAIN_CLASS = "org.team100.frc2024.Main"
-
-// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project DeployUtils.
-deploy {
-    targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
-            // Team number is loaded either from the .wpilib/wpilib_preferences.json
-            // or from command line. If not found an exception will be thrown.
-            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
-            // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
-
-            artifacts {
-                // First part is artifact name, 2nd is artifact type
-                // getTargetTypeClass is a shortcut to get the class type using a string
-
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                }
-
-                // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                }
-            }
-        }
-    }
-}
-
-def deployArtifact = deploy.targets.roborio.artifacts.frcJava
-
-// Set to true to use debug for JNI.
-wpi.java.debugJni = false
-
-// Set this to true to enable desktop support.
-def includeDesktopSupport = false
-
-// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 5.
-dependencies {
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.3'
-    implementation "org.ejml:ejml-simple:0.43.1"
-    implementation wpi.java.deps.wpilib()
-    implementation wpi.java.vendor.java()
-
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
-
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
-
-    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
-    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
-    simulationDebug wpi.sim.enableDebug()
-
-    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-    simulationRelease wpi.sim.enableRelease()
-
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
-}
-
-test {
-    useJUnitPlatform()
-    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
-}
-
-// Simulation configuration (e.g. environment variables).
-wpi.sim.addGui().defaultEnabled = true
-wpi.sim.addDriverstation()
-
-// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
-// 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 sourceSets.main.allSource
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
-}
-
-// Configure jar and deploy tasks
-deployArtifact.jarTask = jar
-wpi.java.configureExecutableTasks(jar)
-wpi.java.configureTestTasks(test)
-
-// Configure string concat to always inline compile
-tasks.withType(JavaCompile) {
-    options.compilerArgs.add '-XDstringConcat=inline'
-}
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
+}
+
+sourceSets {
+    main {
+        java {
+            srcDir "../lib/src/main/java"
+        }
+    }
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
+
+def ROBOT_MAIN_CLASS = "org.team100.frc2024.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                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
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 5.
+dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// 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 sourceSets.main.allSource
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}