update to match 2025 beta changes/deprecations

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-1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
 }

src/main/java/frc/robot/subsystems/flywheels/FlywheelsIOTalonFX.java

@@ -9,23 +9,29 @@
 import com.ctre.phoenix6.controls.NeutralOut;
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Voltage;
 
 public class FlywheelsIOTalonFX implements FlywheelsIO {
   private final TalonFX topTalon;
   private final TalonFX bottomTalon;
 
-  private final StatusSignal<Double> topPositionRads;
-  private final StatusSignal<Double> topVelocityRPM;
-  private final StatusSignal<Double> topAppliedVolts;
-  private final StatusSignal<Double> topSupplyCurrent;
-  private final StatusSignal<Double> topTemp;
-  private final StatusSignal<Double> bottomPositionRads;
-  private final StatusSignal<Double> bottomVelocityRPM;
-  private final StatusSignal<Double> bottomAppliedVolts;
-  private final StatusSignal<Double> bottomSupplyCurrent;
-  private final StatusSignal<Double> bottomTemp;
+  private final StatusSignal<Angle> topPosition;
+  private final StatusSignal<AngularVelocity> topVelocity;
+  private final StatusSignal<Voltage> topAppliedVolts;
+  private final StatusSignal<Current> topSupplyCurrent;
+  private final StatusSignal<Temperature> topTemp;
+  private final StatusSignal<Angle> bottomPosition;
+  private final StatusSignal<AngularVelocity> bottomVelocity;
+  private final StatusSignal<Voltage> bottomAppliedVolts;
+  private final StatusSignal<Current> bottomSupplyCurrent;
+  private final StatusSignal<Temperature> bottomTemp;
 
   private final Slot0Configs gainsConfig = new Slot0Configs();
   private final VelocityVoltage velocityOutput = new VelocityVoltage(0).withUpdateFreqHz(0);
@@ -39,6 +45,7 @@ public FlywheelsIOTalonFX() {
     config.CurrentLimits.SupplyCurrentLimit = 60.0; // FIXME
     config.CurrentLimits.SupplyCurrentLimitEnable = true;
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
     config.Feedback.SensorToMechanismRatio = FLYWHEEL_CONFIG.reduction();
 
     gainsConfig.kP = GAINS.kP();
@@ -53,17 +60,14 @@ public FlywheelsIOTalonFX() {
     topTalon.getConfigurator().apply(gainsConfig);
     bottomTalon.getConfigurator().apply(gainsConfig);
 
-    topTalon.setInverted(true);
-    bottomTalon.setInverted(true); // FIXME
-
-    topPositionRads = topTalon.getPosition();
-    topVelocityRPM = topTalon.getVelocity();
+    topPosition = topTalon.getPosition();
+    topVelocity = topTalon.getVelocity();
     topAppliedVolts = topTalon.getMotorVoltage();
     topSupplyCurrent = topTalon.getSupplyCurrent();
     topTemp = topTalon.getDeviceTemp();
 
-    bottomPositionRads = bottomTalon.getPosition();
-    bottomVelocityRPM = bottomTalon.getVelocity();
+    bottomPosition = bottomTalon.getPosition();
+    bottomVelocity = bottomTalon.getVelocity();
     bottomAppliedVolts = bottomTalon.getMotorVoltage();
     bottomSupplyCurrent = bottomTalon.getSupplyCurrent();
     bottomTemp = bottomTalon.getDeviceTemp();
@@ -73,25 +77,21 @@ public FlywheelsIOTalonFX() {
   public void updateInputs(FlywheelsIOInputs inputs) {
     inputs.topMotorConnected =
         BaseStatusSignal.refreshAll(
-                topPositionRads, topVelocityRPM, topAppliedVolts, topSupplyCurrent, topTemp)
+                topPosition, topVelocity, topAppliedVolts, topSupplyCurrent, topTemp)
             .isOK();
     inputs.bottomMotorConnected =
         BaseStatusSignal.refreshAll(
-                bottomPositionRads,
-                bottomVelocityRPM,
-                bottomAppliedVolts,
-                bottomSupplyCurrent,
-                bottomTemp)
+                bottomPosition, bottomVelocity, bottomAppliedVolts, bottomSupplyCurrent, bottomTemp)
             .isOK();
 
-    inputs.topPositionRads = Units.rotationsToRadians(topPositionRads.getValueAsDouble());
-    inputs.topVelocityRPM = topVelocityRPM.getValueAsDouble() * 60.0;
+    inputs.topPositionRads = Units.rotationsToRadians(topPosition.getValueAsDouble());
+    inputs.topVelocityRPM = topVelocity.getValueAsDouble() * 60.0;
     inputs.topAppliedVolts = topAppliedVolts.getValueAsDouble();
     inputs.topSupplyCurrent = topSupplyCurrent.getValueAsDouble();
     inputs.topTempCelcius = topTemp.getValueAsDouble();
 
-    inputs.bottomPositionRads = Units.rotationsToRadians(bottomPositionRads.getValueAsDouble());
-    inputs.bottomVelocityRPM = bottomVelocityRPM.getValueAsDouble() * 60.0;
+    inputs.bottomPositionRads = Units.rotationsToRadians(bottomPosition.getValueAsDouble());
+    inputs.bottomVelocityRPM = bottomVelocity.getValueAsDouble() * 60.0;
     inputs.bottomAppliedVolts = bottomAppliedVolts.getValueAsDouble();
     inputs.bottomSupplyCurrent = bottomSupplyCurrent.getValueAsDouble();
     inputs.bottomTempCelcius = bottomTemp.getValueAsDouble();

src/main/java/frc/robot/subsystems/rollers/GenericRollersIOTalonFX.java

@@ -9,14 +9,18 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
 
 public abstract class GenericRollersIOTalonFX implements GenericRollersIO {
   private final TalonFX talon;
 
-  private final StatusSignal<Double> position;
-  private final StatusSignal<Double> velocity;
-  private final StatusSignal<Double> appliedVolts;
-  private final StatusSignal<Double> supplyCurrent;
+  private final StatusSignal<Angle> position;
+  private final StatusSignal<AngularVelocity> velocity;
+  private final StatusSignal<Voltage> appliedVolts;
+  private final StatusSignal<Current> supplyCurrent;
 
   private final VoltageOut voltageOutput = new VoltageOut(0).withUpdateFreqHz(0);
   private final NeutralOut neutralOutput = new NeutralOut();

src/main/java/frc/robot/subsystems/swerve/Drive.java

@@ -74,15 +74,18 @@ public void periodic() {
     /* use kinematics to get desired module states */
     ChassisSpeeds discretizedSpeeds =
         ChassisSpeeds.discretize(targetSpeeds, Constants.PERIODIC_LOOP_SEC);
+    /* ChassisSpeeds discretizedSpeeds = targetSpeeds; // FIXME
+    discretizedSpeeds.discretize(Constants.PERIODIC_LOOP_SEC); */
+
     SwerveModuleState[] moduleTargetStates = KINEMATICS.toSwerveModuleStates(discretizedSpeeds);
     SwerveDriveKinematics.desaturateWheelSpeeds(
         moduleTargetStates, DRIVE_CONFIG.maxLinearVelocity());
 
     SwerveModuleState[] optimizedTargetStates = new SwerveModuleState[4];
 
     for (int i = 0; i < modules.length; i++) {
-      optimizedTargetStates[i] =
-          SwerveModuleState.optimize(moduleTargetStates[i], modules[i].getSteerHeading());
+      optimizedTargetStates[i] = moduleTargetStates[i];
+      optimizedTargetStates[i].optimize(modules[i].getSteerHeading());
       modules[i].runToSetpoint(optimizedTargetStates[i]);
     }
 

src/main/java/frc/robot/subsystems/swerve/GyroIOPigeon2.java

@@ -6,11 +6,13 @@
 import com.ctre.phoenix6.hardware.Pigeon2;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
 
 public class GyroIOPigeon2 implements GyroIO {
   private final Pigeon2 pigeon;
-  private final StatusSignal<Double> yaw;
-  private final StatusSignal<Double> yawVelocity;
+  private final StatusSignal<Angle> yaw;
+  private final StatusSignal<AngularVelocity> yawVelocity;
 
   public GyroIOPigeon2() {
     pigeon = new Pigeon2(DriveConstants.GYRO_ID);

src/main/java/frc/robot/subsystems/swerve/ModuleIOTalonFX.java

@@ -14,6 +14,10 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Voltage;
 import frc.robot.subsystems.swerve.DriveConstants.Gains;
 import frc.robot.subsystems.swerve.DriveConstants.ModuleConfig;
 import frc.robot.subsystems.swerve.DriveConstants.MotionProfileGains;
@@ -24,18 +28,18 @@ public class ModuleIOTalonFX implements ModuleIO {
   private final TalonFX steerTalon;
   private final CANcoder encoder;
 
-  private final StatusSignal<Double> drivePosition;
-  private final StatusSignal<Double> driveVelocity;
-  private final StatusSignal<Double> driveAppliedVolts;
-  private final StatusSignal<Double> driveSupplyCurrent;
-  private final StatusSignal<Double> driveStatorCurrent;
+  private final StatusSignal<Angle> drivePosition;
+  private final StatusSignal<AngularVelocity> driveVelocity;
+  private final StatusSignal<Voltage> driveAppliedVolts;
+  private final StatusSignal<Current> driveSupplyCurrent;
+  private final StatusSignal<Current> driveStatorCurrent;
 
   private final Supplier<Rotation2d> steerAbsolutePosition;
-  private final StatusSignal<Double> steerPosition;
-  private final StatusSignal<Double> steerVelocity;
-  private final StatusSignal<Double> steerAppliedVolts;
-  private final StatusSignal<Double> steerSupplyCurrent;
-  private final StatusSignal<Double> steerStatorCurrent;
+  private final StatusSignal<Angle> steerPosition;
+  private final StatusSignal<AngularVelocity> steerVelocity;
+  private final StatusSignal<Voltage> steerAppliedVolts;
+  private final StatusSignal<Current> steerSupplyCurrent;
+  private final StatusSignal<Current> steerStatorCurrent;
 
   private final TalonFXConfiguration driveConfig = new TalonFXConfiguration();
   private final TalonFXConfiguration steerConfig = new TalonFXConfiguration();

src/main/java/frc/robot/subsystems/swerve/controllers/TeleopController.java

@@ -35,6 +35,16 @@ public ChassisSpeeds update(Rotation2d yaw) {
         linearVelocity.getY() * DRIVE_CONFIG.maxLinearVelocity(),
         omega * DRIVE_CONFIG.maxAngularVelocity(),
         yaw);
+
+    /* ChassisSpeeds speeds =
+        new ChassisSpeeds(
+            linearVelocity.getX() * DRIVE_CONFIG.maxLinearVelocity(),
+            linearVelocity.getY() * DRIVE_CONFIG.maxLinearVelocity(),
+            omega * DRIVE_CONFIG.maxAngularVelocity());
+    // eventually run off of pose estimation?
+    speeds.toRobotRelativeSpeeds(yaw);
+
+    return speeds; */
   }
 
   public Translation2d calculateLinearVelocity(double x, double y) {