wpilib deprecations

src/main/kotlin/frc/team449/Main.kt

@@ -1,9 +1,15 @@
-@file:JvmName("Main")
-
 package frc.team449
 
 import edu.wpi.first.wpilibj.RobotBase
 
-fun main() {
+object Main {
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the argument type.
+   */
+  @JvmStatic
+  fun main(args: Array<String>) {
     RobotBase.startRobot { RobotLoop() }
-}
+  }
+}

src/main/kotlin/frc/team449/Robot.kt

@@ -2,6 +2,7 @@ package frc.team449
 
 import edu.wpi.first.epilogue.Logged
 import edu.wpi.first.wpilibj.PowerDistribution
+import edu.wpi.first.wpilibj.smartdashboard.Field2d
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import frc.team449.subsystems.RobotConstants
 import frc.team449.subsystems.drive.swerve.SwerveDrive
@@ -16,23 +17,25 @@ import frc.team449.subsystems.vision.PoseSubsystem.Companion.createPoseSubsystem
 import frc.team449.system.AHRS
 
 @Logged
-class Robot : RobotBase() {
+class Robot {
 
     val driveController = CommandXboxController(0)
 
     val mechController = CommandXboxController(1)
 
     val ahrs = AHRS()
 
+    val field = Field2d()
+
     // Instantiate/declare PDP and other stuff here
-    override val powerDistribution: PowerDistribution =
+    val powerDistribution: PowerDistribution =
         PowerDistribution(RobotConstants.PDH_CAN, PowerDistribution.ModuleType.kRev)
 
-    override val drive: SwerveDrive = SwerveDrive.createSwerveKraken(field)
+    val drive: SwerveDrive = SwerveDrive.createSwerveKraken(field)
 
-    override val poseSubsystem: PoseSubsystem = createPoseSubsystem(ahrs, drive, field)
+    val poseSubsystem: PoseSubsystem = createPoseSubsystem(ahrs, drive, field)
 
-    override val driveCommand: SwerveOrthogonalCommand =
+    val driveCommand: SwerveOrthogonalCommand =
         SwerveOrthogonalCommand(drive, poseSubsystem, driveController.hid)
 
     val elevator: Elevator = createElevator()

src/main/kotlin/frc/team449/RobotLoop.kt

@@ -27,20 +27,15 @@ class RobotLoop : TimedRobot() {
     private val robot = Robot()
 
     private val routineChooser: RoutineChooser = RoutineChooser(robot)
-
-    private val field = robot.field
     private var autoCommand: Command? = null
     private var routineMap = hashMapOf<String, Command>()
     private val controllerBinder =
         ControllerBindings(robot.driveController, robot.mechController, robot)
 
-    override fun robotInit() {
+    init {
         // Yes this should be a print statement, it's useful to know that robotInit started.
         println("Started robotInit.")
 
-        SignalLogger.setPath("/media/sda1/ctre-logs/")
-        SignalLogger.start()
-
         HAL.report(
             FRCNetComm.tResourceType.kResourceType_Language,
             FRCNetComm.tInstances.kLanguage_Kotlin,
@@ -67,8 +62,10 @@ class RobotLoop : TimedRobot() {
 
         controllerBinder.bindButtons()
 
+        SignalLogger.setPath("/media/sda1/ctre-logs/")
+        SignalLogger.start()
         Epilogue.bind(this)
-        DriverStation.startDataLog(DataLogManager.getLog())
+        DataLogManager.start()
     }
 
     override fun driverStationConnected() {}