Merge branch 'mjansen4857:main' into main

.github/workflows/build-pplib-release.yaml

@@ -14,16 +14,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: PPLib-Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/ubuntu-base:22.04
             artifact-name: PPLib-Linux
             build-options: "-Ponlylinuxx86-64"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm64
             build-options: "-Ponlylinuxarm64"
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"
@@ -56,6 +56,8 @@ jobs:
           path: pathplannerlib/build/allOutputs
 
   build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:

.github/workflows/format-command.yml

@@ -36,7 +36,7 @@ jobs:
       - name: Setup flutter
         uses: subosito/flutter-action@v2
         with:
-          flutter-version: 3.24.4
+          flutter-version: 3.27.1
           cache: true
           cache-path: ${{ runner.tool_cache }}/flutter/linux
 

.github/workflows/pathplanner-ci.yaml

@@ -14,7 +14,7 @@ on:
         required: true
 
 env:
-  FLUTTER_VERSION: 3.24.4
+  FLUTTER_VERSION: 3.27.1
 
 jobs:
   formatting-analysis:
@@ -34,15 +34,15 @@ jobs:
 
       - name: Get dependencies
         run: flutter pub get
+
+      - name: Check formatting
+        run: dart format -o none --set-exit-if-changed lib/* test/*
 
       - name: Generate mocks
         run: dart run build_runner build
 
       - name: Analyze
         run: flutter analyze
-
-      - name: Check formatting
-        run: dart format -o none --set-exit-if-changed lib/* test/*
 
   test:
     name: "[GUI] Run Tests"

.github/workflows/pplib-ci.yml

@@ -117,16 +117,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: PPLib-Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/ubuntu-base:22.04
             artifact-name: PPLib-Linux
             build-options: "-Ponlylinuxx86-64"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: PPLib-Arm64
             build-options: "-Ponlylinuxarm64"
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"

README.md

@@ -9,7 +9,7 @@
 Download from the Microsoft Store to receive auto-updates for stable releases. Manual installs and pre-releases can be found [here](https://github.com/mjansen4857/pathplanner/releases).
 
 ## About
-![PathPlanner](https://github.com/mjansen4857/pathplanner/assets/9343077/a395bdb4-71f9-4d88-9ff7-55241b26f4de)
+![PathPlanner](https://github.com/user-attachments/assets/5b87c1a4-8fdb-4eb9-bf29-71f79a826a82)
 
 
 PathPlanner is a motion profile generator for FRC robots created by team 3015. The main features of PathPlanner include:

Writerside/topics/Home.md

@@ -2,7 +2,7 @@
 
 Download from
 the [Microsoft Store](https://www.microsoft.com/en-us/p/frc-pathplanner/9nqbkb5dw909?cid=storebadge&ocid=badge&rtc=1&activetab=pivot:overviewtab)
-or the [Mac App Store](https://apps.apple.com/us/app/frc-pathplanner/id1593046876) to receive auto-updates. Manual
+to receive auto-updates. Manual
 installs can be found [here](https://github.com/mjansen4857/pathplanner/releases).
 
 ![](cover.png)

Writerside/topics/gui-Project-Browser.md

@@ -1,6 +1,6 @@
 # Project Browser
 
-![](cover.png)
+![](project_page.png)
 
 The project browser is the main screen of PathPlanner and allows you to manage your path/auto files as well as open them
 for editing. The project browser is split in two, with paths on the left and autos on the right. The relative sizes of

Writerside/topics/pplib-Build-an-Auto.md

@@ -149,7 +149,7 @@ class SwerveSubsystem(Subsystem):
         config = RobotConfig.fromGUISettings()
 
         # Configure the AutoBuilder last
-        AutoBuilder.configureHolonomic(
+        AutoBuilder.configure(
             self.getPose, # Robot pose supplier
             self.resetPose, # Method to reset odometry (will be called if your auto has a starting pose)
             self.getRobotRelativeSpeeds, # ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
@@ -283,7 +283,7 @@ class DriveSubsystem(Subsystem):
         config = RobotConfig.fromGUISettings()
 
         # Configure the AutoBuilder last
-        AutoBuilder.configureHolonomic(
+        AutoBuilder.configure(
             self.getPose, # Robot pose supplier
             self.resetPose, # Method to reset odometry (will be called if your auto has a starting pose)
             self.getRobotRelativeSpeeds, # ChassisSpeeds supplier. MUST BE ROBOT RELATIVE

Writerside/topics/pplib-Getting-Started.md

@@ -5,31 +5,19 @@
 <tabs>
 <tab title="Java/C++">
 
-PathPlannerLib can be added to your robot code project using the "Install New Libraries (online)" feature in VSCode
-using the following JSON file URL:
+The easiest way to install PathPlannerLib is to find and install it via the WPILib Vendor Dependency Manager in VSCode.
 
-> **Note**
->
-> The main PathPlannerLib json file will not be updated for beta versions. To use the beta, you will need to use the
-> beta json file below. Once PathPlannerLib is fully released after kickoff, you will need to switch back to the main
-> vendor json file.
->
-{style="note"}
+![](vendor_dep_manager.png)
+
+Alternatively, PathPlannerLib can be added to your robot code project using the "Install New Libraries (online)" feature
+in VSCode using the following JSON file URL:
 
 <br/>
 
 ```text
 https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json
 ```
 
-**Beta Version**
-
-To install the beta version of PathPlannerLib, use the following vendor json file
-
-```text
-https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json
-```
-
 **Legacy Versions**
 
 The following legacy PathPlannerLib json files can be used to install the last release from previous years for
@@ -61,6 +49,15 @@ https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2022.json
 
 The Python version is compatible with RobotPy and available to install from PyPI via the `pip` command
 
+> **Warning**
+>
+> If using a RoboRIO 1, you must disable the NI webserver via `robotpy installer niweb disable` in order to ensure there
+> is enough available memory.
+>
+> If you need to re-image your rio, you will need to re-enable the webserver.
+>
+{style="warning"}
+
 <br/>
 
 ```text

Writerside/topics/pplib-Swerve-Setpoint-Generator.md

@@ -15,12 +15,8 @@ This improves on the original version in a few ways:
 * Friction within the module itself is taken into account, which decreases maximum acceleration but increases maximum
   deceleration
 
-> **Note**
->
-> This feature is only available in PathPlannerLib Java. If you would like to see this feature in PPLib C++ or Python,
-> feel free to open a pull request to translate it to your language.
->
-{style="note"}
+<tabs group="pplib-language">
+<tab title="Java" group-key="java">
 
 ```Java
 public class SwerveSubsystem extends Subsystem {
@@ -70,3 +66,103 @@ public class SwerveSubsystem extends Subsystem {
     }
 }
 ```
+
+</tab>
+
+<tab title="C++" group-key="cpp">
+
+```C++
+#include <pathplanner/lib/config/RobotConfig.h>
+#include <pathplanner/lib/util/swerve/SwerveSetpointGenerator.h>
+#include <pathplanner/lib/util/swerve/SwerveSetpoint.h>
+#include <frc/geometry/Pose2d.h>
+#include <frc/kinematics/ChassisSpeeds.h>
+
+using namespace pathplanner;
+
+SwerveSubsystem::SwerveSubsystem(){
+    // All other subsystem initialization
+    // ...
+
+    // Load the RobotConfig from the GUI settings. You should probably
+    // store this in your Constants file
+    RobotConfig config = RobotConfig::fromGUISettings();
+
+    setpointGenerator = SwerveSetpointGenerator(
+		config,
+		10_rad_per_s
+	);
+
+	// Initialize the previous setpoint to the robot's current speeds & module states
+	frc::ChassisSpeeds currentSpeeds = getCurrentSpeeds(); // Method to get current robot-relative chassis speeds
+	std::vector<frc::SwerveModuleState> currentStates = getCurrentModuleStates(); // Method to get the current swerve module states
+	previousSetpoint = SwerveSetpoint(currentSpeeds, currentStates, DriveFeedforwards::zeros(config.numModules));
+}
+
+/**
+ * This method will take in desired robot-relative chassis speeds,
+ * generate a swerve setpoint, then set the target state for each module
+ *
+ * @param speeds The desired robot-relative speeds
+ */
+void SwerveSubsystem::driveRobotRelative(frc::ChassisSpeeds speeds) {
+	// Note: it is important to not discretize speeds before or after
+	// using the setpoint generator, as it will discretize them for you
+	previousSetpoint = setpointGenerator.generateSetpoint(
+		previousSetpoint, // The previous setpoint
+		speeds, // The desired target speeds
+		0.02_s // The loop time of the robot code, in seconds
+	);
+	setModuleStates(previousSetpoint.moduleStates()); // Method that will drive the robot given target module states
+}
+```
+
+</tab>
+
+<tab title="Python" group-key="python">
+
+```Python
+from pathplannerlib.config import RobotConfig
+from pathplannerlib.util import DriveFeedforwards
+from pathplannerlib.util.swerve import SwerveSetpoint, SwerveSetpointGenerator
+from wpimath.kinematics import ChassisSpeeds
+from wpimath.units import rotationsToRadians
+
+class SwerveSubsystem(Subsystem):
+  def __init__(self):
+    # All other subsystem initialization
+    # ...
+
+    # Load the RobotConfig from the GUI settings. You should probably
+    # store this in your Constants file
+    config = RobotConfig.fromGUISettings()
+
+    self.setpointGenerator = SwerveSetpointGenerator(
+      config, # The robot configuration. This is the same config used for generating trajectories and running path following commands.
+      rotationsToRadians(10.0) # The max rotation velocity of a swerve module in radians per second. This should probably be stored in your Constants file
+    )
+
+    # Initialize the previous setpoint to the robot's current speeds & module states
+    currentSpeeds = self.getCurrentSpeeds() # Method to get current robot-relative chassis speeds
+    currentStates = self.getCurrentModuleStates() # Method to get the current swerve module states
+    self.previousSetpoint = SwerveSetpoint(currentSpeeds, currentStates, DriveFeedforwards.zeros(config.numModules))
+
+  def driveRobotRelative(self, speeds: ChassisSpeeds):
+    """
+    This method will take in desired robot-relative chassis speeds,
+    generate a swerve setpoint, then set the target state for each module
+
+    :param speeds: The desired robot-relative speeds
+    """
+    # Note: it is important to not discretize speeds before or after
+    # using the setpoint generator, as it will discretize them for you
+    self.previousSetpoint = self.setpointGenerator.generateSetpoint(
+      self.previousSetpoint, # The previous setpoint
+      speeds, # The desired target speeds
+      0.02, # The loop time of the robot code, in seconds
+    )
+    self.setModuleStates(self.previousSetpoint.moduleStates) # Method that will drive the robot given target module states
+```
+
+</tab>
+</tabs>

examples/cpp/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 3015
 }

examples/cpp/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

examples/cpp/src/main/deploy/pathplanner/autos/Example Auto.auto

@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "command": {
     "type": "sequential",
     "data": {

examples/cpp/src/main/deploy/pathplanner/paths/Pickup.path

@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -9,7 +9,7 @@
       "prevControl": null,
       "nextControl": {
         "x": 3.820494796624656,
-        "y": 1.2776543621065768
+        "y": 1.2776543621065766
       },
       "isLocked": false,
       "linkedName": null
@@ -21,7 +21,7 @@
       },
       "prevControl": {
         "x": 5.891321406971974,
-        "y": 0.8077125277685265
+        "y": 0.8077125277685268
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,7 +55,9 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,

examples/cpp/src/main/deploy/pathplanner/paths/Score.path

@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -82,7 +82,9 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,