From 8a9b83b410f2a8549a67a5105d692c167f099ad8 Mon Sep 17 00:00:00 2001
From: Jack Nelson <jack@jacknelson.xyz>
Date: Mon, 8 Jan 2024 11:09:02 -0500
Subject: [PATCH] update pathplannerlib

---
 .../java/frc/robot/subsystems/DriveSubsystem.java    | 12 ++++++++++++
 vendordeps/PathplannerLib.json                       |  6 +++---
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index a8daae3..e757ad9 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -15,6 +15,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -166,6 +167,17 @@ public DriveSubsystem() {
         this::getSpeeds, // A method for getting the chassis' current speed and direction
         this::setSpeeds, // A consumer that takes the desired chassis speed and direction
         DriveConstants.autoReplanningConfig,
+        () -> {
+          // Boolean supplier that controls when the path will be mirrored for the red alliance
+          // This will flip the path being followed to the red side of the field.
+          // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
+
+          var alliance = DriverStation.getAlliance();
+          if (alliance.isPresent()) {
+            return alliance.get() == DriverStation.Alliance.Red;
+          }
+          return false;
+        },
         this // Reference to this subsystem to set requirements
         );
 
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 3e18a45..e334459 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.0.0-beta-6.2",
+    "version": "2024.1.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.0.0-beta-6.2"
+            "version": "2024.1.1"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.0.0-beta-6.2",
+            "version": "2024.1.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,