2025 Beta Updates (#50)

* Initial beta updates

* First attempt at rev beta

* Fix bazel

* Move to development maven

MODULE.bazel

@@ -1,14 +1,21 @@
 bazel_dep(name = "rules_jvm_external", version = "6.1")
-bazel_dep(name = "rules_java", version = "7.6.1")
+bazel_dep(name = "rules_java", version = "7.6.5")
 bazel_dep(name = "rules_bazelrio", version = "0.0.14")
-bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1")
+bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1.bcr1")
 bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.8.1-1")
 bazel_dep(name = "rules_pmd", version = "7.2.0")
-bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.3.2")
-bazel_dep(name = "bzlmodrio-navx", version = "2024.1.0")
-bazel_dep(name = "bzlmodrio-phoenix", version = "5.33.1")
-bazel_dep(name = "bzlmodrio-phoenix6", version = "24.0.0-beta-8")
-bazel_dep(name = "bzlmodrio-revlib", version = "2024.2.4")
+bazel_dep(name = "bzlmodrio-allwpilib", version = "2025.1.1-beta-1")
+bazel_dep(name = "bzlmodrio-navx", version = "2025.1.1-beta-1")
+bazel_dep(name = "bzlmodrio-phoenix", version = "5.34.0-beta-2")
+bazel_dep(name = "bzlmodrio-phoenix6", version = "25.0.0-beta-2")
+bazel_dep(name = "bzlmodrio-revlib", version = "2025.0.0-beta-1")
+
+archive_override(
+    module_name = "rules_bzlmodrio_jdk",
+    integrity = "sha256-Q6R15GhSMF/8h/dJnncqQtxTQ9e/zHYx28qDVocS9E8=",
+    strip_prefix = "rules_bzlmodrio_jdk-d5f0db20a611e4ec4b26f95d9c772e2436b69b55",
+    urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/d5f0db20a611e4ec4b26f95d9c772e2436b69b55.tar.gz"],
+)
 
 maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
 maven.install(

WORKSPACE

@@ -1,6 +1,13 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("//build_scripts/bazel/deps:download_external_archives.bzl", "download_external_archives")
 
+http_archive(
+    name = "rules_bzlmodrio_jdk",
+    sha256 = "43a475e46852305ffc87f7499e772a42dc5343d7bfcc7631dbca83568712f44f",
+    strip_prefix = "rules_bzlmodrio_jdk-d5f0db20a611e4ec4b26f95d9c772e2436b69b55",
+    urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/d5f0db20a611e4ec4b26f95d9c772e2436b69b55.tar.gz"],
+)
+
 download_external_archives()
 
 load("//build_scripts/bazel/deps:setup_dependencies.bzl", "setup_dependencies")

build_scripts/base_java.gradle

@@ -3,7 +3,7 @@ repositories {
     mavenLocal()
     maven { url "https://frcmaven.wpi.edu/artifactory/release/" }
     maven { url 'https://devsite.ctr-electronics.com/maven/release/' }
-    maven { url 'https://dev.studica.com/maven/release/2024/' }
+    maven { url 'https://dev.studica.com/maven/release/2025/' }
     maven { url 'https://maven.revrobotics.com/' }
 }
 
@@ -41,13 +41,13 @@ ext.getCurrentOs = {
 }
 
 ext {
-    wpiVersion = '2024.3.2'
+    wpiVersion = '2025.1.1-beta-1'
     opencvYear = '2024'
     opencvVersion = '4.8.0-1'
-    phoenix5Version = '5.33.1'
-    phoenix6Version = "24.3.0"
-    revVersion = '2024.2.4'
-    navxVersion = '2024.1.0'
+    phoenix5Version = '5.34.0-beta-2'
+    phoenix6Version = "25.0.0-beta-2"
+    revVersion = '2025.0.0-beta-1'
+    navxVersion = '2025.1.1-beta-1'
 
     nativeOs = getCurrentOs() + getCurrentArch()
 }
@@ -70,15 +70,15 @@ dependencies {
 
     nativeDesktopZip "com.ctre.phoenix.sim:cci-sim:${phoenix5Version}:${nativeOs}@zip"
 
-    nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonFX:${phoenix6Version}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:api-cpp-sim:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simCANCoder:${phoenix6Version}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simProCANcoder:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simProPigeon2:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip"
 
     nativeDesktopZip "com.revrobotics.frc:REVLib-driver:${revVersion}:${nativeOs}@zip"
 }

build_scripts/bazel/deps/download_external_archives.bzl

@@ -2,11 +2,13 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 def download_external_archives():
     # Download bzlmodRio <3
+    BZLMODRIO_COMMITISH = "c5af12728e5d28d455f1b3451bb1a11bd4e98d57"
+    BZLMODRIO_SHA256 = "13fe9597bc1a516d16d7aed6f39ba9413ef6241e7172d3e8551506503cd51fb4"
     http_archive(
         name = "bzlmodrio",
-        url = "https://github.com/bzlmodRio/bzlmodRio/archive/17983128beaeb12f184d22a426fecd8b536a5452.tar.gz",
-        sha256 = "aec41ceddbb412c32202ec84246ca5e65fa41325693f8bfc27e2c44c756f66a6",
-        strip_prefix = "bzlmodRio-17983128beaeb12f184d22a426fecd8b536a5452",
+        url = "https://github.com/bzlmodRio/bzlmodRio/archive/{}.tar.gz".format(BZLMODRIO_COMMITISH),
+        sha256 = BZLMODRIO_SHA256,
+        strip_prefix = "bzlmodRio-{}".format(BZLMODRIO_COMMITISH),
     )
     # native.local_repository(
     #     name = "bzlmodrio",

build_scripts/bazel/deps/setup_dependencies.bzl

@@ -3,13 +3,13 @@ load("@bzlmodrio//private/non_bzlmod:download_dependencies.bzl", "download_depen
 def setup_dependencies():
     download_dependencies(
         # toolchain_versions = "2024-1",
-        allwpilib_version = "2024.3.2",
+        allwpilib_version = "2025.1.1-beta-1",
         # ni_version = "2024.1.1",
         # opencv_version = "2024.4.8.0-1",
-        revlib_version = "2024.2.4",
-        phoenix_version = "5.33.1",
-        phoenix6_version = "24.3.0",
-        navx_version = "2024.1.0",
+        revlib_version = "2025.0.0-beta-1",
+        phoenix_version = "5.34.0-beta-2",
+        phoenix6_version = "25.0.0-beta-2",
+        navx_version = "2025.1.1-beta-1",
         # imgui_version = None,
         # libssh_version = None,
     )

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java

@@ -1,27 +1,39 @@
 package org.snobotv2.examples.base.commands.auton;
 
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj2.command.PIDCommand;
+import edu.wpi.first.wpilibj2.command.Command;
 import org.snobotv2.examples.base.subsystems.DrivetrainSubsystem;
 
-public class TurnToAngle extends PIDCommand
+public class TurnToAngle extends Command
 {
+    private final PIDController mController;
+    private final DrivetrainSubsystem mDrivetrain;
+    private final double mGoal;
+
     @SuppressWarnings("PMD.ConstructorCallsOverridableMethod")
     public TurnToAngle(DrivetrainSubsystem drivetrain, double goal)
     {
-        super(new PIDController(.02, 0, 0.001),
-                drivetrain::getHeadingDegrees,
-                goal,
-                (double output) -> drivetrain.arcadeDrive(0, output),
-                drivetrain);
+        mController = new PIDController(.02, 0, 0.001);
+        mController.enableContinuousInput(-180, 180);
+        mController.setTolerance(3, 1);
+
+        mDrivetrain = drivetrain;
+        mGoal = goal;
+
+        addRequirements(mDrivetrain);
+    }
 
-        getController().enableContinuousInput(-180, 180);
-        getController().setTolerance(3, 1);
+    @Override
+    public void execute()
+    {
+        double currentAngle = mDrivetrain.getHeadingDegrees();
+        double output = mController.calculate(currentAngle, mGoal);
+        mDrivetrain.arcadeDrive(0, output);
     }
 
     @Override
     public boolean isFinished()
     {
-        return m_controller.atSetpoint();
+        return mController.atSetpoint();
     }
 }

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java

@@ -1,5 +1,8 @@
 package org.snobotv2.examples.base.subsystems;
 
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.system.LinearSystem;
+import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -14,7 +17,9 @@ final class FlywheelSimConstants
 
         public static FlywheelSim createSim()
         {
-            return new FlywheelSim(kGearbox, kGearing, kInertia);
+            LinearSystem<N1, N1, N1> plant =
+                    LinearSystemId.createFlywheelSystem(kGearbox, kInertia, kGearing);
+            return new FlywheelSim(plant, kGearbox);
         }
 
         private FlywheelSimConstants()

examples/test_robot_catchall/build.gradle

@@ -19,7 +19,7 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("ntcore")
     implementation wpilibTools.deps.wpilibJava("wpilibNewCommands")
 
-    implementation "com.kauailabs.navx.frc:navx-frc-java:${navxVersion}"
+    implementation "com.kauailabs.navx.frc:navx_frc-java:${navxVersion}"
     implementation "com.ctre.phoenix:api-java:${phoenix5Version}"
     implementation "com.ctre.phoenix:wpiapi-java:${phoenix5Version}"
     implementation "com.revrobotics.frc:REVLib-java:${revVersion}"

examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java

@@ -1,11 +1,12 @@
 package org.snobotv2.examples.catchall.subsystems;
 
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 import com.kauailabs.navx.frc.AHRS;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkLowLevel;
+import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel;
+import com.revrobotics.spark.SparkMax;
 import edu.wpi.first.wpilibj.ADXL345_I2C;
 import edu.wpi.first.wpilibj.ADXL345_SPI;
 import edu.wpi.first.wpilibj.ADXL362;
@@ -86,9 +87,9 @@ public class CatchallSubsystem extends SubsystemBase
     protected final VictorSP mVictorSP;
 
     protected final AHRS mNavx;
-    protected final CANSparkMax mCanSparkMax;
+    protected final SparkMax mCanSparkMax;
+    protected final SparkFlex mCanSparkFlex;
     protected final WPI_TalonSRX mTalonSrx;
-    protected final WPI_TalonFX mTalonFx;
     protected final WPI_VictorSPX mVictorSpx;
 
     public CatchallSubsystem()
@@ -134,9 +135,9 @@ public CatchallSubsystem()
         mPwmVictorSPX = new PWMVictorSPX(13);
         mSd540 = new SD540(14);
 
-        mCanSparkMax = new CANSparkMax(15, CANSparkLowLevel.MotorType.kBrushed);
+        mCanSparkMax = new SparkMax(15, SparkBase.MotorType.kBrushed);
+        mCanSparkFlex = new SparkFlex(17, SparkLowLevel.MotorType.kBrushed);
         mTalonSrx = new WPI_TalonSRX(16);
-        mTalonFx = new WPI_TalonFX(17);
         mVictorSpx = new WPI_VictorSPX(18);
 
         mNavx = new AHRS();
@@ -160,8 +161,8 @@ public void simulationPeriodic()
         mSd540.set(0.4);
 
         mCanSparkMax.set(0.5);
+        mCanSparkFlex.set(0.5);
         mTalonSrx.set(0.6);
-        mTalonFx.set(0.7);
         mVictorSpx.set(0.8);
     }
 

examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java

@@ -5,8 +5,7 @@
 package org.snobotv2.examples.phoenix5_swerve.subsystems;
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.TalonFXInvertType;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.sensors.AbsoluteSensorRange;
 import com.ctre.phoenix.sensors.SensorInitializationStrategy;
 import com.ctre.phoenix.sensors.WPI_CANCoder;
@@ -37,8 +36,8 @@ public class SwerveModule implements BaseSwerveModule
 
     private final String mName;
 
-    private final WPI_TalonFX mDriveMotor;
-    private final WPI_TalonFX mAzimuthMotor;
+    private final WPI_TalonSRX mDriveMotor;
+    private final WPI_TalonSRX mAzimuthMotor;
     private final WPI_CANCoder mAbsoluteEncoder;
 
     private SwerveModuleState mCurrentState;
@@ -56,8 +55,8 @@ public SwerveModule(
             double encoderOffset,
             String name)
     {
-        mDriveMotor = new WPI_TalonFX(driveMotorChannel);
-        mAzimuthMotor = new WPI_TalonFX(turningMotorChannel);
+        mDriveMotor = new WPI_TalonSRX(driveMotorChannel);
+        mAzimuthMotor = new WPI_TalonSRX(turningMotorChannel);
 
         mAbsoluteEncoder = new WPI_CANCoder(turningEncoderChannels);
 
@@ -70,7 +69,7 @@ public SwerveModule(
         mAbsoluteEncoder.configSensorDirection(false);
         mAbsoluteEncoder.setPositionToAbsolute();
 
-        mAzimuthMotor.setInverted(TalonFXInvertType.CounterClockwise);
+        mAzimuthMotor.setInverted(true);
 
         mDriveMotor.configVoltageCompSaturation(10);
         mDriveMotor.configClosedloopRamp(0.5);

examples/test_robot_rev/build.gradle

@@ -13,6 +13,7 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("wpimath")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibJava("wpiutil")
     implementation wpilibTools.deps.wpilibJava("cscore")
     implementation wpilibTools.deps.wpilibJava("ntcore")
@@ -25,7 +26,7 @@ dependencies {
     implementation project(":examples:test_robot_base")
 
     implementation "com.revrobotics.frc:REVLib-java:${revVersion}"
-    implementation "com.kauailabs.navx.frc:navx-frc-java:${navxVersion}"
+    implementation "com.kauailabs.navx.frc:navx_frc-java:${navxVersion}"
 
     testImplementation project(":snobot_sim_java_test_utils")
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'

examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/BUILD

@@ -13,7 +13,7 @@ snobot_sim_java_library(
         "//examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems",
         "//snobot_sim_java_base/src/main/java/org/snobotv2/sim_wrappers",
         "//snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx",
-        "//snobot_sim_java_revlib/src/main/java/com/revrobotics:simmable_rev",
+        "//snobot_sim_java_revlib/src/main/java/com/revrobotics/spark:simmable_rev",
         "//snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev",
         "@bzlmodrio-allwpilib//libraries/java/wpilibNewCommands",
         "@bzlmodrio-allwpilib//libraries/java/wpilibj",