[2023] Update StuyLib to 2023 (#69)

* [2023] Use NT4 in Network Library (#67)

* Port to 2023

* Update Network Tables to NT4

Co-authored-by: Ivan Chen <[email protected]>

* Update Limelight to 2023

* Update to use Topics

* Update to use Topics instead of NetworkTableEntry

* Update javadocs to use Topics instead of NetworkTableEntry

Co-authored-by: Vincent Wang <[email protected]>

* [2023] Replace Buttons with Triggers (#68)

* Port to 2023

* Update WPILib Version

* Use Triggers instead of deprecated Buttons

Co-authored-by: Vincent Wang <[email protected]>

* Update Spotless Apply settings

* Pass around GenericEntry instead of Topic

* Set GoogleJavaFormat to 1.13.0

* Fix javadoc errors

* fix license header

* spotlessapply

* Use DoubleEntry & DoubleArrayEntry

* make timingEntry a BooleanEntry

* Change values to IntegerTopics

* Add missing import

* Update build.gradle

* Update WPILib version to beta-5

* Update WPILib to beta-6

* Fix network library

* Update WPILib version to beta-7

* Update wpilib version

* spotlessapply

Co-authored-by: Vincent Wang <[email protected]>

build.gradle

@@ -1,5 +1,5 @@
 buildscript {
-   ext.WPI_VER = "2022.4.1"
+   ext.WPI_VER = "2023.1.1"
 }
 
 plugins {
@@ -8,8 +8,8 @@ plugins {
    id "maven-publish"
 
    id "edu.wpi.first.GradleRIO" version "${WPI_VER}"
-   id "com.diffplug.spotless" version "6.1.0"
-   id "com.github.spotbugs" version "4.7.0"
+   id "com.diffplug.spotless" version "6.11.0"
+   id "com.github.spotbugs" version "5.0.13"
 }
 
 group = 'com.stuypulse'
@@ -76,7 +76,7 @@ spotless {
 
 """
 
-      googleJavaFormat().aosp()
+      googleJavaFormat('1.13.0').aosp()
 
       trimTrailingWhitespace()
       endWithNewline()

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

src/com/stuypulse/stuylib/control/Controller.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/ControllerGroup.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/AngleController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/AngleControllerGroup.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDCalculator.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/feedforward/AnglePositionFeedforwardController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/feedback/PIDCalculator.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/feedback/PIDController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/feedforward/Feedforward.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/feedforward/PositionFeedforwardController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/feedforward/VelocityFeedforwardController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/input/Gamepad.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -8,7 +8,7 @@
 
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.wpilibj2.command.button.Button;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * An class for using gamepads with different interfaces. You can implement this class in another
@@ -201,159 +201,159 @@ public final boolean getRightTriggerPressed() {
         return getRightTrigger() > ANALOG_THRESHOLD;
     }
 
-    /**************************************************/
-    /*** BUTTONS BASED OFF OF IMPLEMENTED FUNCTIONS ***/
-    /**************************************************/
+    /***************************************************/
+    /*** TRIGGERS BASED OFF OF IMPLEMENTED FUNCTIONS ***/
+    /***************************************************/
 
     // Sticks //
     /**
-     * @return Button that activates when {@link #getLeftY()} is greater than +{@link
+     * @return Trigger that activates when {@link #getLeftY()} is greater than +{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getLeftStickUp() {
-        return new Button(() -> getLeftY() > +ANALOG_THRESHOLD);
+    public final Trigger getLeftStickUp() {
+        return new Trigger(() -> getLeftY() > +ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getLeftY()} is less than -{@link
+     * @return Trigger that activates when {@link #getLeftY()} is less than -{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getLeftStickDown() {
-        return new Button(() -> getLeftY() < -ANALOG_THRESHOLD);
+    public final Trigger getLeftStickDown() {
+        return new Trigger(() -> getLeftY() < -ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getLeftX()} is less than -{@link
+     * @return Trigger that activates when {@link #getLeftX()} is less than -{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getLeftStickLeft() {
-        return new Button(() -> getLeftX() < -ANALOG_THRESHOLD);
+    public final Trigger getLeftStickLeft() {
+        return new Trigger(() -> getLeftX() < -ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getLeftX()} is greater than +{@link
+     * @return Trigger that activates when {@link #getLeftX()} is greater than +{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getLeftStickRight() {
-        return new Button(() -> getLeftX() > +ANALOG_THRESHOLD);
+    public final Trigger getLeftStickRight() {
+        return new Trigger(() -> getLeftX() > +ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getRightY()} is greater than +{@link
+     * @return Trigger that activates when {@link #getRightY()} is greater than +{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getRightStickUp() {
-        return new Button(() -> getRightY() > +ANALOG_THRESHOLD);
+    public final Trigger getRightStickUp() {
+        return new Trigger(() -> getRightY() > +ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getRightY()} is less than -{@link
+     * @return Trigger that activates when {@link #getRightY()} is less than -{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getRightStickDown() {
-        return new Button(() -> getRightY() < -ANALOG_THRESHOLD);
+    public final Trigger getRightStickDown() {
+        return new Trigger(() -> getRightY() < -ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getRightX()} is less than -{@link
+     * @return Trigger that activates when {@link #getRightX()} is less than -{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getRightStickLeft() {
-        return new Button(() -> getRightX() < -ANALOG_THRESHOLD);
+    public final Trigger getRightStickLeft() {
+        return new Trigger(() -> getRightX() < -ANALOG_THRESHOLD);
     }
 
     /**
-     * @return Button that activates when {@link #getRightX()} is greater than +{@link
+     * @return Trigger that activates when {@link #getRightX()} is greater than +{@link
      *     #ANALOG_THRESHOLD}
      */
-    public final Button getRightStickRight() {
-        return new Button(() -> getRightX() > +ANALOG_THRESHOLD);
+    public final Trigger getRightStickRight() {
+        return new Trigger(() -> getRightX() > +ANALOG_THRESHOLD);
     }
 
     // D-Pad //
-    /** @return Button that activates with {@link #getRawDPadUp()} */
-    public final Button getDPadUp() {
-        return new Button(this::getRawDPadUp);
+    /** @return Trigger that activates with {@link #getRawDPadUp()} */
+    public final Trigger getDPadUp() {
+        return new Trigger(this::getRawDPadUp);
     }
 
-    /** @return Button that activates with {@link #getRawDPadDown()} */
-    public final Button getDPadDown() {
-        return new Button(this::getRawDPadDown);
+    /** @return Trigger that activates with {@link #getRawDPadDown()} */
+    public final Trigger getDPadDown() {
+        return new Trigger(this::getRawDPadDown);
     }
 
-    /** @return Button that activates with {@link #getRawDPadLeft()} */
-    public final Button getDPadLeft() {
-        return new Button(this::getRawDPadLeft);
+    /** @return Trigger that activates with {@link #getRawDPadLeft()} */
+    public final Trigger getDPadLeft() {
+        return new Trigger(this::getRawDPadLeft);
     }
 
-    /** @return Button that activates with {@link #getRawDPadRight()} */
-    public final Button getDPadRight() {
-        return new Button(this::getRawDPadRight);
+    /** @return Trigger that activates with {@link #getRawDPadRight()} */
+    public final Trigger getDPadRight() {
+        return new Trigger(this::getRawDPadRight);
     }
 
     // Bumpers //
-    /** @return Button that activates with {@link #getRawLeftBumper()} */
-    public final Button getLeftBumper() {
-        return new Button(this::getRawLeftBumper);
+    /** @return Trigger that activates with {@link #getRawLeftBumper()} */
+    public final Trigger getLeftBumper() {
+        return new Trigger(this::getRawLeftBumper);
     }
 
-    /** @return Button that activates with {@link #getRawRightBumper()} */
-    public final Button getRightBumper() {
-        return new Button(this::getRawRightBumper);
+    /** @return Trigger that activates with {@link #getRawRightBumper()} */
+    public final Trigger getRightBumper() {
+        return new Trigger(this::getRawRightBumper);
     }
 
     // Triggers //
-    /** @return Button that activates with {@link #getLeftTriggerPressed()} */
-    public final Button getLeftTriggerButton() {
-        return new Button(this::getLeftTriggerPressed);
+    /** @return Trigger that activates with {@link #getLeftTriggerPressed()} */
+    public final Trigger getLeftTriggerButton() {
+        return new Trigger(this::getLeftTriggerPressed);
     }
 
-    /** @return Button that activates with {@link #getRightTriggerPressed()} */
-    public final Button getRightTriggerButton() {
-        return new Button(this::getRightTriggerPressed);
+    /** @return Trigger that activates with {@link #getRightTriggerPressed()} */
+    public final Trigger getRightTriggerButton() {
+        return new Trigger(this::getRightTriggerPressed);
     }
 
-    // Face Buttons //
-    /** @return Button that activates with {@link #getRawTopButton()} */
-    public final Button getTopButton() {
-        return new Button(this::getRawTopButton);
+    // Face Triggers //
+    /** @return Trigger that activates with {@link #getRawTopButton()} */
+    public final Trigger getTopButton() {
+        return new Trigger(this::getRawTopButton);
     }
 
-    /** @return Button that activates with {@link #getRawBottomButton()} */
-    public final Button getBottomButton() {
-        return new Button(this::getRawBottomButton);
+    /** @return Trigger that activates with {@link #getRawBottomButton()} */
+    public final Trigger getBottomButton() {
+        return new Trigger(this::getRawBottomButton);
     }
 
-    /** @return Button that activates with {@link #getRawLeftButton()} */
-    public final Button getLeftButton() {
-        return new Button(this::getRawLeftButton);
+    /** @return Trigger that activates with {@link #getRawLeftButton()} */
+    public final Trigger getLeftButton() {
+        return new Trigger(this::getRawLeftButton);
     }
 
-    /** @return Button that activates with {@link #getRawRightButton()} */
-    public final Button getRightButton() {
-        return new Button(this::getRawRightButton);
+    /** @return Trigger that activates with {@link #getRawRightButton()} */
+    public final Trigger getRightButton() {
+        return new Trigger(this::getRawRightButton);
     }
 
     // Select / Start / Option //
-    /** @return Button that activates with {@link #getRawSelectButton()} */
-    public final Button getSelectButton() {
-        return new Button(this::getRawSelectButton);
+    /** @return Trigger that activates with {@link #getRawSelectButton()} */
+    public final Trigger getSelectButton() {
+        return new Trigger(this::getRawSelectButton);
     }
 
-    /** @return Button that activates with {@link #getRawStartButton()} */
-    public final Button getStartButton() {
-        return new Button(this::getRawStartButton);
+    /** @return Trigger that activates with {@link #getRawStartButton()} */
+    public final Trigger getStartButton() {
+        return new Trigger(this::getRawStartButton);
     }
 
-    // Analog Stick Buttons //
-    /** @return Button that activates with {@link #getRawLeftStickButton()} */
-    public final Button getLeftStickButton() {
-        return new Button(this::getRawLeftStickButton);
+    // Analog Stick Triggers //
+    /** @return Trigger that activates with {@link #getRawLeftStickButton()} */
+    public final Trigger getLeftStickButton() {
+        return new Trigger(this::getRawLeftStickButton);
     }
 
-    /** @return Button that activates with {@link #getRawRightStickButton()} */
-    public final Button getRightStickButton() {
-        return new Button(this::getRawRightStickButton);
+    /** @return Trigger that activates with {@link #getRawRightStickButton()} */
+    public final Trigger getRightStickButton() {
+        return new Trigger(this::getRawRightStickButton);
     }
 
     /*******************************/

src/com/stuypulse/stuylib/input/GamepadState.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/input/WPIGamepad.java

@@ -1,11 +1,11 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
 package com.stuypulse.stuylib.input;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj2.command.button.Button;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * WPI Gamepad extends Gamepad and adds functions that makes interacting with the underlying
@@ -79,10 +79,10 @@ public final boolean getRawButton(int button) {
 
     /**
      * @param button Joystick button id
-     * @return Button that activates with {@link #getRawButton(int)}
+     * @return Trigger that activates with {@link #getRawButton(int)}
      */
-    public final Button getButton(int button) {
-        return new Button(() -> getRawButton(button));
+    public final Trigger getButton(int button) {
+        return new Trigger(() -> getRawButton(button));
     }
 
     /**

src/com/stuypulse/stuylib/input/gamepads/AutoGamepad.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2022 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */