build season backport (#36)

## Vision ##
* add support for multiple cameras
* add support for transforming coordinate system based on alliance color
* add support for disabling vision subsystem
* calculate standard deviation based on distance to target when adding vision measurement to pose estimator
* add support to check if pose estimator has converged to vision-determined pose
* add support to only add vision measurement to pose estimator if within distance threshold to tag
* use getTimestampSeconds method instead of getLatencyMillis method to timestamp results per recommendation
* add support to reset pose estimator based on pose derived from visible tag


## Drivetrain ##
* add slow-mode feature (robot velocities are scaled down when enabled)
* add pitch and roll to gyro io inputs
* add support to enable coast mode only after disabled for specified period of time
* change default to field-relative mode
* add accessors for yaw, pitch, and roll from gryo
* add support to force field-relative driving
* add accessor for average swerve module drive current


## Swerve ##
* add accessor for drive motor current


## Commands ##
* add drive-to-pose command (closed loop straight-line motion to pose)
* add rotate-to-angle command (closed loop rotational setpoint with optional driver-controlled translational motion)
* add configurable acceleration limiting to TeleopSwerve command


## Move to Pose ##
* add move-to-pose command to generate autonomous paths on-the-fly
* add Field2d and Region2d classes to model field as a collection of regions with transition points between regions
* add support for generating a path between two poses using Field2d


## Subsystem ##
* add generic subsystem as an example


## Autonomous ##
* add support for transforming paths based on alliance color
* add "auto" path for empirically determining wheel diameter
* add "auto" path for setting initial pose to facilitate testing
* add "auto" path for tuning auto PID controllers


## Operator Interface ##
* add operator interface consisting of 2 joysticks, xBox controller, and custom operator button panel


## SparkMAXFactory ##
* initial release


## TalonFXFactory ##
* add support to configure forward and backward peak output
* add support to configure brushless current status frame period
* add support to configure remote sensors
* add support to configure motion magic and motion profiling


## Robot ##
* add support to check alliance color and trigger updates


## Misc ##
* improve and add Javadoc comments
* incorporate 6328's field constants
* remove 2022 robot; add 2023 robot
* add words to spelling dictionary
* update to latest wpilib and vendor dependencies
* remove 2022 AprilTag field layout
* remove CANDeviceFinder and associated classes (incompatible with CANivore)

.vscode/settings.json

@@ -34,10 +34,15 @@
   "cSpell.words": [
     "APRILTAG",
     "algs",
+    "brushless",
     "Cancoder",
+    "canbus",
     "CANID",
     "CANIDs",
+    "chargedup",
+    "closedloop",
     "CTRE",
+    "curr",
     "DEADBAND",
     "Feedforward",
     "gamepad",
@@ -46,19 +51,27 @@
     "Huskie",
     "jama",
     "javac",
+    "leds",
     "Nivore",
     "odometry",
+    "openloop",
     "photonvision",
+    "PIDF",
     "rapidreact",
     "REVPHJNI",
     "rezero",
+    "scurve",
     "Sedgewick",
     "setpoint",
     "SIMBOT",
     "Teleop",
+    "teleoperated",
     "TRACKWIDTH",
     "tunables",
     "Vandermonde",
-    "Xstance"
+    "VBAT",
+    "WPILOG",
+    "Xstance",
+    "YUYV"
   ]  
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
     id 'com.diffplug.spotless' version '6.11.0'
     id "com.peterabeles.gversion" version "1.10"
 }
@@ -71,7 +71,8 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 
-    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:2.0.0"
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 
     implementation "gov.nist.math:jama:1.0.3"
 }