upgraded path planner to latest

Shenzhen-Robotics-Alliance · Nov 28, 2024 · 1ac99d0 · 1ac99d0
1 parent d6ddcff
commit 1ac99d0
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Showing 4 changed files with 8 additions and 9 deletions.
diff --git a/build.gradle b/build.gradle
@@ -67,6 +67,7 @@ repositories {
             password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
         }
     }
+    mavenLocal()
 }
 
 configurations.all {

diff --git a/src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java
@@ -132,8 +132,7 @@ default void configHolonomicPathPlannerAutoBuilder() {
                                 DriveTrainConstants.DRIVE_MOTOR.withReduction(DriveTrainConstants.DRIVE_GEAR_RATIO),
                                 DriveTrainConstants.DRIVE_CURRENT_LIMIT,
                                 1),
-                        DriveTrainConstants.TRACK_WIDTH,
-                        DriveTrainConstants.TRACK_LENGTH),
+                        DriveTrainConstants.MODULE_TRANSLATIONS),
                 FieldMirroringUtils::isSidePresentedAsRed,
                 this);
         Pathfinding.setPathfinder(new LocalADStarAK());

diff --git a/src/main/java/frc/robot/utils/AIRobotInSimulation.java b/src/main/java/frc/robot/utils/AIRobotInSimulation.java
@@ -70,12 +70,11 @@ public class AIRobotInSimulation extends SubsystemBase {
 
     /* The PathPlanner configuration for the opponent robots. */
     private static final RobotConfig PP_CONFIG = new RobotConfig(
-            55,
-            8,
+            Kilograms.of(55),
+            KilogramSquareMeters.of(6),
             new ModuleConfig(
                     Units.inchesToMeters(2), 3.5, 1.2, DCMotor.getFalcon500(1).withReduction(8.14), 60, 1),
-            0.6,
-            0.6);
+            Meters.of(0.6));
     private static final PPHolonomicDriveController driveController =
             new PPHolonomicDriveController(new PIDConstants(5.0, 0.02), new PIDConstants(7.0, 0.05));
 

diff --git a/vendordeps/PathplannerLib-beta.json b/vendordeps/PathplannerLib-beta.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib-beta.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-3.1",
+    "version": "2025.0.0-beta-5",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.0.0-beta-3.1"
+            "version": "2025.0.0-beta-5"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-3.1",
+            "version": "2025.0.0-beta-5",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
-Original file line number
+Diff line change
@@ Expand Up / @@ -67,6 +67,7 @@ repositories { @@
                 password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
             }
         }
+        mavenLocal()
     }
     configurations.all {
@@ Expand Down @@