From 1ac99d0df443e9aaf8609143adfecbd9504a64e0 Mon Sep 17 00:00:00 2001
From: caTrixLiu <lyr20070621@gmail.com>
Date: Thu, 28 Nov 2024 12:09:51 +0800
Subject: [PATCH] upgraded path planner to latest

---
 build.gradle                                               | 1 +
 .../robot/subsystems/drive/HolonomicDriveSubsystem.java    | 3 +--
 src/main/java/frc/robot/utils/AIRobotInSimulation.java     | 7 +++----
 vendordeps/PathplannerLib-beta.json                        | 6 +++---
 4 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/build.gradle b/build.gradle
index ea13af3..61f8cc8 100644
--- 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
index 06ecf23..284544d 100644
--- 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
index 64085b0..09c5e3b 100644
--- 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
index 8a53e68..e79fe1a 100644
--- 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": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.0.0-beta-3.1"
+            "version": "2025.0.0-beta-5"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "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,