upgraded to wpilib 2025

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
 }

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/frc/robot/constants/VisionConstants.java

@@ -9,7 +9,7 @@
 import java.util.List;
 
 public class VisionConstants {
-    public static final AprilTagFieldLayout fieldLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+    public static final AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
     public static final double
             /* default standard error for vision observation, if only one apriltag observed */
             TRANSLATIONAL_STANDARD_ERROR_METERS_FOR_SINGLE_OBSERVATION = 0.8,

src/main/java/frc/robot/subsystems/drive/HolonomicDriveSubsystem.java

@@ -1,5 +1,3 @@
-// By 5516 Iron Maple https://github.com/Shenzhen-Robotics-Alliance/ under MIT License
-
 package frc.robot.subsystems.drive;
 
 import com.pathplanner.lib.auto.AutoBuilder;
@@ -8,26 +6,21 @@
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.pathfinding.Pathfinding;
-import com.pathplanner.lib.util.DriveFeedforward;
 import com.pathplanner.lib.util.PathPlannerLogging;
-import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.numbers.N1;
-import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import frc.robot.Robot;
 import frc.robot.constants.DriveTrainConstants;
 import frc.robot.constants.FieldConstants;
 import frc.robot.subsystems.vision.apriltags.MapleMultiTagPoseEstimator;
 import frc.robot.utils.LocalADStarAK;
 import org.ironmaple.utils.FieldMirroringUtils;
+import org.ironmaple.utils.mathutils.MapleCommonMath;
 import org.littletonrobotics.junction.Logger;
 
-import java.util.function.Consumer;
-
 import static frc.robot.constants.JoystickConfigs.*;
 import static frc.robot.constants.DriveControlLoops.*;
 
@@ -173,7 +166,9 @@ default ChassisSpeeds constrainAcceleration(
 
         final double maxLinearVelocityChangeIn1Period = MAX_LINEAR_ACCELERATION_METERS_PER_SEC_SQ * dtSecs;
         final boolean desiredLinearVelocityReachableWithin1Period = linearVelocityDifference.getNorm() <= maxLinearVelocityChangeIn1Period;
-        final Translation2d linearVelocityChangeVector = new Translation2d(maxLinearVelocityChangeIn1Period, linearVelocityDifference.getAngle()),
+        final Translation2d linearVelocityChangeVector = new Translation2d(
+                maxLinearVelocityChangeIn1Period,
+                MapleCommonMath.getAngle(linearVelocityDifference)),
                 newLinearVelocity = desiredLinearVelocityReachableWithin1Period ?
                 desiredLinearVelocityMetersPerSec
                 : currentLinearVelocityMetersPerSec.plus(linearVelocityChangeVector);

src/main/java/frc/robot/utils/ChassisHeadingController.java

@@ -216,7 +216,7 @@ private void log(Pose2d robotPose, Rotation2d requestedRotation) {
                 "ChassisHeadingController/Error",
                 error.getDegrees()
         );
-        atSetPoint = Math.abs(error.getRadians()) < chassisRotationCloseLoop.getPositionTolerance();
+        atSetPoint = Math.abs(error.getRadians()) < chassisRotationCloseLoop.getErrorTolerance();
     }
 
     public boolean atSetPoint() {

src/main/java/frc/robot/utils/MapleJoystickDriveInput.java

@@ -1,6 +1,7 @@
 package frc.robot.utils;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.XboxController;
@@ -53,7 +54,7 @@ public Translation2d getTranslationalSpeedsFromJoystick(double chassisMaxVelocit
         final double translationalSpeedMagnitudeScaled = Math.pow(originalTranslationalSpeed.getNorm(), LINEAR_SPEED_INPUT_EXPONENT);
         return new Translation2d(
                 translationalSpeedMagnitudeScaled * chassisMaxVelocityMetersPerSec,
-                originalTranslationalSpeed.getAngle()
+                translationalSpeedMagnitudeScaled == 0 ? Rotation2d.fromDegrees(0) : originalTranslationalSpeed.getAngle()
         );
     }
 

vendordeps/AdvantageKit.json

@@ -1,33 +1,33 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "3.2.1",
+  "version": "4.0.0-alpha-1",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
   "javaDependencies": [
     {
       "groupId": "org.littletonrobotics.akit.junction",
       "artifactId": "wpilib-shim",
-      "version": "3.2.1"
+      "version": "4.0.0-alpha-1"
     },
     {
       "groupId": "org.littletonrobotics.akit.junction",
       "artifactId": "junction-core",
-      "version": "3.2.1"
+      "version": "4.0.0-alpha-1"
     },
     {
       "groupId": "org.littletonrobotics.akit.conduit",
       "artifactId": "conduit-api",
-      "version": "3.2.1"
+      "version": "4.0.0-alpha-1"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit.conduit",
       "artifactId": "conduit-wpilibio",
-      "version": "3.2.1",
+      "version": "4.0.0-alpha-1",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [
@@ -39,4 +39,4 @@
     }
   ],
   "cppDependencies": []
-}
+}

vendordeps/PathplannerLib-beta.json

@@ -1,9 +1,9 @@
 {
     "fileName": "PathplannerLib-beta.json",
     "name": "PathplannerLib",
-    "version": "2025.0.0-beta-2",
+    "version": "2025.0.0-beta-3.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2024",
+    "frcYear": "2025",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -12,21 +12,22 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.0.0-beta-2"
+            "version": "2025.0.0-beta-3.1"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.0.0-beta-2",
+            "version": "2025.0.0-beta-3.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
+                "osxuniversal",
                 "linuxx86-64",
                 "linuxathena",
                 "linuxarm32",

vendordeps/Phoenix5.json

@@ -2,7 +2,7 @@
   "fileName": "Phoenix5.json",
   "name": "CTRE-Phoenix (v5)",
   "version": "5.33.1",
-  "frcYear": 2024,
+  "frcYear": 2025,
   "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
   "mavenUrls": [
     "https://maven.ctr-electronics.com/release/"

vendordeps/Phoenix6.json

@@ -2,7 +2,7 @@
   "fileName": "Phoenix6.json",
   "name": "CTRE-Phoenix (v6)",
   "version": "24.3.0",
-  "frcYear": 2024,
+  "frcYear": 2025,
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
     "https://maven.ctr-electronics.com/release/"

vendordeps/REVLib.json

@@ -2,7 +2,7 @@
   "fileName": "REVLib.json",
   "name": "REVLib",
   "version": "2024.2.4",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
   "mavenUrls": [
     "https://maven.revrobotics.com/"

vendordeps/WPILibNewCommands.json

@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [

vendordeps/maple-sim.json

@@ -1,8 +1,8 @@
 {
     "fileName": "maple-sim.json",
     "name": "maplesim",
-    "version": "0.1.3",
-    "frcYear": "2024",
+    "version": "0.1.5",
+    "frcYear": "2025",
     "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
     "mavenUrls": [
         "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases"

vendordeps/photonlib-json-1.0.json

@@ -3,7 +3,7 @@
   "name": "photonlib",
   "version": "v2024.3.1",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [
     "https://maven.photonvision.org/repository/internal",
     "https://maven.photonvision.org/repository/snapshots"