update Phoenix6 and fix mechanism units

src/main/kotlin/org/team4099/lib/units/Derivatives.kt

@@ -1,6 +1,10 @@
 package org.team4099.lib.units
 
-import org.team4099.lib.units.base.*
+import org.team4099.lib.units.base.METERS_PER_FOOT
+import org.team4099.lib.units.base.METERS_PER_INCH
+import org.team4099.lib.units.base.Meter
+import org.team4099.lib.units.base.SECONDS_PER_MINUTE
+import org.team4099.lib.units.base.Second
 import org.team4099.lib.units.derived.Radian
 import kotlin.math.PI
 

src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt

@@ -281,8 +281,8 @@ fun ctreAngularMechanismSensor(
     Timescale.CTRE,
     1023.0,
     compensationVoltage,
-    { controller.rotorVelocity.value.toDouble() },
-    { controller.rotorPosition.value.toDouble() }
+    { controller.rotorVelocity.valueAsDouble },
+    { controller.rotorPosition.valueAsDouble }
   )
 }
 
@@ -299,8 +299,8 @@ fun ctreLinearMechanismSensor(
     Timescale.CTRE,
     1023.0,
     compensationVoltage,
-    { controller.rotorVelocity.value.toDouble() },
-    { controller.rotorPosition.value.toDouble() }
+    { controller.rotorVelocity.valueAsDouble },
+    { controller.rotorPosition.valueAsDouble }
   )
 }
 
@@ -319,8 +319,8 @@ fun ctreLinearMechanismSensor(
     Timescale.PHOENIX_PRO,
     1.0,
     compensationVoltage,
-    { velocitySignal.value },
-    { positionSignal.value },
+    { velocitySignal.valueAsDouble },
+    { positionSignal.valueAsDouble },
   )
 }
 
@@ -337,8 +337,8 @@ fun ctreAngularMechanismSensor(
     Timescale.PHOENIX_PRO,
     1.0,
     compensationVoltage,
-    { velocitySignal.value },
-    { positionSignal.value },
+    { velocitySignal.valueAsDouble },
+    { positionSignal.valueAsDouble },
   )
 }
 

src/main/kotlin/org/team4099/lib/units/base/Frequency.kt

@@ -3,14 +3,15 @@ package org.team4099.lib.units.base
 import org.team4099.lib.units.UnitKey
 import org.team4099.lib.units.Value
 
-object Hertz: UnitKey
+object Hertz : UnitKey
+
 typealias Frequency = Value<Hertz>
 
 inline val Double.hertz: Frequency
-    get() = Frequency(this)
+  get() = Frequency(this)
 
 inline val Number.hertz: Frequency
-    get() = toDouble().hertz
+  get() = toDouble().hertz
 
 inline val Frequency.inHertz: Double
-    get() = value
+  get() = value

src/main/kotlin/org/team4099/lib/units/derived/Controller.kt

@@ -273,15 +273,15 @@ inline val ProportionalGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRotat
   get() = inRadiansPerSecondPerRadian * RADIANS_PER_ROTATION
 
 inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecond:
-        Double
-  get() = value
+  Double
+    get() = value
 
 inline val ProportionalGain<
-        Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecond: Double
   get() = value
 
 inline val ProportionalGain<
-        Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationPerMinute: Double
+  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationPerMinute: Double
   get() = inRadiansPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
 
 inline val IntegralGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerMeterSeconds: Double
@@ -324,7 +324,7 @@ inline val DerivativeGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerFootPerS
   get() = inRadiansPerSecondPerMeterPerSecond * METERS_PER_FOOT
 
 inline val DerivativeGain<
-        Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecondPerSecond: Double
+  Velocity<Meter>, Velocity<Radian>>.inRadiansPerSecondPerMetersPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRadianPerSecond: Double
@@ -337,15 +337,15 @@ inline val DerivativeGain<Radian, Velocity<Radian>>.inRadiansPerSecondPerRotatio
   get() = inRadiansPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecondPerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRadiansPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerDegreesPerSecondPerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerDegreesPerSecondPerSecond: Double
   get() = inRadiansPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
   get() = inRadiansPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val Double.metersPerSecondPerMetersPerSecond
@@ -370,15 +370,15 @@ inline val ProportionalGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRotatio
   get() = inMetersPerSecondPerRadian * RADIANS_PER_ROTATION
 
 inline val ProportionalGain<Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecond:
-        Double
-  get() = value
+  Double
+    get() = value
 
 inline val ProportionalGain<Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecond:
-        Double
-  get() = value
+  Double
+    get() = value
 
 inline val ProportionalGain<
-        Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationPerMinute: Double
+  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationPerMinute: Double
   get() = inMetersPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
 
 inline val IntegralGain<Meter, Velocity<Meter>>.inMetersPerSecondPerMeterSeconds: Double
@@ -421,7 +421,7 @@ inline val DerivativeGain<Meter, Velocity<Meter>>.inMetersPerSecondPerFootPerSec
   get() = inMetersPerSecondPerMeterPerSecond * METERS_PER_FOOT
 
 inline val DerivativeGain<
-        Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecondPerSecond: Double
+  Velocity<Meter>, Velocity<Meter>>.inMetersPerSecondPerMetersPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRadianPerSecond: Double
@@ -434,15 +434,15 @@ inline val DerivativeGain<Radian, Velocity<Meter>>.inMetersPerSecondPerRotations
   get() = inMetersPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecondPerSecond: Double
+  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRadiansPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerDegreesPerSecondPerSecond: Double
+  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerDegreesPerSecondPerSecond: Double
   get() = inMetersPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinutePerSecond: Double
+  Velocity<Radian>, Velocity<Meter>>.inMetersPerSecondPerRotationsPerMinutePerSecond: Double
   get() = inMetersPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val Double.MetersPerMeters
@@ -557,15 +557,15 @@ inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotat
   get() = inDegreesPerSecondPerRadian * RADIANS_PER_ROTATION
 
 inline val ProportionalGain<Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecond:
-        Double
-  get() = value
+  Double
+    get() = value
 
 inline val ProportionalGain<
-        Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecond: Double
   get() = value
 
 inline val ProportionalGain<
-        Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationPerMinute: Double
+  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationPerMinute: Double
   get() = inDegreesPerSecondPerRadiansPerSecond * RADIANS_PER_ROTATION / SECONDS_PER_MINUTE
 
 inline val IntegralGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerMeterSeconds: Double
@@ -608,7 +608,7 @@ inline val DerivativeGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerFootPerS
   get() = inDegreesPerSecondPerMeterPerSecond * METERS_PER_FOOT
 
 inline val DerivativeGain<
-        Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecondPerSecond: Double
+  Velocity<Meter>, Velocity<Radian>>.inDegreesPerSecondPerMetersPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRadianPerSecond: Double
@@ -621,13 +621,13 @@ inline val DerivativeGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotatio
   get() = inDegreesPerSecondPerRadianPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecondPerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRadiansPerSecondPerSecond: Double
   get() = value
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerDegreesPerSecondPerSecond: Double
+  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerDegreesPerSecondPerSecond: Double
   get() = inDegreesPerSecondPerRadiansPerSecondPerSecond * RADIANS_PER_DEGREES
 
 inline val DerivativeGain<
-        Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinutePerSecond: Double
-  get() = inDegreesPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
+  Velocity<Radian>, Velocity<Radian>>.inDegreesPerSecondPerRotationsPerMinutePerSecond: Double
+  get() = inDegreesPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION

src/test/kotlin/team4099/controller/PIDControllerTest.kt

@@ -1,22 +1,18 @@
 package com.team4099.controller
 
 import org.junit.jupiter.api.Test
-import org.team4099.lib.controller.PIDController
 import org.team4099.lib.controller.ProfiledPIDController
 import org.team4099.lib.controller.SimpleMotorFeedforward
 import org.team4099.lib.controller.TrapezoidProfile
 import org.team4099.lib.units.Acceleration
-import org.team4099.lib.units.Fraction
 import org.team4099.lib.units.LinearMechanismSensor
 import org.team4099.lib.units.Timescale
 import org.team4099.lib.units.Value
 import org.team4099.lib.units.base.Meter
-import org.team4099.lib.units.base.Second
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
 import org.team4099.lib.units.base.seconds
-import org.team4099.lib.units.derived.ProportionalGain
 import org.team4099.lib.units.derived.degrees
 import org.team4099.lib.units.derived.inVoltsPerInch
 import org.team4099.lib.units.derived.inVoltsPerRotation

vendordeps/PathPlanner.json

@@ -1,26 +1,26 @@
 {
-  "fileName": "PathplannerLib.json",
+  "fileName": "PathplannerLib2024.json",
   "name": "PathplannerLib",
-  "version": "2024.2.1",
+  "version": "2024.2.8",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
   "frcYear": "2024",
   "mavenUrls": [
     "https://3015rangerrobotics.github.io/pathplannerlib/repo"
   ],
-  "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+  "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2024.json",
   "javaDependencies": [
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-java",
-      "version": "2024.2.1"
+      "version": "2024.2.8"
     }
   ],
   "jniDependencies": [],
   "cppDependencies": [
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-cpp",
-      "version": "2024.2.1",
+      "version": "2024.2.8",
       "libName": "PathplannerLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,