Update for Decode 2025

.gitignore

@@ -7,3 +7,5 @@
 /build
 /captures
 .externalNativeBuild
+/node_modules
+

Path/build.gradle

@@ -12,7 +12,7 @@ android {
         targetSdkVersion 28
     }
 
-    compileSdkVersion 29
+    compileSdkVersion 34
 
     compileOptions {
         sourceCompatibility JavaVersion.VERSION_1_8
@@ -31,11 +31,9 @@ dependencies {
 
     implementation 'org.apache.commons:commons-math3:3.6.1'
 
-
-    implementation 'com.acmerobotics.dashboard:dashboard:0.4.15'
+    implementation 'com.acmerobotics.dashboard:dashboard:0.4.16'
     implementation 'com.acmerobotics.roadrunner:core:0.5.6'
 
-
     testImplementation(platform('org.junit:junit-bom:5.7.0'))
     testImplementation('org.junit.jupiter:junit-jupiter-api:5.7.0')
     testRuntimeOnly('org.junit.jupiter:junit-jupiter-engine:5.7.0')

Path/src/main/java/com/technototes/path/subsystem/PathingMecanumDrivebaseSubsystem.java

@@ -26,7 +26,6 @@
 import com.technototes.library.hardware.HardwareDevice;
 import com.technototes.library.hardware.motor.EncodedMotor;
 import com.technototes.library.hardware.sensor.IGyro;
-import com.technototes.library.hardware.sensor.IMU;
 import com.technototes.library.subsystem.Subsystem;
 import com.technototes.path.subsystem.MecanumConstants.GearRatio;
 import com.technototes.path.subsystem.MecanumConstants.HeadPID;

Path/src/main/java/com/technototes/path/subsystem/TankDrivebaseSubsystem.java

@@ -23,7 +23,7 @@
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 import com.technototes.library.hardware.HardwareDevice;
 import com.technototes.library.hardware.motor.EncodedMotor;
-import com.technototes.library.hardware.sensor.IMU;
+import com.technototes.library.hardware.sensor.IGyro;
 import com.technototes.library.subsystem.Subsystem;
 import com.technototes.path.subsystem.TankConstants.*;
 import com.technototes.path.trajectorysequence.TrajectorySequence;
@@ -59,14 +59,14 @@ public class TankDrivebaseSubsystem extends TankDrive implements Subsystem {
     private TrajectoryFollower follower;
 
     private List<EncodedMotor<DcMotorEx>> motors, leftMotors, rightMotors;
-    private IMU imu;
+    private IGyro imu;
 
     private VoltageSensor batteryVoltageSensor;
 
     public TankDrivebaseSubsystem(
         List<EncodedMotor<DcMotorEx>> left,
         List<EncodedMotor<DcMotorEx>> right,
-        IMU i,
+        IGyro i,
         TankConstants c,
         Localizer localizer
     ) {
@@ -300,7 +300,7 @@ public void setMotorPowers(double v, double v1) {
 
     @Override
     public double getRawExternalHeading() {
-        return imu.getAngularOrientation(AngleUnit.RADIANS).firstAngle;
+        return imu.getHeading();
     }
 
     @Override

Path/src/main/java/com/technototes/path/subsystem/TwoDeadWheelLocalizer.java

@@ -9,9 +9,8 @@
 
 import androidx.annotation.NonNull;
 import com.acmerobotics.roadrunner.geometry.Pose2d;
-import com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer;
 import com.acmerobotics.roadrunner.localization.TwoTrackingWheelLocalizer;
-import com.technototes.library.hardware.sensor.IMU;
+import com.technototes.library.hardware.sensor.IGyro;
 import com.technototes.library.hardware.sensor.encoder.MotorEncoder;
 import com.technototes.library.subsystem.Subsystem;
 import java.util.Arrays;
@@ -40,7 +39,7 @@ public class TwoDeadWheelLocalizer extends TwoTrackingWheelLocalizer implements
 
     protected boolean encoderOverflow;
 
-    public TwoDeadWheelLocalizer(IMU imu, MotorEncoder lr, MotorEncoder fb, DeadWheelConstants constants) {
+    public TwoDeadWheelLocalizer(IGyro imu, MotorEncoder lr, MotorEncoder fb, DeadWheelConstants constants) {
         super(
             Arrays.asList(
                 new Pose2d(0, constants.getDouble(LateralDistance.class), 0), // left

RobotLibrary/build.gradle

@@ -12,7 +12,7 @@ android {
         targetSdkVersion 28
     }
 
-    compileSdkVersion 29
+    compileSdkVersion 34
 
     compileOptions {
         sourceCompatibility JavaVersion.VERSION_1_8

RobotLibrary/src/main/java/com/technototes/library/command/CycleCommandGroup.java

@@ -0,0 +1,25 @@
+package com.technototes.library.command;
+
+/**
+ * Each time this command(group) is scheduled, the next one
+ * in the series will execute. When the last one is executed,
+ * it starts over at the first one.
+ *
+ * The most obvious application is for "toggle" command:
+ * something like this:
+ * clawToggle = new CycleCommandGroup(claw::open, claw::close);
+ */
+public class CycleCommandGroup implements Command {
+    protected Command[] commands;
+    protected int currentState = 0;
+
+    public CycleCommandGroup(Command... commands) {
+        assert commands.length > 0;
+        this.commands = commands;
+    }
+
+    public void execute() {
+        commands[currentState].run();
+        currentState = (currentState + 1) % commands.length;
+    }
+}

RobotLibrary/src/main/java/com/technototes/library/command/LinearRangeCommand.java

@@ -0,0 +1,25 @@
+package com.technototes.library.command;
+
+import java.util.function.Consumer;
+
+public class LinearRangeCommand extends TimedCommand {
+    double startVal, endVal;
+
+    public LinearRangeCommand(double time, double start, double end, Consumer<Double> func) {
+        super(time, func);
+        startVal = start;
+        endVal = end;
+    }
+
+    @Override
+    public void execute() {
+        // Being explicitly pedantic about pre-algebra, here...
+        double M = (endVal - startVal) / startVal;
+        double X = getRuntime().time();
+        double B = startVal;
+
+        double Y = M * X + B;
+
+        function.accept(Y);
+    }
+}

RobotLibrary/src/main/java/com/technototes/library/command/TimedCommand.java

@@ -0,0 +1,18 @@
+package com.technototes.library.command;
+
+import java.util.function.Consumer;
+
+public class TimedCommand extends WaitCommand {
+    protected double timeToRun;
+    protected Consumer<Double> function;
+
+    public TimedCommand(double time, Consumer<Double> func){
+        super(time);
+        function = func;
+    }
+
+    @Override
+    public void execute() {
+        function.accept(getRuntime().time());
+    }
+}

Vision/build.gradle

@@ -12,7 +12,7 @@ android {
         targetSdkVersion 28
     }
 
-    compileSdkVersion 29
+    compileSdkVersion 34
 
     compileOptions {
         sourceCompatibility JavaVersion.VERSION_1_8

build.dependencies.gradle

@@ -6,9 +6,9 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:RobotCore:10.1.0'
-    implementation 'org.firstinspires.ftc:RobotServer:10.1.0'
-    implementation 'org.firstinspires.ftc:Hardware:10.1.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:10.1.0'
+    implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
+    implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
+    implementation 'org.firstinspires.ftc:Hardware:11.0.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
     implementation 'androidx.appcompat:appcompat:1.3.1'
 }

build.gradle

@@ -7,7 +7,7 @@ buildscript {
         google()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:7.2.0'
+        classpath 'com.android.tools.build:gradle:8.11.1'
         // NOTE: Do not place your application dependencies here; they belong
         // in the individual module build.gradle files
     }

gradle.properties

@@ -1,19 +1,16 @@
-# Project-wide Gradle settings.
-
-# IDE (e.g. Android Studio) users:
-# Gradle settings configured through the IDE *will override*
-# any settings specified in this file.
-
-# For more details on how to configure your build environment visit
+## For more details on how to configure your build environment visit
 # http://www.gradle.org/docs/current/userguide/build_environment.html
-
+#
 # Specifies the JVM arguments used for the daemon process.
 # The setting is particularly useful for tweaking memory settings.
+# Default value: -Xmx1024m -XX:MaxPermSize=256m
+# org.gradle.jvmargs=-Xmx2048m -XX:MaxPermSize=512m -XX:+HeapDumpOnOutOfMemoryError -Dfile.encoding=UTF-8
+#
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. For more details, visit
+# https://developer.android.com/r/tools/gradle-multi-project-decoupled-projects
+# org.gradle.parallel=true
+#Sun Jul 27 08:41:53 PDT 2025
 android.enableJetifier=true
 android.useAndroidX=true
-org.gradle.jvmargs=-Xmx1536m
-
-# When configured, Gradle will run in incubating parallel mode.
-# This option should only be used with decoupled projects. More details, visit
-# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
-# org.gradle.parallel=true
+org.gradle.jvmargs=-Xmx2048M -Dkotlin.daemon.jvm.options\="-Xmx2048M"

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 #Tue Sep 27 22:08:26 PDT 2022
 distributionBase=GRADLE_USER_HOME
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.13-bin.zip
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

package.json

@@ -18,7 +18,7 @@
     "os": "bun run scripts/os.ts"
   },
   "devDependencies": {
-    "@freik/workspace": "^0.6.4",
+    "@freik/workspace": "^0.6.5",
     "prettier": "3.3.3",
     "prettier-plugin-java": "2.6.4"
   },