2025

README.md

@@ -17,7 +17,7 @@ So, after adding the lines to the settings.gradle, this line in the dependencies
 ```
 implementation "com.team2813:lib2813"
 ```
-Finally, in order to guarantee that the library jars are created before GradleRIO referes to them, add the following line to your build.gradle
+Finally, in order to guarantee that the library jars are created before GradleRIO referees to them, add the following line to your build.gradle
 ```
 downloadDepsPreemptively.dependsOn gradle.includedBuild("lib2813").task(":lib:jar")
 ```
@@ -28,14 +28,14 @@ to your settings.json
 ```
 "java.gradle.buildServer.enabled": "off",
 ```
-This isn't strictly neccesary, but without it vscode will not be able to do code completion from things in the library, and tell the user that there are errors,
+This isn't strictly necessary, but without it vscode will not be able to do code completion from things in the library, and tell the user that there are errors,
 when gradle builds fine.
 
 ## Cloning a repository with a git submodule
 When cloning a repository with a git submodule, git will not automatically get the files in the submodules. in order to do this, run the command
 ```
 git submodule update --init --recursive
 ```
-This command will recursivly initialize all submodules.
+This command will recursively initialize all submodules.
 
 This code is still in development, and apis are still subject to change. The most likely thing to get removed is the swerve api, as ctre recently released their own.

lib/build.gradle

@@ -9,8 +9,8 @@
 plugins {
     // Apply the java-library plugin for API and implementation separation.
     id 'java-library'
-	id "edu.wpi.first.GradleRIO" version "2024.3.1"
-	id 'maven-publish'
+    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id 'maven-publish'
 }
 
 java {
@@ -28,10 +28,10 @@ version = "1.2.0"
 repositories {
     // Use Maven Central for resolving dependencies.
     mavenCentral()
-	maven {
-		// WPI
-		url "https://frcmaven.wpi.edu/artifactory/release/"
-	}
+    maven {
+        // WPI
+        url "https://frcmaven.wpi.edu/artifactory/release/"
+    }
 }
 
 dependencies {
@@ -60,41 +60,41 @@ tasks.named('test') {
 tasks.named('jar') {
     manifest {
         attributes('Implementation-Title': project.name,
-                   'Implementation-Version': project.version)
+                'Implementation-Version': project.version)
     }
 }
 
 javadoc {
-	options.tags = [ "apiNote:a:Api Note:", "implSpec:a:Implementation Requirements:" ]
+    options.tags = ["apiNote:a:Api Note:", "implSpec:a:Implementation Requirements:"]
 }
 
 task sourceJar(type: Jar) {
-	from sourceSets.main.allJava
-	archiveClassifier = "sources"
+    from sourceSets.main.allJava
+    archiveClassifier = "sources"
 }
 
 publishing {
-	publications {
-		lib2813(MavenPublication) {
-			groupId = "com.team2813.lib2813"
-			artifactId = "lib2813"
-			from components.java
-			artifact sourceJar
-			pom {
-				name = "2813 Library"
-				description = "Frequently reused code written by team 2813"
-				developers {
-					developer {
-						id = "mango"
-						name = "kyle"
-						email = "mangoiscute95@gmail.com"
-					}
-				}
-				organization {
-					name = "2813 Gear Heads"
-					url = "https://team2813.com"
-				}
-			}
-		}
-	}
+    publications {
+        lib2813(MavenPublication) {
+            groupId = "com.team2813.lib2813"
+            artifactId = "lib2813"
+            from components.java
+            artifact sourceJar
+            pom {
+                name = "2813 Library"
+                description = "Frequently reused code written by team 2813"
+                developers {
+                    developer {
+                        id = "mango"
+                        name = "kyle"
+                        email = "mangoiscute95@gmail.com"
+                    }
+                }
+                organization {
+                    name = "2813 Gear Heads"
+                    url = "https://team2813.com"
+                }
+            }
+        }
+    }
 }

lib/src/main/java/com/team2813/lib2813/control/ControlMode.java

@@ -1,20 +1,20 @@
 package com.team2813.lib2813.control;
 
-import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.spark.SparkBase.ControlType;
 
 public enum ControlMode {
-	DUTY_CYCLE(ControlType.kDutyCycle),
-	VELOCITY(ControlType.kVelocity),
-	MOTION_MAGIC(ControlType.kPosition),
-	VOLTAGE(ControlType.kVoltage);
+  DUTY_CYCLE(ControlType.kDutyCycle),
+  VELOCITY(ControlType.kVelocity),
+  MOTION_MAGIC(ControlType.kPosition),
+  VOLTAGE(ControlType.kVoltage);
 
-	private final ControlType sparkMode;
+  private final ControlType sparkMode;
 
-	ControlMode(ControlType sparkMode) {
-		this.sparkMode = sparkMode;
-	}
+  ControlMode(ControlType sparkMode) {
+    this.sparkMode = sparkMode;
+  }
 
-	public ControlType getSparkMode() {
-		return sparkMode;
-	}
-}
+  public ControlType getSparkMode() {
+    return sparkMode;
+  }
+}

lib/src/main/java/com/team2813/lib2813/control/DeviceInformation.java

@@ -1,59 +1,61 @@
 package com.team2813.lib2813.control;
 
-import java.util.Optional;
-
 import com.team2813.lib2813.util.InputValidation;
+import java.util.Optional;
 
 public final class DeviceInformation {
-	private int id;
-	private Optional<String> canbus;
-
-	/**
-	 * Creates a DeviceInformation for a device on the RoboRIO can loop
-	 * @param id the can ID
-	 */
-	public DeviceInformation(int id) {
-		this(id, null);
-	}
-
-	/**
-	 * Creates a DeviceInformation with a canbus string. If {@code canbus} is {@code null},
-	 * method acts like {@link #DeviceInformation(int)} was called
-	 * @param id the CAN id
-	 * @param canbus the canbus string
-	 */
-	public DeviceInformation(int id, String canbus) {
-		this.id = InputValidation.checkCanId(id);
-		this.canbus = Optional.ofNullable(canbus);
-	}
-
-	/**
-	 * Gets the can id of this device
-	 * @return the can id of the device
-	 */
-	public int id() {
-		return id;
-	}
-
-	/**
-	 * Returns the canbus that this device is on, or {@link Optional#empty()} if it is on the
-	 * RoboRIO can loop
-	 * @return the canbus that the device is on
-	 */
-	public Optional<String> canbus() {
-		return canbus;
-	}
-
-	@Override
-	public boolean equals(Object o) {
-		if (!(o instanceof DeviceInformation))
-			return false;
-		DeviceInformation other = (DeviceInformation) o;
-		return other.id == id && other.canbus.equals(canbus);
-	}
-
-	@Override
-	public int hashCode() {
-		return id * 31 + canbus.hashCode();
-	}
+  private int id;
+  private Optional<String> canbus;
+
+  /**
+   * Creates a DeviceInformation for a device on the RoboRIO can loop
+   *
+   * @param id the can ID
+   */
+  public DeviceInformation(int id) {
+    this(id, null);
+  }
+
+  /**
+   * Creates a DeviceInformation with a canbus string. If {@code canbus} is {@code null}, method
+   * acts like {@link #DeviceInformation(int)} was called
+   *
+   * @param id the CAN id
+   * @param canbus the canbus string
+   */
+  public DeviceInformation(int id, String canbus) {
+    this.id = InputValidation.checkCanId(id);
+    this.canbus = Optional.ofNullable(canbus);
+  }
+
+  /**
+   * Gets the can id of this device
+   *
+   * @return the can id of the device
+   */
+  public int id() {
+    return id;
+  }
+
+  /**
+   * Returns the canbus that this device is on, or {@link Optional#empty()} if it is on the RoboRIO
+   * can loop
+   *
+   * @return the canbus that the device is on
+   */
+  public Optional<String> canbus() {
+    return canbus;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (!(o instanceof DeviceInformation)) return false;
+    DeviceInformation other = (DeviceInformation) o;
+    return other.id == id && other.canbus.equals(canbus);
+  }
+
+  @Override
+  public int hashCode() {
+    return id * 31 + canbus.hashCode();
+  }
 }