Update vendordeps and project organization

.vscode/settings.json

@@ -40,6 +40,7 @@
     "Accl",
     "Accum",
     "ADIS",
+    "Backports",
     "Bezier",
     "Botpose",
     "Brushless",
@@ -65,7 +66,10 @@
     "Discretization",
     "Discretize",
     "Discretizing",
+    "Doppel",
     "DTheta",
+    "EEPROM",
+    "Expdelta",
     "Falsi",
     "Feedforward",
     "Fullscreen",
@@ -106,6 +110,9 @@
     "Sendables",
     "Setpoint",
     "Setpoints",
+    "Signif",
+    "Significand",
+    "Subnormals",
     "Subuid",
     "TalonFX",
     "TalonSRX",

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": false,
   "currentLanguage": "java",
-  "projectYear": "2024",
+  "projectYear": "2025",
   "teamNumber": 340
 }

src/main/deploy/example.txt

@@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.

src/main/java/com/revrobotics/spark/SparkShim.java

@@ -0,0 +1,80 @@
+package com.revrobotics.spark;
+
+import com.revrobotics.REVLibError;
+import com.revrobotics.jni.CANSparkJNI;
+import com.revrobotics.spark.config.ClosedLoopConfig.ClosedLoopSlot;
+
+public final class SparkShim {
+
+    private SparkShim() {
+        throw new AssertionError("This is a utility class!");
+    }
+
+    public static long extractHandle(SparkLowLevel spark) {
+        return spark.sparkHandle;
+    }
+
+    public static int getFaults(SparkLowLevel spark) {
+        return CANSparkJNI.c_Spark_GetFaults(spark.sparkHandle);
+    }
+
+    public static int getStickyFaults(SparkLowLevel spark) {
+        return CANSparkJNI.c_Spark_GetStickyFaults(spark.sparkHandle);
+    }
+
+    public static int getWarnings(SparkLowLevel spark) {
+        return CANSparkJNI.c_Spark_GetWarnings(spark.sparkHandle);
+    }
+
+    public static int getStickyWarnings(SparkLowLevel spark) {
+        return CANSparkJNI.c_Spark_GetStickyWarnings(spark.sparkHandle);
+    }
+
+    public static REVLibError setP(SparkLowLevel spark, ClosedLoopSlot slot, double gain) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 13 + slot.value * 8, (float) gain)
+        );
+    }
+
+    public static REVLibError setI(SparkLowLevel spark, ClosedLoopSlot slot, double gain) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 14 + slot.value * 8, (float) gain)
+        );
+    }
+
+    public static REVLibError setD(SparkLowLevel spark, ClosedLoopSlot slot, double gain) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 15 + slot.value * 8, (float) gain)
+        );
+    }
+
+    public static REVLibError setFF(SparkLowLevel spark, ClosedLoopSlot slot, double gain) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 16 + slot.value * 8, (float) gain)
+        );
+    }
+
+    public static REVLibError setIZone(SparkLowLevel spark, ClosedLoopSlot slot, double iZone) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 17 + slot.value * 8, (float) iZone)
+        );
+    }
+
+    public static REVLibError setDFilter(SparkLowLevel spark, ClosedLoopSlot slot, double gain) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 18 + slot.value * 8, (float) gain)
+        );
+    }
+
+    public static REVLibError setOutputMin(SparkLowLevel spark, ClosedLoopSlot slot, double value) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 19 + slot.value * 8, (float) value)
+        );
+    }
+
+    public static REVLibError setOutputMax(SparkLowLevel spark, ClosedLoopSlot slot, double value) {
+        return REVLibError.fromInt(
+            CANSparkJNI.c_Spark_SetParameterFloat32(spark.sparkHandle, 20 + slot.value * 8, (float) value)
+        );
+    }
+}

src/main/java/com/revrobotics/spark/config/SignalsConfig.java

@@ -0,0 +1,115 @@
+package com.revrobotics.spark.config;
+
+public class SignalsConfig extends BaseConfig {
+
+    /**
+     * Applies settings from another {@link SignalsConfig} to this one.
+     *
+     * <p>Settings in the provided config will overwrite existing values in this object. Settings not
+     * specified in the provided config remain unchanged.
+     *
+     * @param config The {@link SignalsConfig} to copy settings from
+     * @return The updated {@link SignalsConfig} for method chaining
+     */
+    public SignalsConfig apply(SignalsConfig config) {
+        super.apply(config);
+        return this;
+    }
+
+    public SignalsConfig status0Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus0Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status1Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus1Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status1Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus1, enabled);
+        return this;
+    }
+
+    public SignalsConfig status2Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus2Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status2Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus2, enabled);
+        return this;
+    }
+
+    public SignalsConfig status3Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus3Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status3Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus3, enabled);
+        return this;
+    }
+
+    public SignalsConfig status4Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus4Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status4Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus4, enabled);
+        return this;
+    }
+
+    public SignalsConfig status5Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus5Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status5Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus5, enabled);
+        return this;
+    }
+
+    public SignalsConfig status6Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus6Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status6Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus6, enabled);
+        return this;
+    }
+
+    public SignalsConfig status7Period(int periodMs) {
+        setPeriod(SparkParameter.kStatus7Period, periodMs);
+        return this;
+    }
+
+    public SignalsConfig status7Enabled(boolean enabled) {
+        setEnabled(SparkParameter.kForceEnableStatus7, enabled);
+        return this;
+    }
+
+    private void setPeriod(SparkParameter parameter, int periodMs) {
+        int id = parameter.value;
+        Object value = getParameter(id);
+        if (value == null) {
+            putParameter(id, periodMs);
+        } else {
+            int currentPeriodMs = (int) value;
+            putParameter(id, Math.min(currentPeriodMs, periodMs));
+        }
+    }
+
+    private void setEnabled(SparkParameter parameter, boolean enabled) {
+        int id = parameter.value;
+        Object value = getParameter(id);
+        if (value == null) {
+            putParameter(id, enabled ? 1 : 0);
+        } else {
+            int currentValue = (int) value;
+            putParameter(id, (currentValue == 1 || enabled) ? 1 : 0);
+        }
+    }
+}

src/main/java/org/team340/lib/controller/Controller.java

@@ -57,51 +57,6 @@ public Trigger pov(int angle) {
         return pov(0, angle, loop);
     }
 
-    @Override
-    public Trigger povUp() {
-        return pov(0);
-    }
-
-    @Override
-    public Trigger povUpRight() {
-        return pov(45);
-    }
-
-    @Override
-    public Trigger povRight() {
-        return pov(90);
-    }
-
-    @Override
-    public Trigger povDownRight() {
-        return pov(135);
-    }
-
-    @Override
-    public Trigger povDown() {
-        return pov(180);
-    }
-
-    @Override
-    public Trigger povDownLeft() {
-        return pov(225);
-    }
-
-    @Override
-    public Trigger povLeft() {
-        return pov(270);
-    }
-
-    @Override
-    public Trigger povUpLeft() {
-        return pov(315);
-    }
-
-    @Override
-    public Trigger povCenter() {
-        return pov(-1);
-    }
-
     @Override
     public Trigger axisLessThan(int axis, double threshold) {
         return axisLessThan(axis, threshold, loop);
@@ -117,66 +72,6 @@ public Trigger axisMagnitudeGreaterThan(int axis, double threshold) {
         return axisMagnitudeGreaterThan(axis, threshold, loop);
     }
 
-    @Override
-    public Trigger a() {
-        return a(loop);
-    }
-
-    @Override
-    public Trigger b() {
-        return b(loop);
-    }
-
-    @Override
-    public Trigger x() {
-        return x(loop);
-    }
-
-    @Override
-    public Trigger y() {
-        return y(loop);
-    }
-
-    @Override
-    public Trigger leftBumper() {
-        return leftBumper(loop);
-    }
-
-    @Override
-    public Trigger rightBumper() {
-        return rightBumper(loop);
-    }
-
-    @Override
-    public Trigger back() {
-        return back(loop);
-    }
-
-    @Override
-    public Trigger start() {
-        return start(loop);
-    }
-
-    @Override
-    public Trigger leftStick() {
-        return leftStick(loop);
-    }
-
-    @Override
-    public Trigger rightStick() {
-        return rightStick(loop);
-    }
-
-    @Override
-    public Trigger leftTrigger(double threshold) {
-        return leftTrigger(threshold, loop);
-    }
-
-    @Override
-    public Trigger rightTrigger(double threshold) {
-        return rightTrigger(threshold, loop);
-    }
-
     /**
      * Constructs a Trigger instance around the axis value of the left trigger.
      * @return A {@link Trigger} instance.