@jkleiber Format is failing because of an incorrect Java version (I think).
Do you think adding this line to the format task (it's from the build task) would resolve this issue?

    # This grabs the WPILib docker container
    container: wpilib/roborio-cross-ubuntu:2024-22.04

@aidnem I haven't checked the docs so take my input with a grain of salt. But I would expect wpilib to update to require 2024 ubuntu. If we have been building against 2022 then a version promotion probably would work fine

@sleepyghost-zzz fyi the drive with joysticks command in copper core is on latest version of beta, so you can try integrating that as well. Otherwise, I can do it when I go to add vision

@linglejack06 Epic, I tried to use the DriveWithJoysticks.java and it didn't quite do what I wanted with the AK project. I'll give it another try, when you start implementing vision if you could walk me through it that would be great.

@sleepyghost-zzz Yeah I'll show you, it's just a matter of creating a method in the Ak drive

@jkleiber @sleepyghost-zzz check out the new template for talon fx swerve on advantage kit release, several changes due to 2025 release differences from beta. heres a link to release: https://github.com/Mechanical-Advantage/AdvantageKit/releases

@jkleiber it looks like on josh's most recent commit, the run velocity command was updated to work with the existing drive with josysticks command in coppercore, do i still need to adjust anything for coppercore command @sleepyghost-zzz ?

Hi there guys,

TLDR: Setgoalspeeds = robot-centric. Runvelocity = field-centric.

So:

1. Autobuilder is just using the setgoalspeeds method:
   AutoBuilder:

AutoBuilder.configure(
        this::getPose,
        this::setPose,
        this::getChassisSpeeds,
        this::setGoalSpeeds,
        new PPHolonomicDriveController(
            new PIDConstants(5.0, 0.0, 0.0), new PIDConstants(5.0, 0.0, 0.0)),
        PP_CONFIG,
        () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
        this);

SetGoalSpeeds

public void setGoalSpeeds(ChassisSpeeds speeds) {
    this.goalSpeeds = speeds;
  }

to get the speeds we want.
The runVelocity method calls the setgoalspeeds method but also does a conversion to turn those values into field centric control. We moved this to runVelocity so that we could use the DriveWithJoysticks command in coppercore, and be able to actually use it right.
Conversion of robot relative to field relative:

boolean isFlipped =
        DriverStation.getAlliance().isPresent()
            && DriverStation.getAlliance().get() == Alliance.Red;

    Rotation2d robotRotation =
        isFlipped
            ? getRotation().plus(new Rotation2d(Math.PI)) // Flip orientation for Red Alliance
            : getRotation();

    ChassisSpeeds fieldRelativeSpeeds =
        ChassisSpeeds.fromFieldRelativeSpeeds(speeds, robotRotation);

Doing all that means that auto uses setgoalspeeds and teleop uses runvelocity to actually control. Hope this all makes sense, its kind of a long explanation I just wanted to try and make it as clear as possible.

jack, now that you say that I think you are correct. This is my fault for not actually knowing how to sim autos, but right now it probably wont do anything because I am using setgoalspeeds which doesn't move motors. I will have to create either a boolean or another method that doesn't do those translations, Thanks for making me see this.

@sleepyghost-zzz @jkleiber it looks like the field relative speed conversion will have to be done in set goal speeds like last year. We could move it to the command but that would require a supplier for robot rotation. I feel it would be easier to just implement set goal speeds with boolean and conditional to convert to field relative. Are you good with that justin and @aidnem?

basically it would either be

setGoalSpeeds(ChassisSpeeds speeds, boolean fieldCentric) {
this.speeds = ChassisSpeeds.fromFieldRelative(speeds, robotRotation);
}

or

public void execute() {
// get speeds from joystick before ... 
speeds = ChassisSpeeds.fromFieldRelative(joystickSpeeds, this.rotationSupplier.get());
drive.setGoalSpeeds(speeds);
}

@linglejack06 let's do the boolean approach we've done in the past. I agree that it's weird to supply rotation to the command.

@jkleiber got it, i can help josh do that tonight or go ahead and do it now. either way, i think we need to get this pr merged by the end of today so we can move on to integrating vision

If you can do it now, I'd recommend going ahead and doing it. I'd like to see the robot moving in shop today if possible

ok ill add that now

@jkleiber setGoalSpeeds adjusted in coppercore + 2025-robot-code here. Build will fail though until we get the pull request merged in coppercore and release updated (had to add back boolean to the DriveTemplate class in coppercore)

@aidnem when you get the chance, please make sure this PR isn't blowing away your work in #10 to get RobotContainer in ideal condition.

Once we confirm that, I'm good with this PR. So if/when @aidnem approves we can merge

@jkleiber it might be best if we get @aidnem to resolve the merge conflicts to avoid blowing away the changes to robot container?

@linglejack06 I agree

@jkleiber it looks like pathplanner has changed the parameters of their AutoBuilder.config method a bit, i think that might be why build is failing

@linglejack06 sorry i cant do anything at school, whats been happening? is there a problem rn?

Did we ever make Highkey move?

@sleepyghost-zzz no, we had to leave at 8. Im going to try to get it moving tonight while im there