Update SwerveWithPathPlanner for 2025

java/SwerveWithPathPlanner/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.

java/SwerveWithPathPlanner/src/main/deploy/pathplanner/autos/Tests.auto

@@ -1,12 +1,5 @@
 {
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 4.061722123444247,
-      "y": 5.038789506150441
-    },
-    "rotation": 0
-  },
+  "version": "2025.0",
   "command": {
     "type": "sequential",
     "data": {
@@ -20,5 +13,7 @@
       ]
     }
   },
-  "folder": null
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
 }

java/SwerveWithPathPlanner/src/main/deploy/pathplanner/paths/SimplePath.path

@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -11,7 +11,8 @@
         "x": 4.204869552596248,
         "y": 4.652291447440038
       },
-      "isLocked": false
+      "isLocked": false,
+      "linkedName": null
     },
     {
       "anchor": {
@@ -26,7 +27,8 @@
         "x": 5.979928957731629,
         "y": 4.507554070624321
       },
-      "isLocked": false
+      "isLocked": false,
+      "linkedName": null
     },
     {
       "anchor": {
@@ -38,7 +40,8 @@
         "y": 4.80975361950724
       },
       "nextControl": null,
-      "isLocked": false
+      "isLocked": false,
+      "linkedName": null
     }
   ],
   "rotationTargets": [
@@ -48,17 +51,25 @@
     }
   ],
   "constraintZones": [],
+  "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3,
     "maxAcceleration": 3,
     "maxAngularVelocity": 540,
-    "maxAngularAcceleration": 720
+    "maxAngularAcceleration": 720,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0
+    "rotation": 0.0
   },
   "reversed": false,
-  "folder": null
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
 }

java/SwerveWithPathPlanner/src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,21 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "robotMass": 75.0,
+  "robotMOI": 6.883,
+  "robotWheelbase": 0.5588,
+  "robotTrackwidth": 0.5588,
+  "driveWheelRadius": 0.05504,
+  "driveGearing": 7.363636,
+  "maxDriveSpeed": 4.7,
+  "driveMotorType": "krakenX60FOC",
+  "driveCurrentLimit": 120.0,
+  "wheelCOF": 1.7
+}