[choreolib] Update Java and C++ to WPILib 2027.0.0-alpha-6#1481
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[choreolib] Update Java and C++ to WPILib 2027.0.0-alpha-6#1481Daniel1464 wants to merge 44 commits into
Daniel1464 wants to merge 44 commits into
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There should be Systemcore Docker containers you can use instead of manually installing the toolchain.
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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Removed architecture specification from Java setup step.
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We can probably rely on the Java architecture autodetection here. I'm not sure -Pbuildalldesktop does anything because I can't find any references in GradleRIO or native-utils. We could keep it anyway since the vendor template has it.
Otherwise, this PR looks good to me.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
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In addition to updating to 2027, this PR also flips the coordinate system convention to be compatible with 2027 WPILib(namely, that (0,0) is at the center of the field). Note that the UI still generates coordinates in the 2026 WPILib coordinate system.
On the Java API side, AutoRoutine has been removed in favor of making AutoTrajectory an isolated class (since triggers can now be scoped per-opmode or, in the case of commands v3, per command). AutoChooser has also been removed in favor of using opmodes to lazily load trajectories.