From 476291305b7b4d5d775103239822780937b508e0 Mon Sep 17 00:00:00 2001
From: IanTapply22 <contact@ian-tapply.me>
Date: Mon, 8 Jan 2024 09:22:36 -0500
Subject: [PATCH] Update pathplanner vendordep and related code

---
 .../robot/subsystems/drive/DriveSubsystem.java | 18 +++++++++++++++++-
 vendordeps/PathplannerLib.json                 | 10 ++++++----
 2 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index 33e576e..798591c 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -16,6 +16,7 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -44,7 +45,7 @@ private void configurePathPlanner() {
     }
 
     AutoBuilder.configureHolonomic(
-        () -> this.getState().Pose, // Supplier of current robot pose
+        this::getPose, // Supplier of current robot pose
         this::seedFieldRelative, // Consumer for seeding pose against auto
         this::getCurrentRobotChassisSpeeds,
         (speeds) ->
@@ -56,6 +57,13 @@ private void configurePathPlanner() {
             DriveConstants.kSpeedAt12VoltsMps,
             driveBaseRadius,
             new ReplanningConfig()),
+            () -> {
+              var alliance = DriverStation.getAlliance();
+              if (alliance.isPresent()) {
+                  return alliance.get() == DriverStation.Alliance.Red;
+              }
+              return false;
+          },
         this);
   }
 
@@ -73,6 +81,14 @@ public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
         this);
   }
 
+  /**
+   * Returns the current pose of the robot
+   * @return The robots pose in a Pose2d object
+   */
+  public Pose2d getPose() {
+    return this.getState().Pose;
+  }
+
   /**
    * Returns a command that will run the specified pathplanner path
    *
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index a92663b..e334459 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.0.0-beta-6.2",
+    "version": "2024.1.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.0.0-beta-6.2"
+            "version": "2024.1.1"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.0.0-beta-6.2",
+            "version": "2024.1.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -29,7 +29,9 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxuniversal",
-                "linuxathena"
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
             ]
         }
     ]