Update to WPILib 2024 Beta

build.gradle

@@ -2,9 +2,9 @@ plugins {
   id 'cpp'
   id 'java'
   id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-  id 'edu.wpi.first.NativeUtils' version '2023.11.1'
-  id 'edu.wpi.first.GradleJni' version '1.0.0'
-  id 'edu.wpi.first.GradleVsCode' version '1.3.0'
+  id 'edu.wpi.first.NativeUtils' version '2024.6.1'
+  id 'edu.wpi.first.GradleJni' version '1.1.0'
+  id 'edu.wpi.first.GradleVsCode' version '2.1.0'
 }
 
 repositories {
@@ -21,19 +21,20 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2023.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2023.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2023.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2023.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2023.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2023.+'
-    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2023.+'
-    implementation 'edu.wpi.first.hal:hal-java:2023.+'
-    implementation "org.ejml:ejml-simple:0.41"
+    implementation 'edu.wpi.first.cscore:cscore-java:2024.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2024.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2024.+'
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2024.+'
+    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.+'
+    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2024.+'
+    implementation 'edu.wpi.first.hal:hal-java:2024.+'
+    implementation "org.ejml:ejml-simple:0.43.1"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
-    implementation 'edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:4.6.0-2'
+    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2'
 }
 
 // Set up exports properly
@@ -67,5 +68,5 @@ model {
 apply from: 'publish.gradle'
 
 wrapper {
-  gradleVersion '7.5.1'
+  gradleVersion '8.4'
 }

config.gradle

@@ -6,10 +6,11 @@ nativeUtils.withCrossRoboRIO()
 nativeUtils {
   wpi {
     configureDependencies {
-      wpiVersion = "2023.+"
-      niLibVersion = "2023.3.0"
-      opencvVersion = "4.6.0-3"
-      wpimathVersion = "2023.+"
+      wpiVersion = "2024.+"
+      opencvYear = "frc2024"
+      niLibVersion = "2024.2.1"
+      opencvVersion = "4.8.0-2"
+      wpimathVersion = "2024.+"      
     }
   }
 }

publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '0.0.1'
+def pubVersion = '0.1.0'
 
 def outputsFolder = file("$buildDir/outputs")
 

src/main/java/com/redstorm509/stormkit/command/StatefulSubsystem.java

@@ -1,13 +1,13 @@
 package com.redstorm509.stormkit.command;
 
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Subsystem;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /**
  * An alternative way of organizing subsystem-specific code.
  * This generic class takes in an enum that represents the state of the subsytem, and provides interfaces for triggering code when states are entered and exited.
  */
-public abstract class StatefulSubsystem<T extends Comparable<T>> extends Subsystem {
+public abstract class StatefulSubsystem<T extends Comparable<T>> extends SubsystemBase {
 	protected T currentState;
 
     /**

vendordeps/WPILibNewCommands.json

@@ -1,7 +1,7 @@
 {
     "fileName": "WPILibNewCommands.json",
     "name": "WPILib-New-Commands",
-    "version": "2023.+",
+    "version": "2024.+",
     "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
     "mavenUrls": [],
     "jsonUrl": "",
@@ -17,7 +17,7 @@
         {
             "groupId": "edu.wpi.first.wpilibNewCommands",
             "artifactId": "wpilibNewCommands-cpp",
-            "version": "2023.+",
+            "version": "2024.+",
             "libName": "wpilibNewCommands",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
@@ -34,4 +34,4 @@
             ]
         }
     ]
-  }
+  }