Nh 2023 update

build.gradle

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+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+}
+
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = 4048
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 5.
+dependencies {
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+    testImplementation 'junit:junit:4.13.1'
+
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+    // https://mvnrepository.com/artifact/org.mockito/mockito-core
+    testImplementation 'org.mockito:mockito-core:2.1.0'
+
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}

settings.gradle

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+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2023'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}

src/main/java/org/usfirst/frc4048/common/apriltags/AprilTagMap.java

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+package org.usfirst.frc4048.common.apriltags;
+
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Quaternion;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class AprilTagMap {
+
+    public static AprilTagFieldLayout getAprilTagLayout(Alliance alliance) {
+         List<AprilTag> apriltags = new ArrayList<>();
+         if (alliance.equals(Alliance.Red)) {
+
+              apriltags.add(0, new AprilTag(1, new Pose3d(1.02743, 6.938264, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+            apriltags.add(1, new AprilTag(2, new Pose3d(1.02743, 5.261864, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+            apriltags.add(2, new AprilTag(3, new Pose3d(1.02743, 3.585464, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+            apriltags.add(3, new AprilTag(4, new Pose3d(0.36195, 1.260094, 0.695452, new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+            apriltags.add(4, new AprilTag(5, new Pose3d(16.178784, 1.260094, 0.695452, new Rotation3d(new Quaternion(0, 0, 0, 1.0))))); 
+            apriltags.add(5, new AprilTag(6, new Pose3d(15.513558, 3.585464, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+            apriltags.add(6, new AprilTag(7, new Pose3d(15.513558, 5.261864, 0.462788,  new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+            apriltags.add(7, new AprilTag(8, new Pose3d(15.513558, 6.938264, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+
+            AprilTagFieldLayout aprilTagFieldLayout = new AprilTagFieldLayout(apriltags, 16.54175, 8.0137);
+            return aprilTagFieldLayout;
+        } else {
+              apriltags.add(0, new AprilTag(1, new Pose3d(15.513558, 1.071626, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+            apriltags.add(1, new AprilTag(2, new Pose3d(15.513558, 2.748026, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+            apriltags.add(2, new AprilTag(3, new Pose3d(15.513558, 4.424426, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+            apriltags.add(3, new AprilTag(4, new Pose3d(16.178784, 6.749796, 0.695452, new Rotation3d(new Quaternion(0, 0, 0, 1.0)))));
+            apriltags.add(4, new AprilTag(5, new Pose3d(0.36195, 6.749796, 0.695452, new Rotation3d(new Quaternion(0, 0, 0, 0))))); 
+            apriltags.add(5, new AprilTag(6, new Pose3d(1.02743, 4.424426, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+            apriltags.add(6, new AprilTag(7, new Pose3d(1.02743, 2.748026, 0.462788,  new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+            apriltags.add(7, new AprilTag(8, new Pose3d(1.02743, 1.071626, 0.462788, new Rotation3d(new Quaternion(0, 0, 0, 0)))));
+
+            AprilTagFieldLayout aprilTagFieldLayout = new AprilTagFieldLayout(apriltags, 16.54175, 8.0137);
+            return aprilTagFieldLayout;
+        }
+
+    }
+}