Fix Java Interop with default methods in DifferentialTrackerDriveBase

FRC5190 · Jan 9, 2019 · 56ecff0 · 56ecff0
1 parent 31bf852
commit 56ecff0
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Showing 3 changed files with 18 additions and 3 deletions.
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -1,6 +1,7 @@
 import edu.wpi.first.toolchain.NativePlatforms
 import org.gradle.api.publish.maven.MavenPublication
 import io.gitlab.arturbosch.detekt.detekt
+import org.jetbrains.kotlin.gradle.tasks.KotlinCompile
 
 plugins {
     kotlin("jvm") version "1.3.11"
@@ -57,6 +58,15 @@ detekt {
     }
 }
 
-tasks.withType<Wrapper>().configureEach {
-    gradleVersion = "5.0"
-}
+tasks {
+    withType<Wrapper>().configureEach {
+        gradleVersion = "5.0"
+    }
+    withType<KotlinCompile>().configureEach {
+        kotlinOptions {
+            jvmTarget = "1.8"
+            freeCompilerArgs += "-Xjvm-default=compatibility"
+        }
+    }
+}
+
diff --git a/src/main/kotlin/org/ghrobotics/lib/subsystems/drive/DifferentialTrackerDriveBase.kt b/src/main/kotlin/org/ghrobotics/lib/subsystems/drive/DifferentialTrackerDriveBase.kt
@@ -8,20 +8,23 @@ interface DifferentialTrackerDriveBase : TrajectoryTrackerDriveBase {
 
     val differentialDrive: DifferentialDrive
 
+    @JvmDefault
     override fun setOutput(output: TrajectoryTrackerOutput) {
         setOutputFromDynamics(
             output.differentialDriveVelocity,
             output.differentialDriveAcceleration
         )
     }
 
+    @JvmDefault
     fun setOutputFromKinematics(chassisVelocity: DifferentialDrive.ChassisState) {
         val wheelVelocities = differentialDrive.solveInverseKinematics(chassisVelocity)
         val feedForwardVoltages = differentialDrive.getVoltagesFromkV(wheelVelocities)
 
         setOutput(wheelVelocities, feedForwardVoltages)
     }
 
+    @JvmDefault
     fun setOutputFromDynamics(
         chassisVelocity: DifferentialDrive.ChassisState,
         chassisAcceleration: DifferentialDrive.ChassisState
@@ -31,6 +34,7 @@ interface DifferentialTrackerDriveBase : TrajectoryTrackerDriveBase {
         setOutput(dynamics.wheelVelocity, dynamics.voltage)
     }
 
+    @JvmDefault
     fun setOutput(
         wheelVelocities: DifferentialDrive.WheelState,
         wheelVoltages: DifferentialDrive.WheelState

diff --git a/src/main/kotlin/org/ghrobotics/lib/subsystems/drive/TrajectoryTrackerDriveBase.kt b/src/main/kotlin/org/ghrobotics/lib/subsystems/drive/TrajectoryTrackerDriveBase.kt
@@ -21,6 +21,7 @@ interface TrajectoryTrackerDriveBase {
 
     fun setOutput(output: TrajectoryTrackerOutput)
 
+    @JvmDefault
     fun zeroOutputs() {
         leftMotor.percentOutput = 0.0
         rightMotor.percentOutput = 0.0