Support SRS Hub

build.gradle

@@ -7,7 +7,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:4.0.1'
+        classpath 'com.android.tools.build:gradle:7.2.0'
 
 
         // NOTE: Do not place your application dependencies here; they belong

doc/HubTest.java

@@ -0,0 +1,96 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.RobotLog;
+
+import org.openftc.i2cdrivers.SRSHub;
+
+@TeleOp(name = "HubTest")
+public class HubTest extends LinearOpMode {
+    public void runOpMode() throws InterruptedException {
+        // All ports default to NONE, buses default to empty
+        SRSHub.Config config = new SRSHub.Config();
+
+        config.setEncoder(
+                1,
+                SRSHub.Encoder.PWM
+        );
+
+        config.setEncoder(
+                2,
+                SRSHub.Encoder.QUADRATURE
+        );
+
+        config.addI2CDevice(
+                1,
+                new SRSHub.GoBildaPinpoint(
+                        -50,
+                        -75,
+                        19.89f,
+                        SRSHub.GoBildaPinpoint.EncoderDirection.FORWARD,
+                        SRSHub.GoBildaPinpoint.EncoderDirection.FORWARD
+                )
+        );
+
+        RobotLog.clearGlobalWarningMsg();
+
+        SRSHub hub = hardwareMap.get(
+                SRSHub.class,
+                "srshub"
+        );
+
+        hub.init(config);
+
+        while (!hub.ready());
+
+        waitForStart();
+
+        while (opModeIsActive() && !isStopRequested()) {
+            hub.update();
+
+            if (hub.disconnected()) {
+                telemetry.addLine("srshub disconnected");
+            } else {
+                telemetry.addData(
+                        "encoder 1 position",
+                        hub.readEncoder(1).position
+                );
+
+                telemetry.addData(
+                        "encoder 2 position",
+                        hub.readEncoder(2).position
+                );
+
+                telemetry.addData(
+                        "encoder 2 velocity",
+                        hub.readEncoder(2).velocity
+                );
+
+                SRSHub.GoBildaPinpoint pinpoint = hub.getI2CDevice(
+                        1,
+                        SRSHub.GoBildaPinpoint.class
+                );
+
+                if (!pinpoint.disconnected) {
+                    telemetry.addData(
+                            "pose x (mm)",
+                            pinpoint.xPosition
+                    );
+
+                    telemetry.addData(
+                            "pose y (mm)",
+                            pinpoint.yPosition
+                    );
+
+                    telemetry.addData(
+                            "pose heading (rad)",
+                            pinpoint.hOrientation
+                    );
+                }
+            }
+
+            telemetry.update();
+        }
+    }
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Fri Sep 18 10:38:36 EDT 2020
+#Sun Sep 14 17:54:27 EDT 2025
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip