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A #2
A #2
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| { | ||
| "java.configuration.updateBuildConfiguration": "automatic" | ||
| } |
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| package frc.robot.subsystems | ||
|
|
||
| import com.ctre.phoenix6.hardware.TalonFX | ||
| import edu.wpi.first.wpilibj2.command.Command | ||
| import edu.wpi.first.wpilibj2.command.Subsystem | ||
|
|
||
| object ArmSubsystem : Subsystem { | ||
| var motor: TalonFX | ||
| override fun periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
|
|
||
| init { | ||
| // Initialize the arm subsystem | ||
| motor = TalonFX(31) | ||
|
Check warning Code scanning / detekt Report magic numbers. Magic number is a numeric literal that is not defined as a constant and hence it's unclear what the purpose of this number is. It's better to declare such numbers as constants and give them a proper name. By default, -1, 0, 1, and 2 are not considered to be magic numbers. Warning
This expression contains a magic number. Consider defining it to a well named constant.
|
||
| } | ||
|
|
||
| fun extend(i: Double) { | ||
| motor.set(-0.4 * i) | ||
|
Check warning Code scanning / detekt Report magic numbers. Magic number is a numeric literal that is not defined as a constant and hence it's unclear what the purpose of this number is. It's better to declare such numbers as constants and give them a proper name. By default, -1, 0, 1, and 2 are not considered to be magic numbers. Warning
This expression contains a magic number. Consider defining it to a well named constant.
|
||
| } | ||
|
|
||
| fun retract(i: Double) { | ||
| motor.set(0.4 * i) | ||
|
Check warning Code scanning / detekt Report magic numbers. Magic number is a numeric literal that is not defined as a constant and hence it's unclear what the purpose of this number is. It's better to declare such numbers as constants and give them a proper name. By default, -1, 0, 1, and 2 are not considered to be magic numbers. Warning
This expression contains a magic number. Consider defining it to a well named constant.
|
||
| } // i love programming | ||
|
|
||
| fun getCommand(joystickTriggerValue: () -> Double): Command { | ||
| return run { | ||
| if (joystickTriggerValue.invoke() > 0.1) { | ||
|
Check warning Code scanning / detekt Report magic numbers. Magic number is a numeric literal that is not defined as a constant and hence it's unclear what the purpose of this number is. It's better to declare such numbers as constants and give them a proper name. By default, -1, 0, 1, and 2 are not considered to be magic numbers. Warning
This expression contains a magic number. Consider defining it to a well named constant.
|
||
| extend(joystickTriggerValue.invoke()) | ||
| } else if (joystickTriggerValue.invoke() < -0.1) { | ||
|
Check warning Code scanning / detekt Report magic numbers. Magic number is a numeric literal that is not defined as a constant and hence it's unclear what the purpose of this number is. It's better to declare such numbers as constants and give them a proper name. By default, -1, 0, 1, and 2 are not considered to be magic numbers. Warning
This expression contains a magic number. Consider defining it to a well named constant.
|
||
| retract( | ||
| -joystickTriggerValue.invoke(), | ||
| ) | ||
| } | ||
| } | ||
| } | ||
| } | ||
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| package frc.robot.subsystems.vision | ||
|
|
||
| import edu.wpi.first.math.geometry.Rotation2d | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase | ||
| import org.photonvision.PhotonCamera | ||
| import org.photonvision.targeting.PhotonTrackedTarget | ||
|
|
||
| class VisionSubsystem : SubsystemBase() { | ||
| private var camera: PhotonCamera = PhotonCamera("ShitCam") | ||
| private lateinit var rot: Rotation2d | ||
| private var countWithoutMeasurement: Int = 0 | ||
|
|
||
| override fun periodic() { | ||
| // This method will be called once per scheduler run | ||
| var result = camera.getLatestResult() | ||
| if (result.hasTargets()) { | ||
| var target: PhotonTrackedTarget = result.getBestTarget() | ||
| rot = Rotation2d.fromDegrees(target.yaw) | ||
| countWithoutMeasurement = 0 | ||
| } else { | ||
| countWithoutMeasurement++ | ||
| } | ||
|
|
||
| if (countWithoutMeasurement > 25) { // method called every 20 ms, | ||
|
Check warning Code scanning / detekt Report magic numbers. Magic number is a numeric literal that is not defined as a constant and hence it's unclear what the purpose of this number is. It's better to declare such numbers as constants and give them a proper name. By default, -1, 0, 1, and 2 are not considered to be magic numbers. Warning
This expression contains a magic number. Consider defining it to a well named constant.
|
||
| // so 25 * 20 = 500 ms without a target before setting rotation to 0 | ||
| rot = Rotation2d.fromDegrees(0.0) | ||
| } | ||
| } | ||
|
|
||
| // returns angle to nearest note relative to the front of the robot | ||
| fun getNearestRotation(): Rotation2d { | ||
| return rot | ||
| } | ||
| } | ||
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| { | ||
| "fileName": "photonlib.json", | ||
| "name": "photonlib", | ||
| "version": "v2024.3.1", | ||
| "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", | ||
| "frcYear": "2024", | ||
| "mavenUrls": [ | ||
| "https://maven.photonvision.org/repository/internal", | ||
| "https://maven.photonvision.org/repository/snapshots" | ||
| ], | ||
| "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", | ||
| "jniDependencies": [], | ||
| "cppDependencies": [ | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photonlib-cpp", | ||
| "version": "v2024.3.1", | ||
| "libName": "photonlib", | ||
| "headerClassifier": "headers", | ||
| "sharedLibrary": true, | ||
| "skipInvalidPlatforms": true, | ||
| "binaryPlatforms": [ | ||
| "windowsx86-64", | ||
| "linuxathena", | ||
| "linuxx86-64", | ||
| "osxuniversal" | ||
| ] | ||
| }, | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photontargeting-cpp", | ||
| "version": "v2024.3.1", | ||
| "libName": "photontargeting", | ||
| "headerClassifier": "headers", | ||
| "sharedLibrary": true, | ||
| "skipInvalidPlatforms": true, | ||
| "binaryPlatforms": [ | ||
| "windowsx86-64", | ||
| "linuxathena", | ||
| "linuxx86-64", | ||
| "osxuniversal" | ||
| ] | ||
| } | ||
| ], | ||
| "javaDependencies": [ | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photonlib-java", | ||
| "version": "v2024.3.1" | ||
| }, | ||
| { | ||
| "groupId": "org.photonvision", | ||
| "artifactId": "photontargeting-java", | ||
| "version": "v2024.3.1" | ||
| } | ||
| ] | ||
| } |
Check warning
Code scanning / detekt
Line detected that is longer than the defined maximum line length in the code style. Warning