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Add C++ SwerveWithChoreo
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bhall-ctre committed Oct 31, 2024
1 parent 04602b3 commit a87cc3a
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184 changes: 184 additions & 0 deletions cpp/SwerveWithChoreo/.gitignore
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# This gitignore has been specially created by the WPILib team.
# If you remove items from this file, intellisense might break.

### C++ ###
# Prerequisites
*.d

# Compiled Object files
*.slo
*.lo
*.o
*.obj

# Precompiled Headers
*.gch
*.pch

# Compiled Dynamic libraries
*.so
*.dylib
*.dll

# Fortran module files
*.mod
*.smod

# Compiled Static libraries
*.lai
*.la
*.a
*.lib

# Executables
*.exe
*.out
*.app

### Java ###
# Compiled class file
*.class

# Log file
*.log

# BlueJ files
*.ctxt

# Mobile Tools for Java (J2ME)
.mtj.tmp/

# Package Files #
*.jar
*.war
*.nar
*.ear
*.zip
*.tar.gz
*.rar

# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
hs_err_pid*

### Linux ###
*~

# temporary files which can be created if a process still has a handle open of a deleted file
.fuse_hidden*

# KDE directory preferences
.directory

# Linux trash folder which might appear on any partition or disk
.Trash-*

# .nfs files are created when an open file is removed but is still being accessed
.nfs*

### macOS ###
# General
.DS_Store
.AppleDouble
.LSOverride

# Icon must end with two \r
Icon

# Thumbnails
._*

# Files that might appear in the root of a volume
.DocumentRevisions-V100
.fseventsd
.Spotlight-V100
.TemporaryItems
.Trashes
.VolumeIcon.icns
.com.apple.timemachine.donotpresent

# Directories potentially created on remote AFP share
.AppleDB
.AppleDesktop
Network Trash Folder
Temporary Items
.apdisk

### VisualStudioCode ###
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
!.vscode/extensions.json

### Windows ###
# Windows thumbnail cache files
Thumbs.db
ehthumbs.db
ehthumbs_vista.db

# Dump file
*.stackdump

# Folder config file
[Dd]esktop.ini

# Recycle Bin used on file shares
$RECYCLE.BIN/

# Windows Installer files
*.cab
*.msi
*.msix
*.msm
*.msp

# Windows shortcuts
*.lnk

### Gradle ###
.gradle
/build/

# Ignore Gradle GUI config
gradle-app.setting

# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
!gradle-wrapper.jar

# Cache of project
.gradletasknamecache

# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
# gradle/wrapper/gradle-wrapper.properties

# # VS Code Specific Java Settings
# DO NOT REMOVE .classpath and .project
.classpath
.project
.settings/
bin/

# IntelliJ
*.iml
*.ipr
*.iws
.idea/
out/

# Fleet
.fleet

# Simulation GUI and other tools window save file
networktables.json
simgui.json
*-window.json

# Simulation data log directory
logs/

# Folder that has CTRE Phoenix Sim device config storage
ctre_sim/

# clangd
/.cache
compile_commands.json
6 changes: 6 additions & 0 deletions cpp/SwerveWithChoreo/.wpilib/wpilib_preferences.json
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{
"enableCppIntellisense": true,
"currentLanguage": "cpp",
"projectYear": "2025beta",
"teamNumber": 7762
}
24 changes: 24 additions & 0 deletions cpp/SwerveWithChoreo/WPILib-License.md
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Copyright (c) 2009-2024 FIRST and other WPILib contributors
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of FIRST, WPILib, nor the names of other WPILib
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
99 changes: 99 additions & 0 deletions cpp/SwerveWithChoreo/build.gradle
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plugins {
id "cpp"
id "google-test-test-suite"
id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
}

// 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 = project.frc.getTeamNumber()
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

frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
}

// Static files artifact
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
}
}
}
}
}

def deployArtifact = deploy.targets.roborio.artifacts.frcCpp

// Set this to true to enable desktop support.
def includeDesktopSupport = true

// Set to true to run simulation in debug mode
wpi.cpp.debugSimulation = false

// Default enable simgui
wpi.sim.addGui().defaultEnabled = true
// Enable DS but not by default
wpi.sim.addDriverstation()

model {
components {
frcUserProgram(NativeExecutableSpec) {
targetPlatform wpi.platforms.roborio
if (includeDesktopSupport) {
targetPlatform wpi.platforms.desktop
}

sources.cpp {
source {
srcDir 'src/main/cpp'
include '**/*.cpp', '**/*.cc'
}
exportedHeaders {
srcDir 'src/main/include'
}
}

// Set deploy task to deploy this component
deployArtifact.component = it

// Enable run tasks for this component
wpi.cpp.enableExternalTasks(it)

// Enable simulation for this component
wpi.sim.enable(it)
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
wpi.cpp.vendor.cpp(it)
wpi.cpp.deps.wpilib(it)
}
}
testSuites {
frcUserProgramTest(GoogleTestTestSuiteSpec) {
testing $.components.frcUserProgram

sources.cpp {
source {
srcDir 'src/test/cpp'
include '**/*.cpp'
}
}

// Enable run tasks for this component
wpi.cpp.enableExternalTasks(it)

wpi.cpp.vendor.cpp(it)
wpi.cpp.deps.wpilib(it)
wpi.cpp.deps.googleTest(it)
}
}
}
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7 changes: 7 additions & 0 deletions cpp/SwerveWithChoreo/gradle/wrapper/gradle-wrapper.properties
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distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
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