From cde0355e9112f8323858afbfd5c33daf3eea3463 Mon Sep 17 00:00:00 2001 From: Reed Mullett <120128467+Merridew1@users.noreply.github.com> Date: Tue, 19 Nov 2024 18:00:18 -0600 Subject: [PATCH] Initial commit --- .editorconfig | 15 + .gitattributes | 2 + .github/workflows/main.yml | 81 ++ .github/workflows/pages.yml | 51 + .gitignore | 180 ++++ .vscode/extensions.json | 11 + .vscode/launch.json | 21 + .vscode/settings.json | 40 + .wpilib/wpilib_preferences.json | 6 + README.md | 7 + WPILib-License.md | 24 + build.gradle | 145 +++ checks.xml | 373 ++++++++ formatter.xml | 337 +++++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43462 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 +++++ gradlew.bat | 92 ++ limelight pipelines/2022_Shop_Targeting.vpr | 68 ++ settings.gradle | 30 + shuffleboard config/shuffleboard.json | 868 ++++++++++++++++++ src/main/deploy/example.txt | 3 + src/main/java/frc/lib/math/Conversions.java | 94 ++ src/main/java/frc/robot/Constants.java | 33 + src/main/java/frc/robot/Main.java | 28 + src/main/java/frc/robot/Robot.java | 201 ++++ src/main/java/frc/robot/RobotContainer.java | 78 ++ src/main/java/frc/robot/autos/.keep | 0 src/main/java/frc/robot/commands/.keep | 0 src/main/java/frc/robot/modules/.keep | 0 src/main/java/frc/robot/subsystems/.keep | 0 .../robot/subsystems/drive/Drivetrain.java | 27 + .../robot/subsystems/drive/DrivetrainIO.java | 25 + .../subsystems/drive/DrivetrainReal.java | 26 + vendordeps/AdvantageKit.json | 42 + vendordeps/NavX.json | 40 + vendordeps/PathplannerLib.json | 38 + vendordeps/Phoenix5.json | 151 +++ vendordeps/Phoenix6.json | 339 +++++++ vendordeps/REVLib.json | 74 ++ vendordeps/WPILibNewCommands.json | 38 + vendordeps/photonlib.json | 57 ++ 42 files changed, 3901 insertions(+) create mode 100644 .editorconfig create mode 100644 .gitattributes create mode 100644 .github/workflows/main.yml create mode 100644 .github/workflows/pages.yml create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 README.md create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 checks.xml create mode 100644 formatter.xml create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100644 gradlew create mode 100644 gradlew.bat create mode 100644 limelight pipelines/2022_Shop_Targeting.vpr create mode 100644 settings.gradle create mode 100644 shuffleboard config/shuffleboard.json create mode 100644 src/main/deploy/example.txt create mode 100644 src/main/java/frc/lib/math/Conversions.java create mode 100644 src/main/java/frc/robot/Constants.java create mode 100644 src/main/java/frc/robot/Main.java create mode 100644 src/main/java/frc/robot/Robot.java create mode 100644 src/main/java/frc/robot/RobotContainer.java create mode 100644 src/main/java/frc/robot/autos/.keep create mode 100644 src/main/java/frc/robot/commands/.keep create mode 100644 src/main/java/frc/robot/modules/.keep create mode 100644 src/main/java/frc/robot/subsystems/.keep create mode 100644 src/main/java/frc/robot/subsystems/drive/Drivetrain.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java create mode 100644 vendordeps/AdvantageKit.json create mode 100644 vendordeps/NavX.json create mode 100644 vendordeps/PathplannerLib.json create mode 100644 vendordeps/Phoenix5.json create mode 100644 vendordeps/Phoenix6.json create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/WPILibNewCommands.json create mode 100644 vendordeps/photonlib.json diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 0000000..acda138 --- /dev/null +++ b/.editorconfig @@ -0,0 +1,15 @@ +# EditorConfig is awesome: https://EditorConfig.org + +# top-most EditorConfig file +root = true + +# Unix-style newlines with a newline ending every file +[*] +end_of_line = lf +insert_final_newline = true +trim_trailing_whitespace = true + +# 4 space indentation +[*.java] +indent_style = space +indent_size = 4 diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..dfe0770 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# Auto detect text files and perform LF normalization +* text=auto diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml new file mode 100644 index 0000000..5e0d735 --- /dev/null +++ b/.github/workflows/main.yml @@ -0,0 +1,81 @@ +# This is a basic workflow to help you get started with Actions + +name: CI + +# Controls when the action will run. +on: + # Triggers the workflow on push + push: + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + linting: + name: Linting + runs-on: ubuntu-latest + steps: + - name: Checkout + uses: actions/checkout@v3 # v2 minimum required + - name: Run check style + uses: nikitasavinov/checkstyle-action@master + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + reporter: 'github-check' + tool_name: 'testtool' + fail_on_error: true + filter_mode: nofilter + level: error + checkstyle_config: checks.xml + checkstyle_version: '9.2.1' + spell_check: + name: Spell Check + runs-on: ubuntu-latest + steps: + - name: Checkout + uses: actions/checkout@v3 # v2 minimum required + - name: Run Spell Check + uses: codespell-project/actions-codespell@master + with: + check_filenames: true + merge_conflict_job: + runs-on: ubuntu-latest + name: Find merge conflicts + steps: + # Checkout the source code so there are some files to look at. + - uses: actions/checkout@v3 + # Run the actual merge conflict finder + - name: Merge Conflict finder + uses: olivernybroe/action-conflict-finder@v4.0 + javadoc: + name: Test Javadocs Generation + # The type of runner that the job will run on + runs-on: ubuntu-22.04 + # This grabs the WPILib docker container + container: wpilib/roborio-cross-ubuntu:2024-22.04 + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v3 + # Grant execute permission for gradlew + - name: Grant execute permission for gradlew + run: chmod +x gradlew + # Runs a single command using the runners shell + - name: Create Javadocs + run: ./gradlew javadoc + build: + name: Build + # The type of runner that the job will run on + runs-on: ubuntu-22.04 + # This grabs the WPILib docker container + container: wpilib/roborio-cross-ubuntu:2023-22.04 + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v3 + # Grant execute permission for gradlew + - name: Grant execute permission for gradlew + run: chmod +x gradlew + # Runs a single command using the runners shell + - name: Compile and run tests on robot code + run: ./gradlew build diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml new file mode 100644 index 0000000..f893315 --- /dev/null +++ b/.github/workflows/pages.yml @@ -0,0 +1,51 @@ +# This is a basic workflow to help you get started with Actions + +name: Javadoc + +# Controls when the action will run. +on: + # Triggers the workflow on push + push: + branches: + - main + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +permissions: + contents: read + pages: write + id-token: write + +concurrency: + group: "pages" + cancel-in-progress: true + +jobs: + javadoc: + environment: + name: github-pages + url: ${{ steps.deployment.outputs.page_url }} + name: Generate Javadocs + # The type of runner that the job will run on + runs-on: ubuntu-22.04 + # This grabs the WPILib docker container + container: wpilib/roborio-cross-ubuntu:2023-22.04 + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v3 + # Grant execute permission for gradlew + - name: Grant execute permission for gradlew + run: chmod +x gradlew + # Runs a single command using the runners shell + - name: Create Javadocs + run: ./gradlew javadoc + - name: Setup Pages + uses: actions/configure-pages@v3 + - name: Upload artifact + uses: actions/upload-pages-artifact@v1 + with: + path: './build/docs/javadoc' + - name: Deploy to Github Pages + id: deployment + uses: actions/deploy-pages@v1 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..48a39a3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,180 @@ +# 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 +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +BuildConstants.java diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..f78081d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,11 @@ +{ + "recommendations": [ + "vscjava.vscode-java-debug", + "editorconfig.editorconfig", + "vscjava.vscode-java-pack", + "github.vscode-pull-request-github", + "eamodio.gitlens", + "redhat.java", + "wpilibsuite.vscode-wpilib" + ] +} diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..41509c4 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,40 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.format.settings.url": "formatter.xml", + "java.format.settings.profile": "GoogleStyle", + "[java]": { + "editor.defaultFormatter": "redhat.java", + }, + "editor.codeActionsOnSave": { + "source.organizeImports": "explicit" + }, + "editor.formatOnSave": true, + "editor.formatOnPaste": true, + "terminal.integrated.defaultProfile.windows": "Git Bash" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..73526a5 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024", + "teamNumber": 5572 +} \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..b81307b --- /dev/null +++ b/README.md @@ -0,0 +1,7 @@ +# Java-Template +[![CI](https://github.com/Frc5572/FRC2023/actions/workflows/main.yml/badge.svg)](https://github.com/Frc5572/FRC2023/actions/workflows/main.yml) [![Java Docs](https://img.shields.io/badge/docs-20XX-blue)](https://frc5572.github.io/Java-Template/) + + +Template repo for Java template + +Good examples can be found https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..43b62ec --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2023 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. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..7ffd4a0 --- /dev/null +++ b/build.gradle @@ -0,0 +1,145 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.3.2" + id "com.peterabeles.gversion" version "1.10" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +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 = 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 + + 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. + +repositories { + maven { + url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit") + credentials { + username = "Mechanical-Advantage-Bot" + password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051" + } + } + mavenLocal() + maven { url 'https://jitpack.io' } +} + +configurations.all { + exclude group: "edu.wpi.first.wpilibj" +} + +task(checkAkitInstall, dependsOn: "classes", type: JavaExec) { + mainClass = "org.littletonrobotics.junction.CheckInstall" + classpath = sourceSets.main.runtimeClasspath +} +compileJava.finalizedBy checkAkitInstall + +dependencies { + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + 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() + + annotationProcessor 'com.github.Frc5572:RobotTools:v1.1.1' + + implementation 'org.apache.httpcomponents:httpclient:4.5.14' + implementation 'org.apache.httpcomponents:httpmime:4.5.14' +} + +// 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) } } + from sourceSets.main.allSource + 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' +} + +javadoc { + configure(options) { + options.addBooleanOption("-allow-script-in-comments",true) + options.addStringOption("link", "https://github.wpilib.org/allwpilib/docs/release/java/") + options.header = "" + } +} + +// Create version file +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/New_York" + indent = " " +} diff --git a/checks.xml b/checks.xml new file mode 100644 index 0000000..f4f41c5 --- /dev/null +++ b/checks.xml @@ -0,0 +1,373 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/formatter.xml b/formatter.xml new file mode 100644 index 0000000..bab800e --- /dev/null +++ b/formatter.xml @@ -0,0 +1,337 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d64cd4917707c1f8861d8cb53dd15194d4248596 GIT binary patch literal 43462 zcma&NWl&^owk(X(xVyW%ySuwf;qI=D6|RlDJ2cR^yEKh!@I- zp9QeisK*rlxC>+~7Dk4IxIRsKBHqdR9b3+fyL=ynHmIDe&|>O*VlvO+%z5;9Z$|DJ zb4dO}-R=MKr^6EKJiOrJdLnCJn>np?~vU-1sSFgPu;pthGwf}bG z(1db%xwr#x)r+`4AGu$j7~u2MpVs3VpLp|mx&;>`0p0vH6kF+D2CY0fVdQOZ@h;A` z{infNyvmFUiu*XG}RNMNwXrbec_*a3N=2zJ|Wh5z* z5rAX$JJR{#zP>KY**>xHTuw?|-Rg|o24V)74HcfVT;WtQHXlE+_4iPE8QE#DUm%x0 zEKr75ur~W%w#-My3Tj`hH6EuEW+8K-^5P62$7Sc5OK+22qj&Pd1;)1#4tKihi=~8C zHiQSst0cpri6%OeaR`PY>HH_;CPaRNty%WTm4{wDK8V6gCZlG@U3$~JQZ;HPvDJcT1V{ z?>H@13MJcCNe#5z+MecYNi@VT5|&UiN1D4ATT+%M+h4c$t;C#UAs3O_q=GxK0}8%8 z8J(_M9bayxN}69ex4dzM_P3oh@ZGREjVvn%%r7=xjkqxJP4kj}5tlf;QosR=%4L5y zWhgejO=vao5oX%mOHbhJ8V+SG&K5dABn6!WiKl{|oPkq(9z8l&Mm%(=qGcFzI=eLu zWc_oCLyf;hVlB@dnwY98?75B20=n$>u3b|NB28H0u-6Rpl((%KWEBOfElVWJx+5yg z#SGqwza7f}$z;n~g%4HDU{;V{gXIhft*q2=4zSezGK~nBgu9-Q*rZ#2f=Q}i2|qOp z!!y4p)4o=LVUNhlkp#JL{tfkhXNbB=Ox>M=n6soptJw-IDI|_$is2w}(XY>a=H52d z3zE$tjPUhWWS+5h=KVH&uqQS=$v3nRs&p$%11b%5qtF}S2#Pc`IiyBIF4%A!;AVoI zXU8-Rpv!DQNcF~(qQnyyMy=-AN~U>#&X1j5BLDP{?K!%h!;hfJI>$mdLSvktEr*89 zdJHvby^$xEX0^l9g$xW-d?J;L0#(`UT~zpL&*cEh$L|HPAu=P8`OQZV!-}l`noSp_ zQ-1$q$R-gDL)?6YaM!=8H=QGW$NT2SeZlb8PKJdc=F-cT@j7Xags+Pr*jPtlHFnf- zh?q<6;)27IdPc^Wdy-mX%2s84C1xZq9Xms+==F4);O`VUASmu3(RlgE#0+#giLh-& zcxm3_e}n4{%|X zJp{G_j+%`j_q5}k{eW&TlP}J2wtZ2^<^E(O)4OQX8FDp6RJq!F{(6eHWSD3=f~(h} zJXCf7=r<16X{pHkm%yzYI_=VDP&9bmI1*)YXZeB}F? 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file mode 100644 index 0000000..5e82d67 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..93e3f59 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/limelight pipelines/2022_Shop_Targeting.vpr b/limelight pipelines/2022_Shop_Targeting.vpr new file mode 100644 index 0000000..d59cb87 --- /dev/null +++ b/limelight pipelines/2022_Shop_Targeting.vpr @@ -0,0 +1,68 @@ +area_max:100 +area_min:0.0026873856000000015 +area_similarity:26 +aspect_max:20 +aspect_min:0 +black_level:40 +blue_balance:2500 +calibration_type:0 +contour_grouping:3 +contour_sort_final:0 +convexity_max:100 +convexity_min:80 +corner_approx:5.000000 +crop_x_max:1 +crop_x_min:-1 +crop_y_max:1.000000 +crop_y_min:-1.000000 +cross_a_a:1 +cross_a_x:0 +cross_a_y:0 +cross_b_a:1 +cross_b_x:0 +cross_b_y:0 +desc:Shop_Targeting +desired_contour_region:0 +dilation_steps:1 +direction_filter:0 +dual_close_sort_origin:0 +erosion_steps:0 +exposure:3 +force_convex:1 +hue_max:94 +hue_min:22 +image_flip:0 +image_source:0 +img_to_show:0 +intersection_filter:3 +invert_hue:0 +multigroup_max:5 +multigroup_min:2 +multigroup_rejector:1 +pipeline_led_enabled:1 +pipeline_led_power:100 +pipeline_res:0 +pipeline_type:0 +red_balance:2500 +roi_x:0.000000 +roi_y:0.000000 +sat_max:255 +sat_min:83 +send_corners:0 +send_raw_contours:0 +solve3d:0 +solve3d_algo:0 +solve3d_bindtarget:1 +solve3d_conf:0.990000 +solve3d_error:8 +solve3d_guess:0 +solve3d_iterations:50 +solve3d_precies:1 +solve3d_precise:0 +solve3d_zoffset:0.000000 +val_max:220 +val_min:18 +x_outlier_miqr:1 +y_max:1.000000 +y_min:-1.000000 +y_outlier_miqr:2.5 diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..d94f73c --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + 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 + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/shuffleboard config/shuffleboard.json b/shuffleboard config/shuffleboard.json new file mode 100644 index 0000000..631b51d --- /dev/null +++ b/shuffleboard config/shuffleboard.json @@ -0,0 +1,868 @@ +{ + "tabPane": [ + { + "title": "SmartDashboard", + "autoPopulate": true, + "autoPopulatePrefix": "SmartDashboard/", + "widgetPane": { + "gridSize": 128.0, + "showGrid": true, + "hgap": 16.0, + "vgap": 16.0, + "titleType": 0, + "tiles": { + "0,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/limelight_PipelineName", + "_title": "limelight_PipelineName" + } + }, + "1,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 2 Integrated", + "_title": "Mod 2 Integrated" + } + }, + "2,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "ComboBox Chooser", + "_source0": "network_table:///SmartDashboard/Choose Auto: ", + "_title": "Choose Auto: " + } + }, + "3,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 0 Velocity", + "_title": "Mod 0 Velocity" + } + }, + "4,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 3 Cancoder", + "_title": "Mod 3 Cancoder" + } + }, + "5,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 0 Cancoder", + "_title": "Mod 0 Cancoder" + } + }, + "6,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 0 Integrated", + "_title": "Mod 0 Integrated" + } + }, + "7,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/Magazine Switch", + "_title": "Magazine Switch", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + }, + "8,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 3 Integrated", + "_title": "Mod 3 Integrated" + } + }, + "9,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 1 Velocity", + "_title": "Mod 1 Velocity" + } + }, + "10,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/limelight_Interface", + "_title": "limelight_Interface" + } + }, + "11,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 1 Cancoder", + "_title": "Mod 1 Cancoder" + } + }, + "12,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 1 Integrated", + "_title": "Mod 1 Integrated" + } + }, + "0,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 2 Velocity", + "_title": "Mod 2 Velocity" + } + }, + "1,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 2 Cancoder", + "_title": "Mod 2 Cancoder" + } + }, + "2,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/limelight_Stream", + "_title": "limelight_Stream" + } + }, + "3,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Mod 3 Velocity", + "_title": "Mod 3 Velocity" + } + }, + "4,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/SetPoint (RPM)", + "_title": "SetPoint (RPM)" + } + }, + "5,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/Slider 0", + "_title": "DB/Slider 0" + } + }, + "6,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/Slider 1", + "_title": "DB/Slider 1" + } + }, + "7,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/Slider 2", + "_title": "DB/Slider 2" + } + }, + "8,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/Slider 3", + "_title": "DB/Slider 3" + } + }, + "9,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Auto Selector", + "_title": "Auto Selector" + } + }, + "10,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/DB/Button 0", + "_title": "DB/Button 0", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + }, + "11,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/DB/Button 1", + "_title": "DB/Button 1", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + }, + "12,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/DB/Button 2", + "_title": "DB/Button 2", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + }, + "0,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/DB/Button 3", + "_title": "DB/Button 3", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + }, + "1,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 0", + "_title": "DB/String 0" + } + }, + "2,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 1", + "_title": "DB/String 1" + } + }, + "3,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 2", + "_title": "DB/String 2" + } + }, + "4,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 3", + "_title": "DB/String 3" + } + }, + "5,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 4", + "_title": "DB/String 4" + } + }, + "6,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 5", + "_title": "DB/String 5" + } + }, + "7,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 6", + "_title": "DB/String 6" + } + }, + "8,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 7", + "_title": "DB/String 7" + } + }, + "9,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 8", + "_title": "DB/String 8" + } + }, + "10,2": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/DB/String 9", + "_title": "DB/String 9" + } + } + } + } + }, + { + "title": "LiveWindow", + "autoPopulate": true, + "autoPopulatePrefix": "LiveWindow/", + "widgetPane": { + "gridSize": 128.0, + "showGrid": true, + "hgap": 16.0, + "vgap": 16.0, + "titleType": 0, + "tiles": { + "0,0": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/Ungrouped", + "_title": "Ungrouped", + "Layout/Label position": "BOTTOM", + "_children": [ + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[16]", + "_title": "PIDController[16]" + }, + { + "_type": "Text View", + "_source0": "network_table:///LiveWindow/Ungrouped/DoubleSolenoid[1,2]/Value", + "_title": "DoubleSolenoid[1,2]/Value" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[25]", + "_title": "PIDController[25]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[13]", + "_title": "PIDController[13]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[17]", + "_title": "PIDController[17]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[14]", + "_title": "PIDController[14]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[22]", + "_title": "PIDController[22]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[26]", + "_title": "PIDController[26]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[6]", + "_title": "PIDController[6]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[23]", + "_title": "PIDController[23]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[7]", + "_title": "PIDController[7]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[18]", + "_title": "PIDController[18]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[8]", + "_title": "PIDController[8]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[11]", + "_title": "PIDController[11]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[19]", + "_title": "PIDController[19]" + }, + { + "_type": "Gyro", + "_source0": "network_table:///LiveWindow/Ungrouped/navX-Sensor[4]", + "_title": "navX-Sensor[4]", + "Visuals/Major tick spacing": 45.0, + "Visuals/Starting angle": 180.0, + "Visuals/Show tick mark ring": true, + "Visuals/Counter clockwise": false + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[10]", + "_title": "PIDController[10]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[20]", + "_title": "PIDController[20]" + }, + { + "_type": "Boolean Box", + "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[1]/Value", + "_title": "DigitalInput[1]/Value", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[5]", + "_title": "PIDController[5]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[15]", + "_title": "PIDController[15]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[24]", + "_title": "PIDController[24]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[4]", + "_title": "PIDController[4]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[9]", + "_title": "PIDController[9]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[12]", + "_title": "PIDController[12]" + }, + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/PIDController[21]", + "_title": "PIDController[21]" + }, + { + "_type": "Text View", + "_source0": "network_table:///LiveWindow/Ungrouped/DoubleSolenoid[1,0]/Value", + "_title": "DoubleSolenoid[1,0]/Value" + }, + { + "_type": "Motor Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [11]", + "_title": "LiveWindow/Ungrouped/Talon FX [11]", + "Visuals/Orientation": "HORIZONTAL" + }, + { + "_type": "Motor Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [12]", + "_title": "LiveWindow/Ungrouped/Talon FX [12]", + "Visuals/Orientation": "HORIZONTAL" + }, + { + "_type": "Motor Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [9]", + "_title": "LiveWindow/Ungrouped/Talon FX [9]", + "Visuals/Orientation": "HORIZONTAL" + }, + { + "_type": "Motor Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/MotorControllerGroup[2]", + "_title": "LiveWindow/Ungrouped/MotorControllerGroup[2]", + "Visuals/Orientation": "HORIZONTAL" + }, + { + "_type": "Motor Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/MotorControllerGroup[1]", + "_title": "LiveWindow/Ungrouped/MotorControllerGroup[1]", + "Visuals/Orientation": "HORIZONTAL" + }, + { + "_type": "Motor Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [10]", + "_title": "LiveWindow/Ungrouped/Talon FX [10]", + "Visuals/Orientation": "HORIZONTAL" + } + ] + } + }, + "2,0": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/OutsideClimber", + "_title": "OutsideClimber", + "Layout/Label position": "BOTTOM", + "_children": [] + } + }, + "4,0": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/InsideClimber", + "_title": "InsideClimber", + "Layout/Label position": "BOTTOM", + "_children": [] + } + }, + "6,0": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/OuterMagazine", + "_title": "OuterMagazine", + "Layout/Label position": "BOTTOM", + "_children": [ + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/OuterMagazine/PID Controller", + "_title": "PID Controller" + } + ] + } + }, + "8,0": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/LEDs", + "_title": "LEDs", + "Layout/Label position": "BOTTOM", + "_children": [] + } + }, + "10,0": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/Intake", + "_title": "Intake", + "Layout/Label position": "BOTTOM", + "_children": [] + } + }, + "0,4": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/InnerMagazine", + "_title": "InnerMagazine", + "Layout/Label position": "BOTTOM", + "_children": [ + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/InnerMagazine/PID Controller", + "_title": "PID Controller" + } + ] + } + }, + "2,4": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/Turret", + "_title": "Turret", + "Layout/Label position": "BOTTOM", + "_children": [] + } + }, + "4,4": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/Swerve", + "_title": "Swerve", + "Layout/Label position": "BOTTOM", + "_children": [] + } + }, + "6,4": { + "size": [ + 2, + 4 + ], + "content": { + "_type": "Subsystem Layout", + "_source0": "network_table:///LiveWindow/Shooter", + "_title": "Shooter", + "Layout/Label position": "BOTTOM", + "_children": [ + { + "_type": "PID Controller", + "_source0": "network_table:///LiveWindow/Shooter/PID Controller", + "_title": "PID Controller" + } + ] + } + } + } + } + }, + { + "title": "Tab 3", + "autoPopulate": false, + "autoPopulatePrefix": "", + "widgetPane": { + "gridSize": 128.0, + "showGrid": true, + "hgap": 16.0, + "vgap": 16.0, + "titleType": 0, + "tiles": { + "0,1": { + "size": [ + 7, + 4 + ], + "content": { + "_type": "Camera Stream", + "_source0": "camera_server://Magazine Camera", + "_title": "Magazine Camera", + "Crosshair/Show crosshair": true, + "Crosshair/Crosshair color": "#FFFFFFFF", + "Controls/Show controls": false, + "Controls/Rotation": "NONE", + "compression": -1.0, + "fps": -1, + "imageWidth": -1, + "imageHeight": -1 + } + }, + "7,1": { + "size": [ + 6, + 4 + ], + "content": { + "_type": "Camera Stream", + "_source0": "camera_server://limelight", + "_title": "limelight", + "Crosshair/Show crosshair": true, + "Crosshair/Crosshair color": "#FFFFFFFF", + "Controls/Show controls": false, + "Controls/Rotation": "NONE", + "compression": -1.0, + "fps": -1, + "imageWidth": -1, + "imageHeight": -1 + } + }, + "0,0": { + "size": [ + 2, + 1 + ], + "content": { + "_type": "ComboBox Chooser", + "_source0": "network_table:///SmartDashboard/Choose Auto: ", + "_title": "SmartDashboard/Choose Auto: " + } + }, + "2,0": { + "size": [ + 2, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/Magazine Switch", + "_title": "SmartDashboard/Magazine Switch", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + }, + "4,0": { + "size": [ + 2, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///LiveWindow/Ungrouped/navX-Sensor[4]/Value", + "_title": "LiveWindow/Ungrouped/navX-Sensor[4]/Value" + } + } + } + } + } + ], + "windowGeometry": { + "x": -8.0, + "y": -8.0, + "width": 1936.0, + "height": 1056.0 + } +} diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc/lib/math/Conversions.java b/src/main/java/frc/lib/math/Conversions.java new file mode 100644 index 0000000..7871d53 --- /dev/null +++ b/src/main/java/frc/lib/math/Conversions.java @@ -0,0 +1,94 @@ +package frc.lib.math; + +/** + * Mathematical conversions for swerve calculations + */ +public class Conversions { + + /** + * @param counts Falcon Counts + * @param gearRatio Gear Ratio between Falcon and Mechanism + * @return Degrees of Rotation of Mechanism falconToDegrees + */ + public static double falconToDegrees(double counts, double gearRatio) { + return counts * (360.0 / (gearRatio * 2048.0)); + } + + /** + * @param degrees Degrees of rotation of Mechanism + * @param gearRatio Gear Ratio between Falcon and Mechanism + * @return Falcon Counts degreesToFalcon + */ + public static double degreesToFalcon(double degrees, double gearRatio) { + double ticks = degrees / (360.0 / (gearRatio * 2048.0)); + return ticks; + } + + /** + * @param velocityCounts Falcon Velocity Counts + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM) + * @return RPM of Mechanism + */ + public static double falconToRPM(double velocityCounts, double gearRatio) { + double motorRPM = velocityCounts * (600.0 / 2048.0); + double mechRPM = motorRPM / gearRatio; + return mechRPM; + } + + /** + * @param rpm RPM of mechanism + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM) + * @return RPM of Mechanism + */ + public static double rpmToFalcon(double rpm, double gearRatio) { + double motorRPM = rpm * gearRatio; + double sensorCounts = motorRPM * (2048.0 / 600.0); + return sensorCounts; + } + + /** + * @param counts Falcon Counts + * @param gearRatio Gear Ratio between Falcon and Mechanism + * @param circumference Circumference of Wheel + * @return Degrees of Rotation of Mechanism falconToDegrees + */ + public static double falconToMeters(double counts, double gearRatio, double circumference) { + return counts * circumference / (gearRatio * 2048.0); + } + + /** + * @param velocitycounts Falcon Velocity Counts + * @param circumference Circumference of Wheel + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM) + * @return Falcon Velocity Counts + */ + public static double falconToMPS(double velocitycounts, double circumference, + double gearRatio) { + double wheelRPM = falconToRPM(velocitycounts, gearRatio); + double wheelMPS = (wheelRPM * circumference) / 60; + return wheelMPS; + } + + /** + * @param velocity Velocity MPS + * @param circumference Circumference of Wheel + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM) + * @return Falcon Velocity Counts + */ + public static double mpsToFalcon(double velocity, double circumference, double gearRatio) { + double wheelRPM = ((velocity * 60) / circumference); + double wheelVelocity = rpmToFalcon(wheelRPM, gearRatio); + return wheelVelocity; + } + + /** + * Normalize angle to between 0 to 360 + * + * @param goal initial angle + * @return normalized angle + */ + public static double reduceTo0_360(double goal) { + return goal % 360; + } + +} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..e4c1815 --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,33 @@ +package frc.robot; + +/** + * Constants file. + */ +public final class Constants { + /** + * Stick Deadband + */ + public static final double stickDeadband = 0.1; + /** + * Driver ID + */ + public static final int driverID = 0; + /** + * Operator ID + */ + public static final int operatorID = 1; + + /** + * Motor CAN id's. + */ + public static final class Motors { + } + + /** + * Pneumatics CAN id constants. + */ + public static final class Pneumatics { + } + + +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..66a8c84 --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,28 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

+ * If you change your main robot class, change the parameter type. + * + * @param args String args + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..b22af27 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,201 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import java.io.IOException; +import java.nio.file.Path; +import java.nio.file.Paths; +import java.util.Scanner; +import org.littletonrobotics.junction.LogFileUtil; +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGReader; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * Runs tasks on Roborio in this file. + */ +public class Robot extends LoggedRobot { + private RobotContainer robotContainer; + private Command autoChooser; + + /** + * Robnot Run type + */ + public static enum RobotRunType { + /** Real Robot. */ + kReal, + /** Simulation runtime. */ + kSimulation, + /** Replay runtime. */ + kReplay; + } + + public RobotRunType robotRunType = RobotRunType.kReal; + + // private Ultrasonic ultrasonic = new Ultrasonic(); + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Record metadata + Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0: + Logger.recordMetadata("GitDirty", "All changes committed"); + break; + case 1: + Logger.recordMetadata("GitDirty", "Uncommitted changes"); + break; + default: + Logger.recordMetadata("GitDirty", "Unknown"); + break; + } + + + + if (isReal()) { + Logger.addDataReceiver(new WPILOGWriter("/media/sda1")); // Log to a USB stick + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + // new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging + setUseTiming(true); + robotRunType = RobotRunType.kReal; + } else { + String logPath = findReplayLog(); + if (logPath == null) { + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + setUseTiming(true); + robotRunType = RobotRunType.kSimulation; + } else { + // (or prompt the user) + Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log + Logger + .addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); + // Save outputs to a new log + setUseTiming(false); // Run as fast as possible + robotRunType = RobotRunType.kReplay; + + } + } + // Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the + // "Understanding Data Flow" page + Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values + + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our autonomous chooser on the dashboard. + robotContainer = new RobotContainer(robotRunType); + } + + /** + * This function is called every robot packet, no matter the mode. Use this for items like + * diagnostics that you want ran during disabled, autonomous, teleoperated and test. + * + *

+ * This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, + // running already-scheduled commands, removing finished or interrupted commands, and + // running + // subsystem periodic() methods. This must be called from the robot's periodic block in + // order for + // anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + robotContainer.getAutonomousCommand().schedule(); + autoChooser = robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (autoChooser != null) { + autoChooser.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} + + @Override + public void teleopInit() { + if (autoChooser != null) { + autoChooser.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() { + // vision.update(); + } + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} + + + private static final String environmentVariable = "AKIT_LOG_PATH"; + private static final String advantageScopeFileName = "akit-log-path.txt"; + + /** + * Finds the path to a log file for replay, using the following priorities: 1. The value of the + * "AKIT_LOG_PATH" environment variable, if set 2. The file currently open in AdvantageScope, if + * available 3. The result of the prompt displayed to the user + */ + public static String findReplayLog() { + // Read environment variables + String envPath = System.getenv(environmentVariable); + if (envPath != null) { + System.out.println("Using log from " + environmentVariable + + " environment variable - \"" + envPath + "\""); + return envPath; + } + + // Read file from AdvantageScope + Path advantageScopeTempPath = + Paths.get(System.getProperty("java.io.tmpdir"), advantageScopeFileName); + String advantageScopeLogPath = null; + try (Scanner fileScanner = new Scanner(advantageScopeTempPath)) { + advantageScopeLogPath = fileScanner.nextLine(); + } catch (IOException e) { + System.out.println("Something went wrong"); + } + if (advantageScopeLogPath != null) { + System.out.println("Using log from AdvantageScope - \"" + advantageScopeLogPath + "\""); + return advantageScopeLogPath; + } + return null; + } +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..2756f2f --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,78 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.Robot.RobotRunType; +import frc.robot.subsystems.drive.Drivetrain; +import frc.robot.subsystems.drive.DrivetrainIO; +import frc.robot.subsystems.drive.DrivetrainReal; + +/** + * This class is where the bulk of the robot should be declared. Since Command-based is a + * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} + * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including + * subsystems, commands, and button mappings) should be declared here. + */ +public class RobotContainer { + /* Controllers */ + private final CommandXboxController driver = new CommandXboxController(Constants.driverID); + private final CommandXboxController operator = new CommandXboxController(Constants.operatorID); + + // Initialize AutoChooser Sendable + private final SendableChooser autoChooser = new SendableChooser<>(); + + /* Subsystems */ + private Drivetrain drivetrain; + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer(RobotRunType runtimeType) { + SmartDashboard.putData("Choose Auto: ", autoChooser); + autoChooser.setDefaultOption("Wait 1 Second", "wait"); + switch (runtimeType) { + case kReal: + drivetrain = new Drivetrain(new DrivetrainReal()); + break; + case kSimulation: + // drivetrain = new Drivetrain(new DrivetrainSim() {}); + break; + default: + drivetrain = new Drivetrain(new DrivetrainIO() {}); + } + // Configure the button bindings + configureButtonBindings(); + } + + /** + * Use this method to define your button->command mappings. Buttons can be created by + * instantiating a {@link GenericHID} or one of its subclasses + * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a + * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configureButtonBindings() {} + + /** + * Gets the user's selected autonomous command. + * + * @return Returns autonomous command selected. + */ + public Command getAutonomousCommand() { + Command autocommand; + String stuff = autoChooser.getSelected(); + switch (stuff) { + case "wait": + autocommand = new WaitCommand(1.0); + break; + default: + autocommand = new InstantCommand(); + } + return autocommand; + } +} diff --git a/src/main/java/frc/robot/autos/.keep b/src/main/java/frc/robot/autos/.keep new file mode 100644 index 0000000..e69de29 diff --git a/src/main/java/frc/robot/commands/.keep b/src/main/java/frc/robot/commands/.keep new file mode 100644 index 0000000..e69de29 diff --git a/src/main/java/frc/robot/modules/.keep b/src/main/java/frc/robot/modules/.keep new file mode 100644 index 0000000..e69de29 diff --git a/src/main/java/frc/robot/subsystems/.keep b/src/main/java/frc/robot/subsystems/.keep new file mode 100644 index 0000000..e69de29 diff --git a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java new file mode 100644 index 0000000..88e6569 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java @@ -0,0 +1,27 @@ +package frc.robot.subsystems.drive; + +import org.littletonrobotics.junction.Logger; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +/** + * Drivetrain subsystem. + */ + +public class Drivetrain extends SubsystemBase { + private DrivetrainIO io; + private DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); + + /** + * Create Wrist Intake Subsystem + */ + public Drivetrain(DrivetrainIO io) { + this.io = io; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Drivetrain", inputs); + } +} + diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java new file mode 100644 index 0000000..842e1aa --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java @@ -0,0 +1,25 @@ +package frc.robot.subsystems.drive; + +import org.littletonrobotics.junction.AutoLog; +import edu.wpi.first.math.geometry.Rotation2d; + +/** + * DrivetrainIO interface + */ +public interface DrivetrainIO { + /** + * Drivetrain IO + */ + @AutoLog + public static class DrivetrainIOInputs { + public Rotation2d gyroYaw = new Rotation2d(); + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(DrivetrainIOInputs inputs) {} + + /** Run the motor at the specified voltage. */ + public default void setDriveVoltage(double lvolts, double rvolts) {} + + +} diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java new file mode 100644 index 0000000..f8f17d1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java @@ -0,0 +1,26 @@ +package frc.robot.subsystems.drive; + +import edu.wpi.first.math.geometry.Rotation2d; + +/** + * DrivetrainReal + */ +public class DrivetrainReal implements DrivetrainIO { + + + /** + * Drivetrain Real + */ + public DrivetrainReal() {} + + @Override + public void updateInputs(DrivetrainIOInputs inputs) { + inputs.gyroYaw = Rotation2d.fromDegrees(0); + } + + /** + * Drive Voltage + */ + public void setDriveVoltage(double lvolts, double rvolts) {} + +} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..63dacbb --- /dev/null +++ b/vendordeps/AdvantageKit.json @@ -0,0 +1,42 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "3.2.1", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "wpilib-shim", + "version": "3.2.1" + }, + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "junction-core", + "version": "3.2.1" + }, + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-api", + "version": "3.2.1" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-wpilibio", + "version": "3.2.1", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json new file mode 100644 index 0000000..e978a5f --- /dev/null +++ b/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..6dc648d --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2024.2.8", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2024", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2024.2.8" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2024.2.8", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json new file mode 100644 index 0000000..ff7359e --- /dev/null +++ b/vendordeps/Phoenix5.json @@ -0,0 +1,151 @@ +{ + "fileName": "Phoenix5.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.33.1", + "frcYear": 2024, + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.33.1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.33.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.33.1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.33.1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.33.1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.33.1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..0322385 --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.3.0", + "frcYear": 2024, + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "24.3.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + 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"windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..67bf389 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json new file mode 100644 index 0000000..0e80a16 --- /dev/null +++ b/vendordeps/photonlib.json @@ -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" + } + ] +} \ No newline at end of file