If you change your main robot class, change the parameter type. + */ + 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..477e691 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,138 @@ +// 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.DriverStation; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.controls.Driver; +import frc.robot.controls.Operator; +import frc.robot.subsystems.Drivetrain; +import frc.robot.util.PathGroupLoader; +import frc.robot.util.ShuffleboardManager; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private Command m_autoCommand; + public static ShuffleboardManager shuffleboard; + public static Drivetrain drive; + + private static boolean isTestMode = false; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + + // This is really annoying so it's disabled + DriverStation.silenceJoystickConnectionWarning(true); + + // load paths before auto starts + PathGroupLoader.loadPathGroups(); + + // make subsystems + shuffleboard = new ShuffleboardManager(); + drive = new Drivetrain(); + + shuffleboard.setup(); + + Driver.configureControls(); + Operator.configureControls(); + } + + /** + * 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();
+ }
+
+ /** This function is called once each time the robot enters Disabled mode. */
+ @Override
+ public void disabledInit() {
+ CommandScheduler.getInstance().cancelAll();
+ isTestMode = false;
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ m_autoCommand = getAutonomousCommand();
+ }
+
+ /** This autonomous runs the autonomous command selected by your {@link Robot} class. */
+ @Override
+ public void autonomousInit() {
+ isTestMode = false;
+ if (m_autoCommand != null) {
+ m_autoCommand.schedule();
+ }
+ }
+
+ /** This function is called periodically during autonomous. */
+ @Override
+ public void autonomousPeriodic() {}
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autoCommand != null) {
+ m_autoCommand.cancel();
+ }
+ isTestMode = false;
+ }
+
+ /** This function is called periodically during operator control. */
+ @Override
+ public void teleopPeriodic() {}
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+
+ // it may be needed to disable LiveWindow (we don't use it anyway)
+ //LiveWindow.setEnabled(false)
+
+ isTestMode = true;
+
+ }
+
+ /** This function is called periodically during test mode. */
+ @Override
+ public void testPeriodic() {}
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return shuffleboard.getAutonomousCommand();
+ }
+
+ public static boolean isTestMode() {
+ return isTestMode;
+ }
+}
diff --git a/src/main/java/frc/robot/commands/DoNothing.java b/src/main/java/frc/robot/commands/DoNothing.java
new file mode 100644
index 0000000..4648cef
--- /dev/null
+++ b/src/main/java/frc/robot/commands/DoNothing.java
@@ -0,0 +1,5 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class DoNothing extends InstantCommand {}
diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
new file mode 100644
index 0000000..956250b
--- /dev/null
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -0,0 +1,10 @@
+package frc.robot.constants;
+
+public class AutoConstants {
+
+ // Pathplanner output folder should be src/main/deploy/pathplanner
+ public final String kTrajectoryDirectory = "pathplanner/";
+
+ public final double kMaxAutoSpeed = 1.0; // m/s
+ public final double kMaxAutoAccel = 1.0; // m/s^2
+}
diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
new file mode 100644
index 0000000..e19f2d7
--- /dev/null
+++ b/src/main/java/frc/robot/constants/Constants.java
@@ -0,0 +1,18 @@
+package frc.robot.constants;
+
+public final class Constants {
+ public static final double kGravitationalAccel = 9.8;
+ public static final double kMaxVoltage = 12.0;
+ public static final double kLoopTime = 0.02;
+
+ public static final double kCancoderResolution = 4096;
+
+ // CAN bus names
+ // public static final String kCanivoreCAN = ""; // replace this if using Canivore
+ public static final String kRioCAN = "rio";
+
+ public static final OIConstants oi = new OIConstants();
+ public static final DriveConstants drive = new DriveConstants();
+ public static final AutoConstants auto = new AutoConstants();
+ public static final FalconConstants falcon = new FalconConstants();
+}
diff --git a/src/main/java/frc/robot/constants/DriveConstants.java b/src/main/java/frc/robot/constants/DriveConstants.java
new file mode 100644
index 0000000..d19eb8f
--- /dev/null
+++ b/src/main/java/frc/robot/constants/DriveConstants.java
@@ -0,0 +1,9 @@
+package frc.robot.constants;
+
+public class DriveConstants {
+
+ public final int kLeftMotor1 = -1;
+ public final int kLeftMotor2 = -1;
+ public final int kRightMotor1 = -1;
+ public final int kRightMotor2 = -1;
+}
diff --git a/src/main/java/frc/robot/constants/FalconConstants.java b/src/main/java/frc/robot/constants/FalconConstants.java
new file mode 100644
index 0000000..5f2edbb
--- /dev/null
+++ b/src/main/java/frc/robot/constants/FalconConstants.java
@@ -0,0 +1,36 @@
+package frc.robot.constants;
+
+public class FalconConstants {
+
+ // Stored in hex though not really a hex. 21.0 = 0x2100, ex. 1.2 = 0x0102
+ public final int kFirmwareVersion = 0x2100;
+ public final boolean kBreakOnWrongFirmware = true;
+
+ public final double kResolution = 2048;
+ public final double kMaxRpm = 6380.0; // Rotations per minute
+
+ /*
+ * Talon Stator / Supply Limits explanation
+ * Supply current is current thatâs being drawn at the input bus voltage. Stator
+ * current is current thatâs being drawn by the motor.
+ * Supply limiting (supported by Talon FX and SRX) is useful for preventing
+ * breakers from tripping in the PDP.
+ * Stator limiting (supported by Talon FX) is useful for limiting
+ * acceleration/heat.
+ */
+
+ // These are the default values
+
+ // Stator
+ public final boolean kStatorLimitEnable = false; // enabled?
+ public final double kStatorCurrentLimit = 100; // Limit(amp)
+ public final double kStatorTriggerThreshold = 100; // Trigger Threshold(amp)
+ public final double kStatorTriggerDuration = 0; // Trigger Threshold Time(s)
+
+ // Supply
+ public final boolean kSupplyLimitEnable = false; // enabled?
+ public final double kSupplyCurrentLimit = 40; // Limit(amp), current to hold after trigger hit
+ public final double kSupplyTriggerThreshold = 55; // (amp), amps to activate trigger
+ public final double kSupplyTriggerDuration = 3; // (s), how long after trigger before reducing
+
+}
diff --git a/src/main/java/frc/robot/constants/OIConstants.java b/src/main/java/frc/robot/constants/OIConstants.java
new file mode 100644
index 0000000..5ea0f3d
--- /dev/null
+++ b/src/main/java/frc/robot/constants/OIConstants.java
@@ -0,0 +1,9 @@
+package frc.robot.constants;
+
+// OI stands for Operator Input
+public class OIConstants {
+ public final int kDriverJoy = 0;
+ public final int kOperatorJoy = 1;
+
+ public final double kDeadband = 0.05;
+}
diff --git a/src/main/java/frc/robot/controls/Driver.java b/src/main/java/frc/robot/controls/Driver.java
new file mode 100644
index 0000000..8433b48
--- /dev/null
+++ b/src/main/java/frc/robot/controls/Driver.java
@@ -0,0 +1,31 @@
+package frc.robot.controls;
+
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.Robot;
+import frc.robot.commands.DoNothing;
+import frc.robot.constants.Constants;
+import frc.robot.util.TestType;
+import lib.controllers.GameController;
+import lib.controllers.GameController.Button;
+
+public class Driver {
+ private static GameController driver = new GameController(Constants.oi.kDriverJoy);
+
+ public static void configureControls() {
+
+ // example button binding implementation
+ driver.get(Button.A).whenPressed(new DoNothing());
+
+ // example test type implementation
+ // tests drivetrain, when in TEST_DRIVE test mode and
+ driver.get(Button.A).and(Robot.shuffleboard.isTestTypeTrigger(TestType.TEST_DRIVE)).whenActive(
+ new SequentialCommandGroup(
+ new RunCommand(() -> Robot.drive.tankDrive(0.5, 0.5), Robot.drive).withTimeout(1),
+ new RunCommand(() -> Robot.drive.tankDrive(-0.5, -0.5), Robot.drive).withTimeout(1),
+ new RunCommand(() -> Robot.drive.tankDrive(0.5, -0.5), Robot.drive).withTimeout(1),
+ new RunCommand(() -> Robot.drive.tankDrive(-0.5, 0.5), Robot.drive).withTimeout(1)
+ )
+ );
+ }
+}
diff --git a/src/main/java/frc/robot/controls/Operator.java b/src/main/java/frc/robot/controls/Operator.java
new file mode 100644
index 0000000..0da08c5
--- /dev/null
+++ b/src/main/java/frc/robot/controls/Operator.java
@@ -0,0 +1,14 @@
+package frc.robot.controls;
+
+import frc.robot.commands.DoNothing;
+import frc.robot.constants.Constants;
+import lib.controllers.GameController;
+import lib.controllers.GameController.Button;
+
+public class Operator {
+ private static GameController operator = new GameController(Constants.oi.kOperatorJoy);
+
+ public static void configureControls() {
+ operator.get(Button.A).whenPressed(new DoNothing());
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
new file mode 100644
index 0000000..b3646ea
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.Constants;
+import frc.robot.util.MotorFactory;
+
+public class Drivetrain extends SubsystemBase {
+
+ private final WPI_TalonFX m_leftMotor1;
+ private final WPI_TalonFX m_leftMotor2;
+ private final WPI_TalonFX m_rightMotor1;
+ private final WPI_TalonFX m_rightMotor2;
+
+ public Drivetrain() {
+
+ m_leftMotor1 = MotorFactory.createTalonFX(Constants.drive.kLeftMotor1, Constants.kRioCAN);
+ m_leftMotor2 = MotorFactory.createTalonFX(Constants.drive.kLeftMotor2, Constants.kRioCAN);
+ m_rightMotor1 = MotorFactory.createTalonFX(Constants.drive.kRightMotor1, Constants.kRioCAN);
+ m_rightMotor2 = MotorFactory.createTalonFX(Constants.drive.kRightMotor2, Constants.kRioCAN);
+
+ SupplyCurrentLimitConfiguration supplyCurrentLimit = new SupplyCurrentLimitConfiguration(true, 40, 45, 1);
+
+ m_leftMotor1.configSupplyCurrentLimit(supplyCurrentLimit);
+ m_leftMotor2.configSupplyCurrentLimit(supplyCurrentLimit);
+ m_rightMotor1.configSupplyCurrentLimit(supplyCurrentLimit);
+ m_rightMotor2.configSupplyCurrentLimit(supplyCurrentLimit);
+
+ m_leftMotor2.follow(m_leftMotor1);
+ m_rightMotor2.follow(m_rightMotor1);
+ }
+
+ /**
+ * Drives the robot using tank drive controls Tank drive is slightly easier to code but less
+ * intuitive to control, so this is here as an example for now
+ *
+ * @param leftPower the commanded power to the left motors
+ * @param rightPower the commanded power to the right motors
+ */
+ public void tankDrive(double leftPower, double rightPower) {
+ m_leftMotor1.set(ControlMode.PercentOutput, leftPower);
+ m_rightMotor1.set(ControlMode.PercentOutput, rightPower);
+ }
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param forward the commanded forward movement
+ * @param turn the commanded turn rotation
+ */
+ public void arcadeDrive(double throttle, double turn) {
+ m_leftMotor1.set(ControlMode.PercentOutput, throttle + turn);
+ m_rightMotor1.set(ControlMode.PercentOutput, throttle - turn);
+ }
+}
diff --git a/src/main/java/frc/robot/util/Functions.java b/src/main/java/frc/robot/util/Functions.java
new file mode 100644
index 0000000..bd18946
--- /dev/null
+++ b/src/main/java/frc/robot/util/Functions.java
@@ -0,0 +1,50 @@
+package frc.robot.util;
+
+import frc.robot.constants.Constants;
+
+public class Functions {
+
+ /**
+ * Deadbands an input to [-1, -deadband], [deadband, 1], rescaling inputs to be linear from
+ * (deadband, 0) to (1,1)
+ *
+ * @param input The input value to rescale
+ * @param deadband The deadband
+ * @return the input rescaled and to fit [-1, -deadband], [deadband, 1]
+ */
+ public static double deadband(double input, double deadband) {
+ if (Math.abs(input) <= deadband) {
+ return 0;
+ } else if (Math.abs(input) == 1) {
+ return input;
+ } else {
+ return (1 / (1 - deadband) * (input + Math.signum(-input) * deadband));
+ }
+ }
+
+ /**
+ * Deadbands an input to [-1, -Constants.oi.kDeadband], [Constants.oi.kDeadband, 1], rescaling inputs to be linear from
+ * (Constants.oi.kDeadband, 0) to (1,1)
+ *
+ * @param input The input value to rescale
+ * @return the input rescaled and to fit [-1, -kDeadband], [kDeadband, 1]
+ */
+ public static double deadband(double input) {
+ return deadband(input, Constants.oi.kDeadband);
+ }
+
+ /**
+ * An exponential function that maintains positive or negative.
+ * @param exponent the power to raise the base to
+ * @param base the base which will be raised to the power
+ * @return base to the power of exponent, maintaining sign of base
+ */
+ public static double expoMS(double exponent, double base) {
+ // weird stuff will happen if you don't put a number > 0
+ double finVal = Math.pow(Math.abs(base), exponent);
+ if (base < 0) {
+ finVal *= -1;
+ }
+ return finVal;
+ }
+}
diff --git a/src/main/java/frc/robot/util/MotorFactory.java b/src/main/java/frc/robot/util/MotorFactory.java
new file mode 100644
index 0000000..9df88b5
--- /dev/null
+++ b/src/main/java/frc/robot/util/MotorFactory.java
@@ -0,0 +1,201 @@
+package frc.robot.util;
+
+import java.io.IOException;
+
+import java.io.IOError;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
+import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
+import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import frc.robot.constants.Constants;
+
+public class MotorFactory {
+
+ private static int talonSRXDefaultContinuousLimit = 38;
+ private static int kTalonSRXDefaultPeakLimit = 45;
+ private static int kTalonSRXDefaultPeakDuration = 125;
+
+ private static int kSparkMaxDefaultCurrentLimit = 60;
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+ // TALON SRX
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+
+ /**
+ * Create a TalonSRX with current limiting enabled, using parameters. It will
+ * have current
+ * limiting and voltage compensation enabled and be set to Brake Mode.
+ *
+ * @param id the ID of the TalonSRX
+ * @param continuousCurrentLimit the continuous current limit to set in amps (A)
+ * @param peakCurrentLimit the peak current limit to set in amps (A)
+ * @param peakCurrentDuration the peak current limit duration to set in
+ * milliseconds (ms)
+ * @return a fully configured TalonSRX object
+ */
+ public static WPI_TalonSRX createTalonSRX(
+ int id, int continuousCurrentLimit, int peakCurrentLimit, int peakCurrentDuration) {
+
+ TalonSRXConfiguration config = new TalonSRXConfiguration();
+ config.continuousCurrentLimit = continuousCurrentLimit;
+ config.peakCurrentLimit = peakCurrentLimit;
+ config.peakCurrentDuration = peakCurrentDuration;
+ config.voltageCompSaturation = Constants.kMaxVoltage;
+
+ WPI_TalonSRX talon = new WPI_TalonSRX(id);
+ talon.configFactoryDefault();
+ talon.configAllSettings(config);
+ talon.enableCurrentLimit(true);
+ talon.enableVoltageCompensation(true);
+ talon.setNeutralMode(NeutralMode.Brake);
+
+ return talon;
+ }
+
+ /**
+ * Create a TalonSRX using default current limits.
+ *
+ * @param id the ID of the TalonSRX
+ * @return a fully configured TalonSRX object
+ */
+ public static WPI_TalonSRX createTalonSRXDefault(int id) {
+ return createTalonSRX(id, talonSRXDefaultContinuousLimit, kTalonSRXDefaultPeakLimit, kTalonSRXDefaultPeakDuration);
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+ // SPARK MAX
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+
+ /**
+ * Create a CANSparkMax with current limiting enabled
+ *
+ * @param id the ID of the Spark MAX
+ * @param motortype the type of motor the Spark MAX is connected to
+ * @param stallLimit the current limit to set at stall
+ * @return a fully configured CANSparkMAX
+ */
+ public static CANSparkMax createSparkMAX(int id, MotorType motortype, int stallLimit) {
+ CANSparkMax sparkMAX = new CANSparkMax(id, motortype);
+ sparkMAX.restoreFactoryDefaults();
+ sparkMAX.enableVoltageCompensation(Constants.kMaxVoltage);
+ sparkMAX.setSmartCurrentLimit(stallLimit);
+ sparkMAX.setIdleMode(IdleMode.kBrake);
+
+ sparkMAX.burnFlash();
+ return sparkMAX;
+ }
+
+ /**
+ * Create a CANSparkMax with default current limiting enabled
+ *
+ * @param id the ID of the Spark MAX
+ * @param motortype the type of motor the Spark MAX is connected to
+ * @return a fully configured CANSparkMAX
+ */
+ public static CANSparkMax createSparkMAXDefault(int id, MotorType motortype) {
+ return createSparkMAX(id, motortype, kSparkMaxDefaultCurrentLimit);
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+ // TALON FX (Falcon 500)
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+
+ /**
+ *
+ * Creates a TalonFX with all current limit options. If you would like to use
+ * defaults it is recommended to use the other createTalonFX.. methods.
+ *
+ * @param id the id of the the motor
+ * @param CANBus the CAN Bus the motor is on
+ * @param StatorLimitEnable whether or not to enable stator limiting
+ * @param StatorCurrentLimit the current, in amps, to return to after the
+ * stator limit is triggered
+ * @param StatorTriggerThreshold the threshold current to trigger the stator
+ * limit
+ * @param StatorTriggerDuration the duration, in seconds, the current is above
+ * the threshold before triggering
+ * @param SupplyLimitEnable whether or not to enable supply limiting
+ * @param SupplyCurrentLimit the current, in amps, to return to after the
+ * supply limit is triggered
+ * @param SupplyTriggerThreshold the threshold current to trigger the supply
+ * limit
+ * @param SupplyTriggerDuration the duration, in seconds, the current is above
+ * the threshold before triggering
+ * @return A fully configured TalonFX
+ */
+ public static WPI_TalonFX createTalonFXFull(int id, String CANBus, boolean StatorLimitEnable,
+ double StatorCurrentLimit,
+ double StatorTriggerThreshold, double StatorTriggerDuration, boolean SupplyLimitEnable, double SupplyCurrentLimit,
+ double SupplyTriggerThreshold, double SupplyTriggerDuration) {
+
+ if (id == -1) {
+ return null;
+ }
+
+ WPI_TalonFX talon = new WPI_TalonFX(id, CANBus);
+
+ if (talon.getFirmwareVersion() != Constants.falcon.kFirmwareVersion) {
+ String errorMessage = "TalonFX " + id + " firmware incorrect. Has " + talon.getFirmwareVersion()
+ + ", currently FalconConstants.java requires: " + Constants.falcon.kFirmwareVersion;
+ if (Constants.falcon.kBreakOnWrongFirmware) {
+ DriverStation.reportError(errorMessage, true);
+ throw new IOError(new IOException(errorMessage));
+ } else {
+ DriverStation.reportWarning(errorMessage + ", ignoring due to user specification.", false);
+ }
+ }
+
+ TalonFXConfiguration config = new TalonFXConfiguration();
+
+ // See explanations for Supply and Stator limiting in FalconConstants.java
+ config.statorCurrLimit = new StatorCurrentLimitConfiguration(StatorLimitEnable, StatorCurrentLimit,
+ StatorTriggerThreshold, StatorTriggerDuration);
+ config.supplyCurrLimit = new SupplyCurrentLimitConfiguration(SupplyLimitEnable, SupplyCurrentLimit,
+ SupplyTriggerThreshold, SupplyTriggerDuration);
+
+ config.voltageCompSaturation = Constants.kMaxVoltage;
+
+ talon.configFactoryDefault();
+ talon.configAllSettings(config);
+ talon.enableVoltageCompensation(true);
+ talon.setNeutralMode(NeutralMode.Brake);
+ talon.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor);
+
+ return talon;
+ }
+
+ /**
+ * @param id
+ * @param CANBus
+ */
+ public static WPI_TalonFX createTalonFX(int id, String CANBus) {
+ return createTalonFXFull(id, CANBus, Constants.falcon.kStatorLimitEnable, Constants.falcon.kStatorCurrentLimit,
+ Constants.falcon.kStatorTriggerThreshold, Constants.falcon.kStatorTriggerDuration,
+ Constants.falcon.kSupplyLimitEnable, Constants.falcon.kSupplyCurrentLimit,
+ Constants.falcon.kSupplyTriggerThreshold, Constants.falcon.kSupplyTriggerDuration);
+ }
+
+ public static WPI_TalonFX createTalonFXSupplyLimit(int id, String CANBus, double currentLimit,
+ double triggerThreshold, double triggerDuration) {
+ return createTalonFXFull(id, CANBus, Constants.falcon.kStatorLimitEnable, Constants.falcon.kStatorCurrentLimit,
+ Constants.falcon.kStatorTriggerThreshold, Constants.falcon.kStatorTriggerDuration, true, currentLimit,
+ triggerThreshold, triggerDuration);
+ }
+
+ public static WPI_TalonFX createTalonFXStatorLimit(int id, String CANBus, double currentLimit,
+ double triggerThreshold, double triggerDuration) {
+ return createTalonFXFull(id, CANBus, true, currentLimit, triggerThreshold, triggerDuration,
+ Constants.falcon.kSupplyLimitEnable, Constants.falcon.kSupplyCurrentLimit,
+ Constants.falcon.kSupplyTriggerThreshold, Constants.falcon.kSupplyTriggerDuration);
+ }
+}
diff --git a/src/main/java/frc/robot/util/PathGroupLoader.java b/src/main/java/frc/robot/util/PathGroupLoader.java
new file mode 100644
index 0000000..084bd85
--- /dev/null
+++ b/src/main/java/frc/robot/util/PathGroupLoader.java
@@ -0,0 +1,49 @@
+package frc.robot.util;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.HashMap;
+
+import com.pathplanner.lib.PathConstraints;
+import com.pathplanner.lib.PathPlanner;
+import com.pathplanner.lib.PathPlannerTrajectory;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Filesystem;
+import frc.robot.constants.Constants;
+
+public class PathGroupLoader{
+
+ private static HashMap Reimplementation with supports CTRE CAN follower functionality.
+ */
+public class PhoenixMotorControllerGroup implements MotorController, Sendable, AutoCloseable {
+ private final MotorController[] m_motorControllers;
+ private final MotorController m_leadMotorController;
+ private static int instances;
+
+ /**
+ * Create a new PhoenixMotorControllerGroup with the provided MotorControllers.
+ *
+ * @param leadMotorController The lead MotorController to add
+ * @param motorControllers The MotorControllers to add
+ */
+ public PhoenixMotorControllerGroup(
+ MotorController leadMotorController, MotorController... motorControllers) {
+ boolean validArgumentTypes = leadMotorController instanceof BaseMotorController;
+ for (MotorController motorController : motorControllers) {
+ validArgumentTypes = validArgumentTypes && (motorController instanceof BaseMotorController);
+ }
+
+ if (!validArgumentTypes) {
+ throw new IllegalArgumentException(
+ "One or more MotorControllers do not inherit from BaseMotorController, i.e. are not CTRE classes");
+ }
+ m_leadMotorController = leadMotorController;
+ m_motorControllers = Arrays.copyOf(motorControllers, motorControllers.length);
+ init();
+ }
+
+ private void init() {
+ SendableRegistry.addChild(this, m_leadMotorController);
+ for (MotorController controller : m_motorControllers) {
+ SendableRegistry.addChild(this, controller);
+ ((BaseMotorController) controller).follow((BaseMotorController) m_leadMotorController);
+ ((BaseMotorController) controller).setInverted(InvertType.FollowMaster);
+ }
+ instances++;
+ SendableRegistry.addLW(this, "PhoenixMotorControllerGroup", instances);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
+ @Override
+ public void set(double speed) {
+ m_leadMotorController.set(speed);
+ }
+
+ @Override
+ public double get() {
+ return m_leadMotorController.get();
+ }
+
+ @Override
+ public void setInverted(boolean isInverted) {
+ m_leadMotorController.setInverted(isInverted);
+ }
+
+ @Override
+ public boolean getInverted() {
+ return m_leadMotorController.getInverted();
+ }
+
+ @Override
+ public void disable() {
+ m_leadMotorController.disable();
+ for (MotorController motorController : m_motorControllers) {
+ motorController.disable();
+ }
+ }
+
+ @Override
+ public void stopMotor() {
+ m_leadMotorController.stopMotor();
+ for (MotorController motorController : m_motorControllers) {
+ motorController.stopMotor();
+ }
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("Phoenix Motor Controller");
+ builder.setActuator(true);
+ builder.setSafeState(this::stopMotor);
+ builder.addDoubleProperty("Value", this::get, this::set);
+ }
+
+ @Override
+ public void setVoltage(double outputVolts) {
+ m_leadMotorController.setVoltage(outputVolts);
+ for (MotorController motorController : m_motorControllers) {
+ motorController.setVoltage(outputVolts);
+ }
+ }
+}
diff --git a/src/main/java/lib/ctre_shims/TalonEncoder.java b/src/main/java/lib/ctre_shims/TalonEncoder.java
new file mode 100644
index 0000000..1c7de84
--- /dev/null
+++ b/src/main/java/lib/ctre_shims/TalonEncoder.java
@@ -0,0 +1,181 @@
+package lib.ctre_shims;
+
+import com.ctre.phoenix.ParamEnum;
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.can.BaseTalon;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+
+/** A class to read encoder data from CTRE motors, frc::Encoder compatible. */
+public class TalonEncoder implements Sendable, AutoCloseable {
+ private final BaseTalon m_motor;
+ private double m_distancePerPulse = 1;
+
+ public TalonEncoder(BaseTalon motor) {
+ this(motor, false);
+ }
+
+ public TalonEncoder(BaseTalon motor, boolean reverseDirection) {
+ m_motor = motor;
+ setReverseDirection(reverseDirection);
+ SendableRegistry.addLW(this, "Talon Encoder", motor.getDeviceID());
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
+ /**
+ * Gets the current count. Returns the current count on the Encoder. This method compensates for
+ * the decoding type.
+ *
+ * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
+ */
+ public int get() {
+ return (int) m_motor.getSelectedSensorPosition();
+ }
+
+ /** Reset the Encoder distance to zero. Resets the current count to zero on the encoder. */
+ public void reset() {
+ m_motor.setSelectedSensorPosition(0);
+ }
+
+ /**
+ * Returns the period of the most recent pulse. Returns the period of the most recent Encoder
+ * pulse in seconds. This method compensates for the decoding type.
+ *
+ * Warning: This returns unscaled periods. Use getRate() for rates that are scaled using
+ * the value from setDistancePerPulse().
+ *
+ * @return Period in seconds of the most recent pulse.
+ * @deprecated Use getRate() in favor of this method.
+ */
+ @Deprecated
+ public double getPeriod() {
+ // distance / (distance / second) = seconds
+ return m_distancePerPulse / getRate();
+ }
+
+ /**
+ * The last direction the encoder value changed.
+ *
+ * @return The last direction the encoder value changed.
+ */
+ public boolean getDirection() {
+ if (getRate() >= 0) {
+ return true;
+ } else {
+ return false;
+ }
+ }
+
+ /**
+ * Get the distance the robot has driven since the last reset as scaled by the value from {@link
+ * #setDistancePerPulse(double)}.
+ *
+ * @return The distance driven since the last reset
+ */
+ public double getDistance() {
+ return get() * m_distancePerPulse;
+ }
+
+ /**
+ * Get the current rate of the encoder. Units are distance per second as scaled by the value from
+ * setDistancePerPulse().
+ *
+ * @return The current rate of the encoder.
+ */
+ public double getRate() {
+ return m_motor.getSelectedSensorVelocity() * 10 * m_distancePerPulse;
+ }
+
+ /**
+ * Set the distance per pulse for this encoder. This sets the multiplier used to determine the
+ * distance driven based on the count value from the encoder. Do not include the decoding type in
+ * this scale. The library already compensates for the decoding type. Set this value based on the
+ * encoder's rated Pulses per Revolution and factor in gearing reductions following the encoder
+ * shaft. This distance can be in any units you like, linear or angular.
+ *
+ * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
+ */
+ public void setDistancePerPulse(double distancePerPulse) {
+ m_distancePerPulse = distancePerPulse;
+ }
+
+ /**
+ * Get the distance per pulse for this encoder.
+ *
+ * @return The scale factor that will be used to convert pulses to useful units.
+ */
+ public double getDistancePerPulse() {
+ return m_distancePerPulse;
+ }
+
+ /**
+ * Set the direction sensing for this encoder. This sets the direction sensing on the encoder so
+ * that it could count in the correct software direction regardless of the mounting.
+ *
+ * @param reverseDirection true if the encoder direction should be reversed
+ */
+ public void setReverseDirection(boolean reverseDirection) {
+ m_motor.setSensorPhase(reverseDirection);
+ }
+
+ /**
+ * Set the Samples to Average which specifies the number of samples of the timer to average when
+ * calculating the period. Perform averaging to account for mechanical imperfections or as
+ * oversampling to increase resolution.
+ *
+ * Defaults to 64. See also, CTRE's ConfigVelocityMeasurementPeriod().
+ * https://docs.ctre-phoenix.com/en/stable/ch14_MCSensor.html#changing-velocity-measurement-parameters
+ * See also, the note in Measurement-Delays.md in the root of this repository.
+ *
+ * @param samplesToAverage The number of samples to average (one of 1, 2, 4, 8, 16, 32, or 64).
+ */
+ public void setSamplesToAverage(int samplesToAverage) {
+ // (n & (n-1)) checks if it is a power of two. See:
+ // http://
+ // www.graphics.stanford.edu/~seander/bithacks.html#DetermineIfPowerOf2
+ if (samplesToAverage < 1
+ || samplesToAverage > 64
+ || (samplesToAverage & (samplesToAverage - 1)) != 0) {
+ throw new IllegalArgumentException(
+ "Samples to average must be a power of 2 between 1 and 64, got " + samplesToAverage);
+ }
+ m_motor.configVelocityMeasurementWindow(samplesToAverage);
+ }
+
+ /**
+ * Get the Samples to Average which specifies the number of samples of the timer to average when
+ * calculating the period. Perform averaging to account for mechanical imperfections or as
+ * oversampling to increase resolution.
+ *
+ * Defaults to 64. See also, CTRE's ConfigVelocityMeasurementPeriod().
+ * https://docs.ctre-phoenix.com/en/stable/ch14_MCSensor.html#changing-velocity-measurement-parameters
+ * See also, the note in Measurement-Delays.md in the root of this repository.
+ *
+ * @return samplesToAverage The number of samples to average (one of 1, 2, 4, 8, 16, 32, or 64).
+ */
+ public int getSamplesToAverage() {
+ return (int) m_motor.configGetParameter(ParamEnum.eSampleVelocityWindow, 0);
+ }
+
+ public BaseTalon getMotor() {
+ return m_motor;
+ }
+
+ public FeedbackDevice getSelectedFeedbackSensor() {
+ return FeedbackDevice.valueOf(m_motor.configGetParameter(ParamEnum.eFeedbackSensorType, 0));
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType(
+ String.format("Encoder (%s)", getSelectedFeedbackSensor().name()));
+ builder.addDoubleProperty("Speed", this::getRate, null);
+ builder.addDoubleProperty("Distance", this::getDistance, null);
+ builder.addDoubleProperty("Distance per Tick", this::getDistancePerPulse, null);
+ }
+}
diff --git a/src/main/java/lib/ctre_shims/TalonEncoderSim.java b/src/main/java/lib/ctre_shims/TalonEncoderSim.java
new file mode 100644
index 0000000..996c35d
--- /dev/null
+++ b/src/main/java/lib/ctre_shims/TalonEncoderSim.java
@@ -0,0 +1,194 @@
+package lib.ctre_shims;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.TalonFXSimCollection;
+import com.ctre.phoenix.motorcontrol.TalonSRXSimCollection;
+import com.ctre.phoenix.motorcontrol.can.TalonFX;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+
+/** Class to control a simulated encoder. */
+public class TalonEncoderSim {
+ private TalonEncoder m_encoder;
+
+ private TalonSRXSimCollection m_simCollectionSRX = null;
+ private TalonFXSimCollection m_simCollectionFX = null;
+
+ /**
+ * Constructs from an Encoder object.
+ *
+ * @param encoder Encoder to simulate
+ */
+ public TalonEncoderSim(TalonEncoder encoder) {
+ m_encoder = encoder;
+
+ if (m_encoder.getMotor() instanceof TalonSRX) {
+ m_simCollectionSRX = new TalonSRXSimCollection(m_encoder.getMotor());
+ } else if (m_encoder.getMotor() instanceof TalonFX) {
+ m_simCollectionFX = new TalonFXSimCollection(m_encoder.getMotor());
+ } else {
+ throw new IllegalStateException(
+ "Motor type " + m_encoder.getMotor().getClass().getName() + " is unsupported.");
+ }
+ }
+
+ /**
+ * Read the count of the encoder.
+ *
+ * @return the count
+ */
+ public int getCount() {
+ return m_encoder.get();
+ }
+
+ /**
+ * Change the count of the encoder.
+ *
+ * @param count the new count
+ */
+ public void setCount(int count) {
+ if (m_simCollectionSRX != null) {
+ FeedbackDevice selected = m_encoder.getSelectedFeedbackSensor();
+
+ switch (selected) {
+ case QuadEncoder:
+ case CTRE_MagEncoder_Relative:
+ m_simCollectionSRX.setQuadratureRawPosition(count);
+ break;
+
+ case Analog:
+ m_simCollectionSRX.setAnalogPosition(count);
+ break;
+
+ default:
+ throw new IllegalStateException(
+ "Selected feedback sensor is not supported: " + selected.name());
+ }
+ } else if (m_simCollectionFX != null) {
+ m_simCollectionFX.setIntegratedSensorRawPosition(count);
+ } else {
+ // This should have errored already in the constructor.
+ assert false;
+ }
+ }
+
+ /**
+ * Read the period of the encoder.
+ *
+ * @return the encoder period
+ */
+ public double getPeriod() {
+ return m_encoder.getRate();
+ }
+
+ /**
+ * Change the encoder period.
+ *
+ * @param period the new period
+ */
+ public void setPeriod(double period) {
+ // seconds -> distance/second
+ // m_distancePerPulse (distance) / period (seconds) = distance / second
+ setRate(m_encoder.getDistancePerPulse() / period);
+ }
+
+ // These are no-op in WPILib
+ // boolean getReset();
+ // void setReset();
+
+ /**
+ * Get the direction of the encoder.
+ *
+ * @return the direction of the encoder
+ */
+ public boolean getDirection() {
+ return m_encoder.getDirection();
+ }
+
+ /**
+ * Get the samples-to-average value.
+ *
+ * See {@link TalonEncoder#getSamplesToAverage()}.
+ *
+ * @return the samples-to-average value
+ */
+ public int getSamplesToAverage() {
+ return m_encoder.getSamplesToAverage();
+ }
+
+ /**
+ * Set the samples-to-average value.
+ *
+ * See {@link TalonEncoder#setSamplesToAverage()}.
+ *
+ * @param samplesToAverage the new value
+ */
+ public void setSamplesToAverage(int samplesToAverage) {
+ m_encoder.setSamplesToAverage(samplesToAverage);
+ }
+
+ /**
+ * Change the encoder distance.
+ *
+ * @param distance the new distance
+ */
+ public void setDistance(double distance) {
+ setCount((int) (distance / m_encoder.getDistancePerPulse()));
+ }
+
+ /**
+ * Read the distance of the encoder.
+ *
+ * @return the encoder distance
+ */
+ public double getDistance() {
+ return m_encoder.getDistance();
+ }
+
+ /**
+ * Change the rate of the encoder.
+ *
+ * @param rate the new rate
+ */
+ public void setRate(double rate) {
+ int rateInNativeUnits = (int) (rate / (10 * m_encoder.getDistancePerPulse()));
+
+ if (m_simCollectionSRX != null) {
+ FeedbackDevice selected = m_encoder.getSelectedFeedbackSensor();
+
+ switch (selected) {
+ case QuadEncoder:
+ case CTRE_MagEncoder_Relative:
+ m_simCollectionSRX.setQuadratureVelocity(rateInNativeUnits);
+ break;
+
+ case Analog:
+ m_simCollectionSRX.setAnalogVelocity(rateInNativeUnits);
+ break;
+
+ default:
+ throw new IllegalStateException(
+ "Selected feedback sensor is not supported: " + selected.name());
+ }
+ } else if (m_simCollectionFX != null) {
+ m_simCollectionFX.setIntegratedSensorVelocity(rateInNativeUnits);
+ } else {
+ // This should have errored already in the constructor.
+ assert false;
+ }
+ }
+
+ /**
+ * Get the rate of the encoder.
+ *
+ * @return the rate of change
+ */
+ public double getRate() {
+ return m_encoder.getRate();
+ }
+
+ /** Resets all simulation data for this encoder. */
+ public void resetData() {
+ setDistance(0);
+ setRate(0);
+ }
+}
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
new file mode 100644
index 0000000..b0508c9
--- /dev/null
+++ b/vendordeps/PathplannerLib.json
@@ -0,0 +1,35 @@
+{
+ "fileName": "PathplannerLib.json",
+ "name": "PathplannerLib",
+ "version": "2023.0.1",
+ "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+ "mavenUrls": [
+ "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+ ],
+ "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.pathplanner.lib",
+ "artifactId": "PathplannerLib-java",
+ "version": "2023.0.1"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.pathplanner.lib",
+ "artifactId": "PathplannerLib-cpp",
+ "version": "2023.0.1",
+ "libName": "PathplannerLib",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64",
+ "linuxathena"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
new file mode 100644
index 0000000..dd0b3f4
--- /dev/null
+++ b/vendordeps/Phoenix.json
@@ -0,0 +1,257 @@
+{
+ "fileName": "Phoenix.json",
+ "name": "CTRE-Phoenix",
+ "version": "5.21.2",
+ "frcYear": 2022,
+ "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+ "mavenUrls": [
+ "https://maven.ctr-electronics.com/release/"
+ ],
+ "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "api-java",
+ "version": "5.21.2"
+ },
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "wpiapi-java",
+ "version": "5.21.2"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "cci",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "linuxathena"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "cci-sim",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonSRX",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonFX",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simVictorSPX",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simCANCoder",
+ "version": "5.21.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "wpiapi-cpp",
+ "version": "5.21.2",
+ "libName": "CTRE_Phoenix_WPI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "api-cpp",
+ "version": "5.21.2",
+ "libName": "CTRE_Phoenix",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "cci",
+ "version": "5.21.2",
+ "libName": "CTRE_PhoenixCCI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "5.21.2",
+ "libName": "CTRE_Phoenix_WPISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "api-cpp-sim",
+ "version": "5.21.2",
+ "libName": "CTRE_PhoenixSim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "cci-sim",
+ "version": "5.21.2",
+ "libName": "CTRE_PhoenixCCISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonSRX",
+ "version": "5.21.2",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonFX",
+ "version": "5.21.2",
+ "libName": "CTRE_SimTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simVictorSPX",
+ "version": "5.21.2",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "5.21.2",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simCANCoder",
+ "version": "5.21.2",
+ "libName": "CTRE_SimCANCoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
new file mode 100644
index 0000000..997e2a4
--- /dev/null
+++ b/vendordeps/REVLib.json
@@ -0,0 +1,73 @@
+{
+ "fileName": "REVLib.json",
+ "name": "REVLib",
+ "version": "2022.1.1",
+ "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+ "mavenUrls": [
+ "https://maven.revrobotics.com/"
+ ],
+ "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-java",
+ "version": "2022.1.1"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2022.1.1",
+ "skipInvalidPlatforms": true,
+ "isJar": false,
+ "validPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxaarch64bionic",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxraspbian",
+ "osxx86-64"
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-cpp",
+ "version": "2022.1.1",
+ "libName": "REVLib",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxaarch64bionic",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxraspbian",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2022.1.1",
+ "libName": "REVLibDriver",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxaarch64bionic",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxraspbian",
+ "osxx86-64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
new file mode 100644
index 0000000..d7bd9b0
--- /dev/null
+++ b/vendordeps/WPILibNewCommands.json
@@ -0,0 +1,37 @@
+{
+ "fileName": "WPILibNewCommands.json",
+ "name": "WPILib-New-Commands",
+ "version": "2020.0.0",
+ "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+ "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",
+ "linuxraspbian",
+ "linuxaarch64bionic",
+ "windowsx86-64",
+ "windowsx86",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ }
+ ]
+}
diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json
new file mode 100644
index 0000000..1718692
--- /dev/null
+++ b/vendordeps/navx_frc.json
@@ -0,0 +1,35 @@
+{
+ "fileName": "navx_frc.json",
+ "name": "KauaiLabs_navX_FRC",
+ "version": "4.0.447",
+ "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+ "mavenUrls": [
+ "https://repo1.maven.org/maven2/"
+ ],
+ "jsonUrl": "https://www.kauailabs.com/dist/frc/2022/navx_frc.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-java",
+ "version": "4.0.447"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-cpp",
+ "version": "4.0.447",
+ "headerClassifier": "headers",
+ "sourcesClassifier": "sources",
+ "sharedLibrary": false,
+ "libName": "navx_frc",
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena",
+ "linuxraspbian",
+ "windowsx86-64"
+ ]
+ }
+ ]
+}
\ No newline at end of file