From efeb500fd270d30d74c30ba4bdcbd9b2323dfe2d Mon Sep 17 00:00:00 2001 From: Kyle-Eldridge <113394349+Kyle-Eldridge@users.noreply.github.com> Date: Tue, 22 Apr 2025 14:51:58 -0700 Subject: [PATCH 1/1] Initial commit --- .gitattributes | 4 + .github/PULL_REQUEST_TEMPLATE.md | 21 ++ .github/workflows/main.yml | 34 +++ .gitignore | 165 +++++++++++ .vscode/launch.json | 21 ++ .vscode/settings.json | 29 ++ .wpilib/wpilib_preferences.json | 6 + README.md | 6 + WPILib-License.md | 24 ++ build.gradle | 98 +++++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 59536 bytes gradle/wrapper/gradle-wrapper.properties | 5 + gradlew | 234 ++++++++++++++++ gradlew.bat | 89 ++++++ settings.gradle | 27 ++ src/main/deploy/example.txt | 3 + src/main/deploy/pathplanner/New Path.path | 74 +++++ src/main/java/frc/robot/Main.java | 25 ++ src/main/java/frc/robot/Robot.java | 138 ++++++++++ .../java/frc/robot/commands/DoNothing.java | 5 + .../frc/robot/constants/AutoConstants.java | 10 + .../java/frc/robot/constants/Constants.java | 18 ++ .../frc/robot/constants/DriveConstants.java | 9 + .../frc/robot/constants/FalconConstants.java | 36 +++ .../java/frc/robot/constants/OIConstants.java | 9 + src/main/java/frc/robot/controls/Driver.java | 31 +++ .../java/frc/robot/controls/Operator.java | 14 + .../java/frc/robot/subsystems/Drivetrain.java | 64 +++++ src/main/java/frc/robot/util/Functions.java | 50 ++++ .../java/frc/robot/util/MotorFactory.java | 201 ++++++++++++++ .../java/frc/robot/util/PathGroupLoader.java | 49 ++++ .../frc/robot/util/ShuffleboardManager.java | 70 +++++ src/main/java/frc/robot/util/TestType.java | 5 + src/main/java/lib/controllers/Controller.java | 11 + .../lib/controllers/Ex3DProController.java | 55 ++++ .../java/lib/controllers/GameController.java | 112 ++++++++ .../lib/controllers/MadCatzController.java | 82 ++++++ .../lib/controllers/PistolController.java | 57 ++++ .../PhoenixMotorControllerGroup.java | 110 ++++++++ .../java/lib/ctre_shims/TalonEncoder.java | 181 ++++++++++++ .../java/lib/ctre_shims/TalonEncoderSim.java | 194 +++++++++++++ vendordeps/PathplannerLib.json | 35 +++ vendordeps/Phoenix.json | 257 ++++++++++++++++++ vendordeps/REVLib.json | 73 +++++ vendordeps/WPILibNewCommands.json | 37 +++ vendordeps/navx_frc.json | 35 +++ 46 files changed, 2813 insertions(+) create mode 100644 .gitattributes create mode 100644 .github/PULL_REQUEST_TEMPLATE.md create mode 100644 .github/workflows/main.yml create mode 100644 .gitignore 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 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 settings.gradle create mode 100644 src/main/deploy/example.txt create mode 100644 src/main/deploy/pathplanner/New Path.path 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/commands/DoNothing.java create mode 100644 src/main/java/frc/robot/constants/AutoConstants.java create mode 100644 src/main/java/frc/robot/constants/Constants.java create mode 100644 src/main/java/frc/robot/constants/DriveConstants.java create mode 100644 src/main/java/frc/robot/constants/FalconConstants.java create mode 100644 src/main/java/frc/robot/constants/OIConstants.java create mode 100644 src/main/java/frc/robot/controls/Driver.java create mode 100644 src/main/java/frc/robot/controls/Operator.java create mode 100644 src/main/java/frc/robot/subsystems/Drivetrain.java create mode 100644 src/main/java/frc/robot/util/Functions.java create mode 100644 src/main/java/frc/robot/util/MotorFactory.java create mode 100644 src/main/java/frc/robot/util/PathGroupLoader.java create mode 100644 src/main/java/frc/robot/util/ShuffleboardManager.java create mode 100644 src/main/java/frc/robot/util/TestType.java create mode 100644 src/main/java/lib/controllers/Controller.java create mode 100644 src/main/java/lib/controllers/Ex3DProController.java create mode 100644 src/main/java/lib/controllers/GameController.java create mode 100644 src/main/java/lib/controllers/MadCatzController.java create mode 100644 src/main/java/lib/controllers/PistolController.java create mode 100644 src/main/java/lib/ctre_shims/PhoenixMotorControllerGroup.java create mode 100644 src/main/java/lib/ctre_shims/TalonEncoder.java create mode 100644 src/main/java/lib/ctre_shims/TalonEncoderSim.java create mode 100644 vendordeps/PathplannerLib.json create mode 100644 vendordeps/Phoenix.json create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/WPILibNewCommands.json create mode 100644 vendordeps/navx_frc.json diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..d8c3d83 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,4 @@ +*.gradle text eol=lf +*.java text eol=lf +*.md text eol=lf +*.xml text eol=lf diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..92b3c80 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,21 @@ + + +## Overview + +This PR will.. + + +## Design Doc + + + +## Tests Ran + + + +## Additional Notes + diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml new file mode 100644 index 0000000..faa3f6f --- /dev/null +++ b/.github/workflows/main.yml @@ -0,0 +1,34 @@ +# This is a basic workflow to build robot code. credit: WPI + +name: CI + +# Controls when the action will run. Triggers the workflow on push or pull request +# events but only for the main branch. +on: + push: + branches: [ main ] + pull_request: + branches: [ main ] + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + # The type of runner that the job will run on + runs-on: ubuntu-latest + + # This grabs the WPILib docker container + container: wpilib/roborio-cross-ubuntu:2022-18.04 + + # 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@v2 + + # 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/.gitignore b/.gitignore new file mode 100644 index 0000000..8965997 --- /dev/null +++ b/.gitignore @@ -0,0 +1,165 @@ +# 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/ + +# Simulation GUI and other tools window save file +*-window.json + +# File that has git and version data +src/main/java/frc/robot/util/BuildData.java \ No newline at end of file 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..4ed293b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,29 @@ +{ + "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" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..5e8c810 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2022", + "teamNumber": 972 +} \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..b0cddad --- /dev/null +++ b/README.md @@ -0,0 +1,6 @@ +# Code-Structure-2023 + +[![CI](https://github.com/iron-claw-972/Code-Structure-2023/actions/workflows/main.yml/badge.svg)](https://github.com/iron-claw-972/Code-Structure-2023/actions/workflows/main.yml) + + +Code Structure for our future 2023 repository. diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..3d5a824 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2021 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..281129d --- /dev/null +++ b/build.gradle @@ -0,0 +1,98 @@ +import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO + +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2022.4.1" + id "com.peterabeles.gversion" version "1.10" +} + +sourceCompatibility = JavaVersion.VERSION_11 +targetCompatibility = JavaVersion.VERSION_11 + +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 = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 4. +dependencies { + 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() +} + +// 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) } } + 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) + +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot.util" + className = "BuildData" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "PST" + indent = " " +} \ No newline at end of file diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..7454180f2ae8848c63b8b4dea2cb829da983f2fa GIT binary patch literal 59536 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100644 index 0000000..f959987 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,5 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..c53aefa --- /dev/null +++ b/gradlew @@ -0,0 +1,234 @@ +#!/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/master/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 + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit + +APP_NAME="Gradle" +APP_BASE_NAME=${0##*/} + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&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: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$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 + +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# 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..107acd3 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,89 @@ +@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=. +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%" == "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%"=="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! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..c363694 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,27 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2022' + 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 + } + } +} 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/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/New Path.path new file mode 100644 index 0000000..1926665 --- /dev/null +++ b/src/main/deploy/pathplanner/New Path.path @@ -0,0 +1,74 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.0, + "y": 3.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.0, + "y": 3.0 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.334010668021336, + "y": 5.955334987593052 + }, + "prevControl": { + "x": 5.334010668021336, + "y": 4.955334987593052 + }, + "nextControl": { + "x": 5.334010668021336, + "y": 4.955334987593052 + }, + "holonomicAngle": 0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.0, + "y": 3.0 + }, + "prevControl": { + "x": 4.0, + "y": 3.0 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..8776e5d --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,25 @@ +// 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. + */ + 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 that’s being drawn at the input bus voltage. Stator + * current is current that’s 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> pathGroups = new HashMap>(); + + public static void loadPathGroups() { + double totalTime = 0; + File[] directoryListing = Filesystem.getDeployDirectory().toPath().resolve(Constants.auto.kTrajectoryDirectory).toFile().listFiles(); + if (directoryListing != null) { + for (File file : directoryListing) { + if (file.isFile() && file.getName().indexOf(".") != -1) { + long startTime = System.nanoTime(); + String name = file.getName().substring(0, file.getName().indexOf(".")); + pathGroups.put(name, PathPlanner.loadPathGroup(name, new PathConstraints(Constants.auto.kMaxAutoSpeed, Constants.auto.kMaxAutoAccel))); + double time = (System.nanoTime() - startTime) / 1000000.0; + totalTime += time; + System.out.println("Processed file: " + file.getName() + ", took " + time + " milliseconds."); + } + } + } else { + System.out.println("Error processing file"); + DriverStation.reportWarning( + "Issue with finding path files. Paths will not be loaded.", + true + ); + } + System.out.println("File processing took a total of " + totalTime + " milliseconds"); + } + + public static ArrayList getPathGroup(String pathGroupName) { + if (pathGroups.get(pathGroupName) == null) { + System.out.println("Error retrieving " + pathGroupName + " path!"); + } + return pathGroups.get(pathGroupName); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/util/ShuffleboardManager.java b/src/main/java/frc/robot/util/ShuffleboardManager.java new file mode 100644 index 0000000..e8dc64f --- /dev/null +++ b/src/main/java/frc/robot/util/ShuffleboardManager.java @@ -0,0 +1,70 @@ +package frc.robot.util; + +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.livewindow.LiveWindow; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import edu.wpi.first.wpilibj2.command.PrintCommand; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Robot; + +public class ShuffleboardManager { + + SendableChooser m_autoCommand = new SendableChooser<>(); + SendableChooser m_testType = new SendableChooser<>(); + + ShuffleboardTab m_mainTab = Shuffleboard.getTab("Main"); + ShuffleboardTab m_autoTab = Shuffleboard.getTab("Auto"); + ShuffleboardTab m_testTab = Shuffleboard.getTab("Test"); + + NetworkTableEntry m_commandScheduler = m_mainTab.add("Command Scheduler", "NULL").getEntry(); + + public void setup() { + LiveWindow.disableAllTelemetry(); // LiveWindow is causing periodic loop overruns + + autoChooserUpdate(); + + m_autoTab.add("Auto Chooser", m_autoCommand); + m_testTab.add("Run Test", m_testType); + } + + public Command getAutonomousCommand() { + return m_autoCommand.getSelected(); + } + + public void autoChooserUpdate() { + m_autoCommand.addOption("Do Nothing", new PrintCommand("This will do nothing!")); + } + + + public TestType getTestType() { + if (Robot.isTestMode()) { + return m_testType.getSelected(); + } + return TestType.NONE; + } + + public Trigger isTestTypeTrigger(TestType testType) { + return new Trigger(() -> m_testType.getSelected() == testType); + } + + public void testChooserUpdate() { + m_testType.addOption("No Test", TestType.NONE); + } + + public void loadCommandSchedulerShuffleboard() { + CommandScheduler.getInstance() + .onCommandInitialize( + command -> m_commandScheduler.setString(command.getName() + " initialized.")); + CommandScheduler.getInstance() + .onCommandInterrupt( + command -> m_commandScheduler.setString(command.getName() + " interrupted.")); + CommandScheduler.getInstance() + .onCommandFinish(command -> m_commandScheduler.setString(command.getName() + " finished.")); + } +} diff --git a/src/main/java/frc/robot/util/TestType.java b/src/main/java/frc/robot/util/TestType.java new file mode 100644 index 0000000..364ac58 --- /dev/null +++ b/src/main/java/frc/robot/util/TestType.java @@ -0,0 +1,5 @@ +package frc.robot.util; + +public enum TestType { + NONE, TUNE_EXAMPLE_PID, TEST_DRIVE +} diff --git a/src/main/java/lib/controllers/Controller.java b/src/main/java/lib/controllers/Controller.java new file mode 100644 index 0000000..8fba25c --- /dev/null +++ b/src/main/java/lib/controllers/Controller.java @@ -0,0 +1,11 @@ +package lib.controllers; + +import edu.wpi.first.wpilibj.Joystick; + +public class Controller { + protected final Joystick m_controller; + + public Controller(int port) { + this.m_controller = new Joystick(port); + } +} diff --git a/src/main/java/lib/controllers/Ex3DProController.java b/src/main/java/lib/controllers/Ex3DProController.java new file mode 100644 index 0000000..7d09c52 --- /dev/null +++ b/src/main/java/lib/controllers/Ex3DProController.java @@ -0,0 +1,55 @@ +package lib.controllers; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.button.*; + +public class Ex3DProController extends Controller { + public Ex3DProController(int port) { + super(port); + } + + public enum Button { + B1(1), + B2(2), + B3(3), + B4(4), + B6(6), + B7(7), + B8(8), + B9(9), + B10(10), + B11(11), + B12(12); + + public final int id; + + Button(final int id) { + this.id = id; + } + } + + public enum Axis { + X(0), + Y(1), + Z(2), + SLIDER(3); + + public final int id; + + Axis(final int id) { + this.id = id; + } + } + + public JoystickButton get(Button button) { + return new JoystickButton(m_controller, button.id); + } + + public double get(Axis axis) { + return m_controller.getRawAxis(axis.id); + } + + public Joystick get() { + return m_controller; + } +} diff --git a/src/main/java/lib/controllers/GameController.java b/src/main/java/lib/controllers/GameController.java new file mode 100644 index 0000000..01e8119 --- /dev/null +++ b/src/main/java/lib/controllers/GameController.java @@ -0,0 +1,112 @@ +package lib.controllers; + +import edu.wpi.first.wpilibj.GenericHID.RumbleType; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.button.*; +import java.util.function.BooleanSupplier; + +public class GameController extends Controller { + // These are the different controller triggers + public final BooleanSupplier LEFT_TRIGGER_BUTTON = () -> get(Axis.LEFT_TRIGGER) > 0.5, + RIGHT_TRIGGER_BUTTON = () -> get(Axis.RIGHT_TRIGGER) > 0.5; + public final Trigger ALL_UP = get(DPad.UP).or(get(DPad.UP_LEFT)).or(get(DPad.UP_RIGHT)), + ALL_DOWN = get(DPad.DOWN).or(get(DPad.DOWN_LEFT)).or(get(DPad.DOWN_RIGHT)), + ALL_LEFT = get(DPad.LEFT).or(get(DPad.UP_LEFT)).or(get(DPad.DOWN_LEFT)), + ALL_RIGHT = get(DPad.RIGHT).or(get(DPad.UP_RIGHT)).or(get(DPad.DOWN_RIGHT)); + + public GameController(int port) { + super(port); + } + + public enum Button { + A(1), + B(2), + X(3), + Y(4), + LB(5), + RB(6), + BACK(7), + START(8), + LEFT_JOY(9), + RIGHT_JOY(10); + + public final int id; + + Button(final int id) { + this.id = id; + } + } + + public enum Axis { + LEFT_X(0), + LEFT_Y(1), + LEFT_TRIGGER(2), + RIGHT_TRIGGER(3), + RIGHT_X(4), + RIGHT_Y(5); + + public final int id; + + Axis(final int id) { + this.id = id; + } + } + + public enum DPad { + UNPRESSED(-1), + UP(0), + UP_RIGHT(45), + RIGHT(90), + DOWN_RIGHT(135), + DOWN(180), + DOWN_LEFT(235), + LEFT(270), + UP_LEFT(315); + + public final int angle; + + DPad(final int angle) { + this.angle = angle; + } + } + + public enum RumbleStatus { + RUMBLE_ON(0.7), + RUMBLE_OFF(0); + + public final double rumbleValue; + + RumbleStatus(final double rumbleValue) { + this.rumbleValue = rumbleValue; + } + } + + public JoystickButton get(Button button) { + return new JoystickButton(m_controller, button.id); + } + + public double get(Axis axis) { + return m_controller.getRawAxis(axis.id); + } + + public POVButton get(DPad dPad) { + return new POVButton(m_controller, dPad.angle); + } + + public Trigger get(BooleanSupplier condition) { + return new Trigger(condition); + } + + public Trigger get(Trigger trigger) { + return trigger; + } + + public Joystick get() { + return m_controller; + } + + public void setRumble(RumbleStatus rumbleStatus) { + m_controller.setRumble(RumbleType.kLeftRumble, rumbleStatus.rumbleValue); + m_controller.setRumble(RumbleType.kRightRumble, rumbleStatus.rumbleValue); + } +} diff --git a/src/main/java/lib/controllers/MadCatzController.java b/src/main/java/lib/controllers/MadCatzController.java new file mode 100644 index 0000000..0fbd04c --- /dev/null +++ b/src/main/java/lib/controllers/MadCatzController.java @@ -0,0 +1,82 @@ +package lib.controllers; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.button.*; + +public class MadCatzController extends Controller { + public final Trigger + ALL_UP = get(HatSwitch.UP).or(get(HatSwitch.UP_LEFT)).or(get(HatSwitch.UP_RIGHT)), + ALL_DOWN = get(HatSwitch.DOWN).or(get(HatSwitch.DOWN_LEFT)).or(get(HatSwitch.DOWN_RIGHT)), + ALL_LEFT = get(HatSwitch.LEFT).or(get(HatSwitch.UP_LEFT)).or(get(HatSwitch.DOWN_LEFT)), + ALL_RIGHT = get(HatSwitch.RIGHT).or(get(HatSwitch.UP_RIGHT)).or(get(HatSwitch.DOWN_RIGHT)); + + public MadCatzController(int port) { + super(port); + } + + public enum Button { + B1(1), + B2(2), + B3(3), + B4(4), + B6(6), + B7(7); + + public final int id; + + Button(final int id) { + this.id = id; + } + } + + public enum Axis { + X(0), + Y(1), + ZAXIS(2), + ZROTATE(3); + + public final int id; + + Axis(final int id) { + this.id = id; + } + } + + public enum HatSwitch { + UNPRESSED(-1), + UP(0), + UP_RIGHT(45), + RIGHT(90), + DOWN_RIGHT(135), + DOWN(180), + DOWN_LEFT(235), + LEFT(270), + UP_LEFT(315); + + public final int angle; + + HatSwitch(final int angle) { + this.angle = angle; + } + } + + public JoystickButton get(Button button) { + return new JoystickButton(m_controller, button.id); + } + + public double get(Axis axis) { + return m_controller.getRawAxis(axis.id); + } + + public POVButton get(HatSwitch hatSwitch) { + return new POVButton(m_controller, hatSwitch.angle); + } + + public Trigger get(Trigger trigger) { + return trigger; + } + + public Joystick get() { + return m_controller; + } +} diff --git a/src/main/java/lib/controllers/PistolController.java b/src/main/java/lib/controllers/PistolController.java new file mode 100644 index 0000000..0acb6af --- /dev/null +++ b/src/main/java/lib/controllers/PistolController.java @@ -0,0 +1,57 @@ +package lib.controllers; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import edu.wpi.first.wpilibj2.command.button.Trigger; + +public class PistolController extends Controller { + public final Trigger TOP_BACK_ONLY = get(Button.TOP_BACK).and(get(Button.TOP_FRONT).negate()), + TOP_FRONT_ONLY = get(Button.TOP_FRONT).and(get(Button.TOP_BACK).negate()), + BOTTOM_BACK_ONLY = get(Button.BOTTOM_BACK).and(get(Button.BOTTOM_FRONT).negate()), + BOTTOM_FRONT_ONLY = get(Button.BOTTOM_FRONT).and(get(Button.BOTTOM_BACK).negate()); + + public PistolController(int port) { + super(port); + } + + public enum Button { + TOP_BACK(1), + TOP_FRONT(2), + BOTTOM_FRONT(3), + BOTTOM_BACK(4), + BOTTOM(5); + + public final int id; + + Button(final int id) { + this.id = id; + } + } + + public enum Axis { + WHEEL(0), + TRIGGER(1); + + public final int id; + + Axis(final int id) { + this.id = id; + } + } + + public JoystickButton get(Button button) { + return new JoystickButton(m_controller, button.id); + } + + public double get(Axis axis) { + return m_controller.getRawAxis(axis.id); + } + + public Trigger get(Trigger trigger) { + return trigger; + } + + public Joystick get() { + return m_controller; + } +} diff --git a/src/main/java/lib/ctre_shims/PhoenixMotorControllerGroup.java b/src/main/java/lib/ctre_shims/PhoenixMotorControllerGroup.java new file mode 100644 index 0000000..28b6371 --- /dev/null +++ b/src/main/java/lib/ctre_shims/PhoenixMotorControllerGroup.java @@ -0,0 +1,110 @@ +package lib.ctre_shims; + +import com.ctre.phoenix.motorcontrol.InvertType; +import com.ctre.phoenix.motorcontrol.can.BaseMotorController; +import edu.wpi.first.util.sendable.Sendable; +import edu.wpi.first.util.sendable.SendableBuilder; +import edu.wpi.first.util.sendable.SendableRegistry; +import edu.wpi.first.wpilibj.motorcontrol.MotorController; +import java.util.Arrays; + +/** + * Allows multiple {@link MotorController} objects to be linked together. + * + *

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 -- 2.39.5