It is advised to statically import this class (or one of its inner classes) wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + public static final class DriveConstants { + public static final int DRIVE_LEFT_FRONT_CAN_ID = 2; + public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4; + public static final int DRIVE_LEFT_BACK_CAN_ID = 3; + public static final int DRIVE_RIGHT_BACK_CAN_ID = 5; + + public static final int DRIVE_PIGEON_ID = 6; + + public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; + } + + public static final class LEDConstants { + public static final int LED_SPARK_ID = 0; + + public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; + } + + public static final class OIConstants { + public static final int XBOX_DRIVER_ID = 0; + public static final int XBOX_OPERATOR_ID = 1; + } +} diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java new file mode 100644 index 0000000..ad2d494 --- /dev/null +++ b/src/main/java/frc4388/robot/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 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 frc4388.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/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java new file mode 100644 index 0000000..e145b38 --- /dev/null +++ b/src/main/java/frc4388/robot/Robot.java @@ -0,0 +1,125 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 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 frc4388.robot; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc4388.utility.RobotTime; + +/** + * 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 { + Command m_autonomousCommand; + + private RobotTime m_robotTime = RobotTime.getInstance(); + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be + * used for any initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * 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() { + m_robotTime.updateTimes(); + // 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. + * You can use it to reset any subsystem information you want to clear when + * the robot is disabled. + */ + @Override + public void disabledInit() { + m_robotTime.endMatchTime(); + } + + @Override + public void disabledPeriodic() { + } + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + /* + * String autoSelected = SmartDashboard.getString("Auto Selector", + * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand + * = new MyAutoCommand(); break; case "Default Auto": default: + * autonomousCommand = new ExampleCommand(); break; } + */ + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + m_robotTime.startMatchTime(); + } + + /** + * 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_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + m_robotTime.startMatchTime(); + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() { + } +} diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java new file mode 100644 index 0000000..b7542bc --- /dev/null +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -0,0 +1,114 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.robot; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import frc4388.robot.Constants.*; +import frc4388.robot.subsystems.Drive; +import frc4388.robot.subsystems.LED; +import frc4388.utility.LEDPatterns; +import frc4388.utility.controller.IHandController; +import frc4388.utility.controller.XboxController; + +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a "declarative" paradigm, very little robot logic should + * actually be handled in the {@link Robot} periodic methods (other than the + * scheduler calls). Instead, the structure of the robot (including subsystems, + * commands, and button mappings) should be declared here. + */ +public class RobotContainer { + /* RobotMap */ + private final RobotMap m_robotMap = new RobotMap(); + + /* Subsystems */ + private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor, + m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive); + + private final LED m_robotLED = new LED(m_robotMap.LEDController); + + /* Controllers */ + private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); + private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + configureButtonBindings(); + + /* Default Commands */ + // drives the robot with a two-axis input from the driver controller + m_robotDrive.setDefaultCommand( + new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(), + getDriverController().getRightXAxis()), m_robotDrive)); + // continually sends updates to the Blinkin LED controller to keep the lights on + m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); + } + + /** + * Use this method to define your button->command mappings. Buttons can be + * created by instantiating a {@link GenericHID} or one of its subclasses + * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then + * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configureButtonBindings() { + /* Driver Buttons */ + // test command to spin the robot while pressing A on the driver controller + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whileHeld(() -> m_robotDrive.driveWithInput(0, 1)); + + /* Operator Buttons */ + // activates "Lit Mode" + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // no auto + return new InstantCommand(); + } + + /** + * Add your docs here. + */ + public IHandController getDriverController() { + return m_driverXbox; + } + + /** + * Add your docs here. + */ + public IHandController getOperatorController() { + return m_operatorXbox; + } + + /** + * Add your docs here. + */ + public Joystick getOperatorJoystick() { + return m_operatorXbox.getJoyStick(); + } + + /** + * Add your docs here. + */ + public Joystick getDriverJoystick() { + return m_driverXbox.getJoyStick(); + } +} diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java new file mode 100644 index 0000000..3456b71 --- /dev/null +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -0,0 +1,71 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.robot; + +import com.ctre.phoenix.motorcontrol.InvertType; +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import com.ctre.phoenix.sensors.PigeonIMU; + +import edu.wpi.first.wpilibj.Spark; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import frc4388.robot.Constants.DriveConstants; +import frc4388.robot.Constants.LEDConstants; +import frc4388.utility.RobotGyro; + +/** + * Defines and holds all I/O objects on the Roborio. This is useful for unit + * testing and modularization. + */ +public class RobotMap { + + public RobotMap() { + configureLEDMotorControllers(); + configureDriveMotorControllers(); + } + + /* LED Subsystem */ + public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); + + void configureLEDMotorControllers() { + + } + + /* Drive Subsystem */ + public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID); + public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID); + public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID); + public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID); + public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor); + public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID)); + + void configureDriveMotorControllers() { + + /* factory default values */ + leftFrontMotor.configFactoryDefault(); + rightFrontMotor.configFactoryDefault(); + leftBackMotor.configFactoryDefault(); + rightBackMotor.configFactoryDefault(); + + /* set back motors as followers */ + leftBackMotor.follow(leftFrontMotor); + rightBackMotor.follow(rightFrontMotor); + + /* set neutral mode */ + leftFrontMotor.setNeutralMode(NeutralMode.Brake); + rightFrontMotor.setNeutralMode(NeutralMode.Brake); + leftFrontMotor.setNeutralMode(NeutralMode.Brake); + rightFrontMotor.setNeutralMode(NeutralMode.Brake); + + /* flip input so forward becomes back, etc */ + leftFrontMotor.setInverted(false); + rightFrontMotor.setInverted(false); + leftBackMotor.setInverted(InvertType.FollowMaster); + rightBackMotor.setInverted(InvertType.FollowMaster); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java new file mode 100644 index 0000000..9bbdee7 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -0,0 +1,85 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 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 frc4388.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; + +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import frc4388.robot.Constants.DriveConstants; +import frc4388.utility.RobotGyro; +import frc4388.utility.RobotTime; + +/** + * Add your docs here. + */ +public class Drive extends SubsystemBase { + // Put methods for controlling this subsystem + // here. Call these from Commands. + + private RobotTime m_robotTime = RobotTime.getInstance(); + + private WPI_TalonFX m_leftFrontMotor; + private WPI_TalonFX m_rightFrontMotor; + private WPI_TalonFX m_leftBackMotor; + private WPI_TalonFX m_rightBackMotor; + private DifferentialDrive m_driveTrain; + private RobotGyro m_gyro; + + /** + * Add your docs here. + */ + public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor, + WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) { + + m_leftFrontMotor = leftFrontMotor; + m_rightFrontMotor = rightFrontMotor; + m_leftBackMotor = leftBackMotor; + m_rightBackMotor = rightBackMotor; + m_driveTrain = driveTrain; + m_gyro = gyro; + } + + @Override + public void periodic() { + m_gyro.updatePigeonDeltas(); + + if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) { + updateSmartDashboard(); + } + } + + /** + * Add your docs here. + */ + public void driveWithInput(double move, double steer) { + m_driveTrain.arcadeDrive(move, steer); + } + + /** + * Add your docs here. + */ + public void tankDriveWithInput(double leftMove, double rightMove) { + m_leftFrontMotor.set(leftMove); + m_rightFrontMotor.set(rightMove); + } + + /** + * Add your docs here. + */ + private void updateSmartDashboard() { + + // Examples of the functionality of RobotGyro + SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon); + SmartDashboard.putNumber("Turn Rate", m_gyro.getRate()); + SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch()); + SmartDashboard.putData(m_gyro); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java new file mode 100644 index 0000000..57c7b58 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -0,0 +1,63 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 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 frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj.Spark; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import frc4388.robot.Constants.LEDConstants; +import frc4388.utility.LEDPatterns; + +/** + * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED + * Driver + */ +public class LED extends SubsystemBase { + + private LEDPatterns m_currentPattern; + private Spark m_LEDController; + + /** + * Add your docs here. + */ + public LED(Spark LEDController){ + m_LEDController = LEDController; + setPattern(LEDConstants.DEFAULT_PATTERN); + updateLED(); + System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); + } + + @Override + public void periodic(){ + SmartDashboard.putNumber("LED", m_currentPattern.getValue()); + } + + /** + * Add your docs here. + */ + public void updateLED(){ + m_LEDController.set(m_currentPattern.getValue()); + } + + /** + * Add your docs here. + */ + public void setPattern(LEDPatterns pattern){ + m_currentPattern = pattern; + m_LEDController.set(m_currentPattern.getValue()); + } + + /** + * Add your docs here. + * @return + */ + public LEDPatterns getPattern() { + return m_currentPattern; + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/LEDPatterns.java b/src/main/java/frc4388/utility/LEDPatterns.java new file mode 100644 index 0000000..6df032c --- /dev/null +++ b/src/main/java/frc4388/utility/LEDPatterns.java @@ -0,0 +1,45 @@ +package frc4388.utility; + +/** + * Add your docs here. + */ +public enum LEDPatterns { + /* PALLETTE PATTERNS */ + RAINBOW_RAINBOW(-0.99f), PARTY_RAINBOW(-0.97f), OCEAN_RAINBOW(-0.95f), LAVA_RAINBOW(-0.93f), FOREST_RAINBOW(-0.91f), + RAINBOW_GLITTER(-0.89f), CONFETTI(-0.87f), RED_SHOT(-0.85f), BLUE_SHOT(-0.83f), WHITE_SHOT(-0.81f), RAINBOW_SINELON(-0.79f), + PARTY_SINELON(-0.77f), OCEAN_SINELON(-0.75f), LAVA_SINELON(-0.73f), FOREST_SINELON(-0.71f), RAINBOW_BPM(-0.69f), + PARTY_BPM(-0.67f), OCEAN_BPM(-0.65f), LAVA_BPM(-0.63f), FOREST_BPM(-0.61f), FIRE_MEDIUM(-0.59f), FIRE_LARGE(-0.57f), + RAINBOW_TWINKLES(-0.55f), PARTY_TWINKLES(-0.53f), OCEAN_TWINKLES(-0.51f), LAVA_TWINKLES(-0.49f), FOREST_TWINKLES(-0.47f), + RAINBOW_WAVES(-0.45f), PARTY_WAVES(-0.43f), OCEAN_WAVES(-0.41f), LAVA_WAVES(-0.39f), FOREST_WAVES(-0.37f), + RED_SCANNER(-0.35f), GRAY_SCANNER(-0.33f), RED_CHASE(-0.31f), BLUE_CHASE(-0.29f), GRAY_CHASE(-0.27f), RED_HEARTBEAT(-0.25f), + BLUE_HEARTBEAT(-0.23f), WHITE_HEARTBEAT(-0.21f), GRAY_HEARBEAT(-0.19f), RED_BREATH(-0.17f), BLUE_BREATH(-0.15f), + GRAY_BREATH(-0.13f), RED_STROBE(-0.11f), BLUE_STROBE(-0.09f), GOLD_STROBE(-0.07f), WHITE_STROBE(-0.05f), + + /* COLOR 1 PATTERNS */ + C1_END_TO_END(-0.03f), C1_SCANNER(-0.01f), C1_CHASE(0.01f), C1_HEARTBEAT_SLOW(0.03f), C1_HEARTBEAT_MEDIUM(0.05f), + C1_HEARTBEAT_FAST(0.07f), C1_BREATH_SLOW(0.09f), C1_BREATH_FAST(0.11f), C1_SHOT(0.13f), C1_STROBE(0.15f), + + /* COLOR 2 PATTERNS */ + C2_END_TO_END(0.17f), C2_SCANNER(0.19f), C2_CHASE(0.21f), C2_HEARTBEAT_SLOW(0.23f), C2_HEARTBEAT_MEDIUM(0.25f), + C2_HEARTBEAT_FAST(0.27f), C2_BREATH_SLOW(0.29f), C2_BREATH_FAST(0.31f), C2_SHOT(0.33f), C2_STROBE(0.35f), + + /* COLOR 1 AND 2 PATTERNS */ + C1C2_SPARKLE(0.37f), C2C1_SPARKLE(0.39f), C1C2_GRADIENT(0.41f), C1C2_BPM(0.43f), C1C2_BLEND(0.45f), C1C2_TWINKLES(0.51f), + C1C2_WAVES(0.53f), C1C2_SINELON(0.55f), + + /* SOLID COLORS */ + SOLID_PINK_HOT(0.57f), SOLID_RED_DARK(0.59f), SOLID_RED(0.61f), SOLID_RED_ORANGE(0.63f), SOLID_ORANGE(0.65f), + SOLID_GOLD(0.67f), SOLID_YELLOW(0.69f), SOLID_GREEN_LAWN(0.71f), SOLID_GREEN_LIME(0.73f), SOLID_GREEN_DARK(0.75f), + SOLID_GREEN(0.77f), SOLID_BLUE_GREEN(0.79f), SOLID_BLUE_AQUA(0.81f), SOLID_BLUE_SKY(0.83f), SOLID_BLUE_DARK(0.85f), + SOLID_BLUE(0.87f), SOLID_BLUE_VIOLET(0.89f), SOLID_VIOLET(0.91f), SOLID_WHITE(0.93f), SOLID_GRAY(0.95f), + SOLID_GRAY_DARK(0.97f), SOLID_BLACK(0.99f); + + /* GETTERS/SETTERS */ + private final float id; + LEDPatterns(float id) { + this.id = id; + } + public float getValue() { + return id; + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java new file mode 100644 index 0000000..a42e8c8 --- /dev/null +++ b/src/main/java/frc4388/utility/RobotGyro.java @@ -0,0 +1,180 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.utility; + +import com.ctre.phoenix.sensors.PigeonIMU; +import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode; +import com.kauailabs.navx.frc.AHRS; + +import edu.wpi.first.wpilibj.GyroBase; +import edu.wpi.first.wpiutil.math.MathUtil; + +/** + * Gyro class that allows for interchangeable use between a pigeon and a navX + */ +public class RobotGyro extends GyroBase { + private RobotTime m_robotTime = RobotTime.getInstance(); + + private PigeonIMU m_pigeon = null; + private AHRS m_navX = null; + public boolean m_isGyroAPigeon; //true if pigeon, false if navX + + private double m_lastPigeonAngle; + private double m_deltaPigeonAngle; + + /** + * Creates a Gyro based on a pigeon + * @param gyro the gyroscope to use for Gyro + */ + public RobotGyro(PigeonIMU gyro) { + m_pigeon = gyro; + m_isGyroAPigeon = true; + } + + /** + * Creates a Gyro based on a navX + * @param gyro the gyroscope to use for Gyro + */ + public RobotGyro(AHRS gyro){ + m_navX = gyro; + m_isGyroAPigeon = false; + } + + /** + * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note + * that the getRate() method for a navX will likely be much more accurate than for a pigeon. + */ + public void updatePigeonDeltas() { + double currentPigeonAngle = getAngle(); + m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle; + m_lastPigeonAngle = currentPigeonAngle; + } + + /** + *
NavX: + *
Calibrate the gyro by running for a number of samples and computing the center value. Then use + * the center value as the Accumulator center value for subsequent measurements. It's important to + * make sure that the robot is not moving while the centering calculations are in progress, this + * is typically done when the robot is first turned on while it's sitting at rest before the + * competition starts. + * + *
Pigeon: + *
Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot + * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon + * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to + * make sure that the robot is not moving while the tempurature calculations are in progress, this + * is typically done when the robot is first turned on while it's sitting at rest before the + * competition starts. + */ + @Override + public void calibrate() { + if (m_isGyroAPigeon) { + m_pigeon.enterCalibrationMode(CalibrationMode.Temperature); + } else { + m_navX.calibrate(); + } + } + + @Override + public void reset() { + if (m_isGyroAPigeon) { + m_pigeon.setYaw(0); + } else { + m_navX.reset(); + } + } + + /** + * Get Yaw, Pitch, and Roll data. + * + * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data. + * Yaw is within [-368,640, +368,640] degrees. + * Pitch is within [-90,+90] degrees. + * Roll is within [-90,+90] degrees. + */ + private double[] getPigeonAngles() { + double[] angles = new double[3]; + m_pigeon.getYawPitchRoll(angles); + return angles; + } + + @Override + public double getAngle() { + if (m_isGyroAPigeon) { + return getPigeonAngles()[0]; + } else { + return m_navX.getAngle(); + } + } + + /** + * Gets an absolute heading of the robot + * @return heading from -180 to 180 degrees + */ + public double getHeading() { + return getHeading(getAngle()); + } + + /** + * Gets an absolute heading of the robot + * @return heading from -180 to 180 degrees + */ + public double getHeading(double angle) { + return Math.IEEEremainder(angle, 360); + } + + /** + * Returns the current pitch value (in degrees, from -90 to 90) + * reported by the sensor. Pitch is a measure of rotation around + * the Y Axis. + * @return The current pitch value in degrees (-90 to 90). + */ + public double getPitch() { + if (m_isGyroAPigeon) { + return MathUtil.clamp(getPigeonAngles()[1], -90, 90); + } else { + return MathUtil.clamp(m_navX.getPitch(), -90, 90); + } + } + + /** + * Returns the current roll value (in degrees, from -90 to 90) + * reported by the sensor. Roll is a measure of rotation around + * the X Axis. + * @return The current roll value in degrees (-90 to 90). + */ + public double getRoll() { + if (m_isGyroAPigeon) { + return MathUtil.clamp(getPigeonAngles()[2], -90, 90); + } else { + return MathUtil.clamp(m_navX.getRoll(), -90, 90); + } + } + + @Override + public double getRate() { + if (m_isGyroAPigeon) { + return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000; + } else { + return m_navX.getRate(); + } + } + + public PigeonIMU getPigeon(){ + return m_pigeon; + } + + public AHRS getNavX(){ + return m_navX; + } + + @Override + public void close() throws Exception { + + } +} diff --git a/src/main/java/frc4388/utility/RobotTime.java b/src/main/java/frc4388/utility/RobotTime.java new file mode 100644 index 0000000..694f850 --- /dev/null +++ b/src/main/java/frc4388/utility/RobotTime.java @@ -0,0 +1,79 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.utility; + +/** + *
Keeps track of Robot times like time passed, delta time, etc + *
All times are in milliseconds + */ +public class RobotTime { + private long m_currTime = System.currentTimeMillis(); + public long m_deltaTime = 0; + + private long m_startRobotTime = m_currTime; + public long m_robotTime = 0; + public long m_lastRobotTime = 0; + + private long m_startMatchTime = 0; + public long m_matchTime = 0; + public long m_lastMatchTime = 0; + + public long m_frameNumber = 0; + + /** + * Private constructor prevents other classes from instantiating + */ + private RobotTime(){} + + private static RobotTime instance = null; + + /** + * Gets the instance of Robot Time. If there is no instance running one will be created. + * @return instance of Robot Time + */ + public static RobotTime getInstance() { + if (instance == null) { + instance = new RobotTime(); + } + return instance; + } + + /** + * Call this once per periodic loop. + */ + public void updateTimes() { + m_lastRobotTime = m_robotTime; + m_lastMatchTime = m_matchTime; + + m_currTime = System.currentTimeMillis(); + m_robotTime = m_currTime - m_startRobotTime; + m_deltaTime = m_robotTime - m_lastRobotTime; + m_frameNumber++; + + if (m_startMatchTime != 0) { + m_matchTime = m_currTime - m_startMatchTime; + } + } + + /** + * Call this in both the auto and periodic inits + */ + public void startMatchTime() { + if (m_startMatchTime == 0) { + m_startMatchTime = m_currTime; + } + } + + /** + * Call this in disabled init + */ + public void endMatchTime() { + m_startMatchTime = 0; + m_matchTime = 0; + } +} diff --git a/src/main/java/frc4388/utility/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java new file mode 100644 index 0000000..13aa763 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/IHandController.java @@ -0,0 +1,21 @@ +package frc4388.utility.controller; + +/** + * Add your docs here. + */ +public interface IHandController { + + public double getLeftXAxis(); + + public double getLeftYAxis(); + + public double getRightXAxis(); + + public double getRightYAxis(); + + public double getLeftTriggerAxis(); + + public double getRightTriggerAxis(); + + public int getDpadAngle(); +} diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java new file mode 100644 index 0000000..8b8f0f8 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -0,0 +1,218 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj.Joystick; + +/** + * This is a wrapper for the WPILib Joystick class that represents an XBox + * controller. + * @author frc1675 + */ +public class XboxController implements IHandController +{ + public static final int LEFT_X_AXIS = 0; + public static final int LEFT_Y_AXIS = 1; + public static final int LEFT_TRIGGER_AXIS = 2; + public static final int RIGHT_TRIGGER_AXIS = 3; + public static final int RIGHT_X_AXIS = 4; + public static final int RIGHT_Y_AXIS = 5; + public static final int LEFT_RIGHT_DPAD_AXIS = 6; + public static final int TOP_BOTTOM_DPAD_AXIS = 6; + + public static final int A_BUTTON = 1; + public static final int B_BUTTON = 2; + public static final int X_BUTTON = 3; + public static final int Y_BUTTON = 4; + public static final int LEFT_BUMPER_BUTTON = 5; + public static final int RIGHT_BUMPER_BUTTON = 6; + public static final int BACK_BUTTON = 7; + public static final int START_BUTTON = 8; + + public static final int LEFT_JOYSTICK_BUTTON = 9; + public static final int RIGHT_JOYSTICK_BUTTON = 10; + + private static final double LEFT_DPAD_TOLERANCE = -0.9; + private static final double RIGHT_DPAD_TOLERANCE = 0.9; + private static final double BOTTOM_DPAD_TOLERANCE = -0.9; + private static final double TOP_DPAD_TOLERANCE = 0.9; + + private static final double LEFT_TRIGGER_TOLERANCE = 0.5; + private static final double RIGHT_TRIGGER_TOLERANCE = 0.5; + + private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9; + private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9; + private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9; + private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9; + + private static final double LEFT_AXIS_UP_TOLERANCE = -0.9; + private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9; + private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9; + private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9; + + private static final double DEADZONE = 0.1; + + private Joystick m_stick; + + /** + * Add your docs here. + */ + public XboxController(int portNumber){ + m_stick = new Joystick(portNumber); + } + + /** + * Add your docs here. + */ + public Joystick getJoyStick() { + return m_stick; + } + + /** + * Checks if the input falls within the deadzone. + * @param input from an axis on the controller + * @return true if input falls in deadzone, false if input falls outside deadzone + */ + private boolean inDeadZone(double input){ + return (Math.abs(input) < DEADZONE); + } + + /** + * Updates an input to have a deadzone around the 0 position + * @param input from an axis on the controller + * @return updated input + */ + private double getAxisWithDeadZoneCheck(double input){ + if(inDeadZone(input)){ + return 0.0; + } else { + return input; + } + } + + public boolean getAButton(){ + return m_stick.getRawButton(A_BUTTON); + } + + public boolean getXButton(){ + return m_stick.getRawButton(X_BUTTON); + } + + public boolean getBButton(){ + return m_stick.getRawButton(B_BUTTON); + } + + public boolean getYButton(){ + return m_stick.getRawButton(Y_BUTTON); + } + + public boolean getBackButton(){ + return m_stick.getRawButton(BACK_BUTTON); + } + + public boolean getStartButton(){ + return m_stick.getRawButton(START_BUTTON); + } + + public boolean getLeftBumperButton(){ + return m_stick.getRawButton(LEFT_BUMPER_BUTTON); + } + + public boolean getRightBumperButton(){ + return m_stick.getRawButton(RIGHT_BUMPER_BUTTON); + } + + public boolean getLeftJoystickButton(){ + return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON); + } + + public boolean getRightJoystickButton(){ + return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON); + } + + public double getLeftXAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS)); + } + + public double getLeftYAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS)); + } + + public double getRightXAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS)); + } + + public double getRightYAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS)); + } + + public double getLeftTriggerAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS)); + } + + public double getRightTriggerAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS)); + } + + /** + * Get the angle input from the dpad. + * @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc. + */ + public int getDpadAngle() { + return m_stick.getPOV(0); + } + + public boolean getDPadLeft(){ + return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE); + } + + public boolean getDPadRight(){ + return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE); + } + + public boolean getDPadTop(){ + return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE); + } + + public boolean getDPadBottom(){ + return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE); + } + + public boolean getLeftTrigger(){ + return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE); + } + + public boolean getRightTrigger(){ + return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE); + } + + public boolean getRightAxisUpTrigger(){ + return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE); + } + + public boolean getRightAxisDownTrigger(){ + return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE); + } + + public boolean getRightAxisLeftTrigger(){ + return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE); + } + + public boolean getRightAxisRightTrigger(){ + return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE); + } + + public boolean getLeftAxisUpTrigger(){ + return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE); + } + + public boolean getLeftAxisDownTrigger(){ + return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE); + } + + public boolean getLeftAxisLeftTrigger(){ + return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE); + } + + public boolean getLeftAxisRightTrigger(){ + return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE); + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java new file mode 100644 index 0000000..26372c2 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java @@ -0,0 +1,69 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj2.command.button.Button; +import frc4388.utility.controller.XboxController; + +/** + * Mapping for the Xbox controller triggers to allow triggers to be defined as + * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger + * exceeds a tolerance defined in {@link XboxController}. + */ +public class XboxTriggerButton extends Button { + public static final int RIGHT_TRIGGER = 0; + public static final int LEFT_TRIGGER = 1; + public static final int RIGHT_AXIS_UP_TRIGGER = 2; + public static final int RIGHT_AXIS_DOWN_TRIGGER = 3; + public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4; + public static final int RIGHT_AXIS_LEFT_TRIGGER = 5; + public static final int LEFT_AXIS_UP_TRIGGER = 6; + public static final int LEFT_AXIS_DOWN_TRIGGER = 7; + public static final int LEFT_AXIS_RIGHT_TRIGGER = 8; + public static final int LEFT_AXIS_LEFT_TRIGGER = 9; + + private XboxController m_controller; + private int m_trigger; + + /** + * Creates a Trigger-Button mapped to a specific Xbox controller and trigger + */ + public XboxTriggerButton(XboxController controller, int trigger) { + m_controller = controller; + m_trigger = trigger; + } + + /** {@inheritDoc} */ + @Override + public boolean get() { + if (m_trigger == RIGHT_TRIGGER) { + return m_controller.getRightTrigger(); + } + else if (m_trigger == LEFT_TRIGGER) { + return m_controller.getLeftTrigger(); + } + else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) { + return m_controller.getRightAxisUpTrigger(); + } + else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) { + return m_controller.getRightAxisDownTrigger(); + } + else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) { + return m_controller.getRightAxisRightTrigger(); + } + else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) { + return m_controller.getRightAxisLeftTrigger(); + } + else if (m_trigger == LEFT_AXIS_UP_TRIGGER) { + return m_controller.getLeftAxisUpTrigger(); + } + else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) { + return m_controller.getLeftAxisDownTrigger(); + } + else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) { + return m_controller.getLeftAxisRightTrigger(); + } + else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) { + return m_controller.getLeftAxisLeftTrigger(); + } + return false; + } +} diff --git a/src/test/java/frc4388/mocks/MockPigeonIMU.java b/src/test/java/frc4388/mocks/MockPigeonIMU.java new file mode 100644 index 0000000..ecddde7 --- /dev/null +++ b/src/test/java/frc4388/mocks/MockPigeonIMU.java @@ -0,0 +1,54 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.mocks; + +import com.ctre.phoenix.ErrorCode; +import com.ctre.phoenix.sensors.PigeonIMU; + +/** + * Add your docs here. + */ +public class MockPigeonIMU extends PigeonIMU { + public int m_deviceNumber; + public double currentYaw; + public double currentPitch; + public double currentRoll; + + public MockPigeonIMU(int deviceNumber) { + super(deviceNumber); + m_deviceNumber = deviceNumber; + } + + @Override + public ErrorCode setYaw(double angleDeg) { + currentYaw = angleDeg; + return ErrorCode.OK; + } + + /** + * @param currentPitch the Pitch to set + */ + public void setCurrentPitch(double currentPitch) { + this.currentPitch = currentPitch; + } + + /** + * @param currentRoll the Roll to set + */ + public void setCurrentRoll(double currentRoll) { + this.currentRoll = currentRoll; + } + + @Override + public ErrorCode getYawPitchRoll(double[] ypr_deg) { + ypr_deg[0] = currentYaw; + ypr_deg[1] = currentPitch; + ypr_deg[2] = currentRoll; + return ErrorCode.OK; + } +} diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java new file mode 100644 index 0000000..8fcbf53 --- /dev/null +++ b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java @@ -0,0 +1,59 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.robot.subsystems; + +import static org.junit.Assert.assertEquals; +import static org.mockito.Mockito.mock; + +import org.junit.Test; + +import edu.wpi.first.wpilibj.*; +import frc4388.robot.Constants.LEDConstants; +import frc4388.utility.LEDPatterns; + +/** + * Add your docs here. + */ +public class LEDSubsystemTest { + @Test + public void testConstructor() { + // Arrange + Spark ledController = mock(Spark.class); + + // Act + LED led = new LED(ledController); + + // Assert + assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001); + } + + @Test + public void testPatterns() { + // Arrange + Spark ledController = mock(Spark.class); + LED led = new LED(ledController); + + // Act + led.setPattern(LEDPatterns.RAINBOW_RAINBOW); + + // Assert + assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001); + + // Act + led.setPattern(LEDPatterns.BLUE_BREATH); + + // Assert + assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001); + + // Act + led.setPattern(LEDPatterns.SOLID_BLACK); + + // Assert + assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001); + } +} diff --git a/src/test/java/frc4388/utility/RobotGyroUtilityTest.java b/src/test/java/frc4388/utility/RobotGyroUtilityTest.java new file mode 100644 index 0000000..8c0b1e5 --- /dev/null +++ b/src/test/java/frc4388/utility/RobotGyroUtilityTest.java @@ -0,0 +1,184 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.utility; + +import static org.junit.Assert.*; +import static org.mockito.Mockito.*; + +import com.kauailabs.navx.frc.AHRS; + +import org.junit.*; + +import frc4388.mocks.MockPigeonIMU; +import frc4388.robot.Constants.DriveConstants; + +/** + * Add your docs here. + */ +public class RobotGyroUtilityTest { + // TODO UNTESTED: most functions for NavX + + private RobotGyro gyroPigeon; + private RobotGyro gyroNavX; + + @Test + public void testConstructor() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + AHRS navX = mock(AHRS.class); + gyroPigeon = new RobotGyro(pigeon); + gyroNavX = new RobotGyro(navX); + + // Assert + assertEquals(true, gyroPigeon.m_isGyroAPigeon); + assertEquals(pigeon, gyroPigeon.getPigeon()); + assertEquals(null, gyroPigeon.getNavX()); + assertEquals(false, gyroNavX.m_isGyroAPigeon); + assertEquals(navX, gyroNavX.getNavX()); + assertEquals(null, gyroNavX.getPigeon()); + } + + @Test + public void testHeadingPigeon() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + gyroPigeon = new RobotGyro(pigeon); + + // Act & Assert + assertEquals(-90, gyroPigeon.getHeading(270), 0.0001); + assertEquals(-45, gyroPigeon.getHeading(315), 0.0001); + assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001); + assertEquals(30, gyroPigeon.getHeading(30), 0.0001); + assertEquals(0, gyroPigeon.getHeading(0), 0.0001); + assertEquals(180, gyroPigeon.getHeading(180), 0.0001); + assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001); + assertEquals(97, gyroPigeon.getHeading(1537), 0.0001); + assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001); + } + + @Test + public void testYawPitchRollPigeon() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + gyroPigeon = new RobotGyro(pigeon); + + // Assert + assertEquals(0, gyroPigeon.getAngle(), 0.0001); + + // Act + pigeon.setYaw(40); + + // Assert + assertEquals(40, gyroPigeon.getAngle(), 0.0001); + + // Act + gyroPigeon.reset(); + + // Assert + assertEquals(0, gyroPigeon.getAngle(), 0.0001); + + // Act + pigeon.setYaw(-1457); + pigeon.setCurrentPitch(100); + pigeon.setCurrentRoll(100); + + // Assert + assertEquals(-1457, gyroPigeon.getAngle(), 0.0001); + assertEquals(90, gyroPigeon.getPitch(), 0.0001); + assertEquals(90, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(45); + pigeon.setCurrentRoll(45); + + // Assert + assertEquals(45, gyroPigeon.getPitch(), 0.0001); + assertEquals(45, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(0); + pigeon.setCurrentRoll(0); + + // Assert + assertEquals(0, gyroPigeon.getPitch(), 0.0001); + assertEquals(0, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(-60); + pigeon.setCurrentRoll(-60); + + // Assert + assertEquals(-60, gyroPigeon.getPitch(), 0.0001); + assertEquals(-60, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(-90); + pigeon.setCurrentRoll(-90); + + // Assert + assertEquals(-90, gyroPigeon.getPitch(), 0.0001); + assertEquals(-90, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(-100); + pigeon.setCurrentRoll(-100); + + // Assert + assertEquals(-90, gyroPigeon.getPitch(), 0.0001); + assertEquals(-90, gyroPigeon.getRoll(), 0.0001); + } + + @Test + public void testRatesPigeon() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + gyroPigeon = new RobotGyro(pigeon); + RobotTime robotTime = RobotTime.getInstance(); + gyroPigeon.updatePigeonDeltas(); + + // Act + robotTime.m_deltaTime = 5; + pigeon.setYaw(0); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(0, gyroPigeon.getRate(), 1); + + // Act + robotTime.m_deltaTime = 5; + pigeon.setYaw(90); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(18000, gyroPigeon.getRate(), 0.001); + + // Act + robotTime.m_deltaTime = 5; + pigeon.setYaw(90); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(0, gyroPigeon.getRate(), 0.001); + + // Act + robotTime.m_deltaTime = 3; + pigeon.setYaw(-30); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(-40000, gyroPigeon.getRate(), 0.001); + + // Act + robotTime.m_deltaTime = 6; + pigeon.setYaw(690); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(120000, gyroPigeon.getRate(), 0.001); + } +} diff --git a/src/test/java/frc4388/utility/RobotTimeUtilityTest.java b/src/test/java/frc4388/utility/RobotTimeUtilityTest.java new file mode 100644 index 0000000..2c31a34 --- /dev/null +++ b/src/test/java/frc4388/utility/RobotTimeUtilityTest.java @@ -0,0 +1,104 @@ +/*----------------------------------------------------------------------------*/ +/* 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 frc4388.utility; + +import static org.junit.Assert.*; + +import org.junit.*; + +/** + * Add your docs here. + */ +public class RobotTimeUtilityTest { + RobotTime robotTime = RobotTime.getInstance(); + + @Test + public void testUpdateTimes() { + // Arrange + long lastTime; + robotTime.m_deltaTime = 0; + robotTime.m_robotTime = 0; + robotTime.m_lastRobotTime = 0; + robotTime.m_frameNumber = 0; + robotTime.endMatchTime(); + robotTime.m_lastMatchTime = 0; + + // Assert + assertEquals(0, robotTime.m_deltaTime); + assertEquals(0, robotTime.m_robotTime); + assertEquals(0, robotTime.m_lastRobotTime); + assertEquals(0, robotTime.m_frameNumber); + lastTime = robotTime.m_robotTime; + + // Act + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(true, robotTime.m_deltaTime > 0); + assertEquals(true, robotTime.m_robotTime > 0); + assertEquals(lastTime, robotTime.m_lastRobotTime); + assertEquals(1, robotTime.m_frameNumber); + lastTime = robotTime.m_robotTime; + + // Act + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(true, robotTime.m_deltaTime > 0); + assertEquals(true, robotTime.m_robotTime > 0); + assertEquals(lastTime, robotTime.m_lastRobotTime); + assertEquals(2, robotTime.m_frameNumber); + } + + @Test + public void testMatchTime() { + // Arrange + long lastTime; + + // Assert + assertEquals(0, robotTime.m_matchTime); + assertEquals(0, robotTime.m_lastMatchTime); + lastTime = robotTime.m_matchTime; + + // Act + robotTime.startMatchTime(); + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(true, robotTime.m_matchTime > 0); + assertEquals(lastTime, robotTime.m_lastMatchTime); + lastTime = robotTime.m_matchTime; + + // Act + wait(1); + robotTime.updateTimes(); + robotTime.endMatchTime(); + + // Assert + assertEquals(0, robotTime.m_matchTime); + assertEquals(lastTime, robotTime.m_lastMatchTime); + lastTime = robotTime.m_matchTime; + + // Act + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(0, robotTime.m_matchTime); + assertEquals(lastTime, robotTime.m_lastMatchTime); + } + + private void wait(int millis) { + try { + Thread.sleep(millis); + } catch (Exception e) {} + } +} diff --git a/template.config.js b/template.config.js new file mode 100644 index 0000000..54f2425 --- /dev/null +++ b/template.config.js @@ -0,0 +1,31 @@ +/** + * This file is a configuration file generated by the `Template` extension on `vscode` + * @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template + */ +module.exports = { + // You can change the template path to another path + templateRootPath: "./.templates", + // After copying the template file the `replaceFileTextFn` function is executed + replaceFileTextFn: (fileText, templateName, utils) => { + // @see https://www.npmjs.com/package/change-case + const { changeCase } = utils; + // You can change the text in the file + return fileText + .replace(/__templateName__/gm, templateName) + .replace( + /__templateNameToPascalCase__/gm, + changeCase.pascalCase(templateName) + ) + .replace( + /__templateNameToParamCase__/gm, + changeCase.paramCase(templateName) + ); + }, + replaceFileNameFn: (fileName, templateName, utils) => { + const { path } = utils; + // @see https://nodejs.org/api/path.html#path_path_parse_path + const { base } = path.parse(fileName); + // You can change the file name + return base; + } +}; diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json new file mode 100644 index 0000000..f8d42a4 --- /dev/null +++ b/vendordeps/Phoenix.json @@ -0,0 +1,180 @@ +{ + "fileName": "Phoenix.json", + "name": "CTRE-Phoenix", + "version": "5.17.3", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "http://devsite.ctr-electronics.com/maven/release/" + ], + "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json", + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.17.3" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.17.3" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "diagnostics", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "canutils", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "platform-stub", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "core", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.17.3", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.17.3", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.17.3", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "diagnostics", + "version": "5.17.3", + "libName": "CTRE_PhoenixDiagnostics", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "canutils", + "version": "5.17.3", + "libName": "CTRE_PhoenixCanutils", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "platform-stub", + "version": "5.17.3", + "libName": "CTRE_PhoenixPlatform", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "core", + "version": "5.17.3", + "libName": "CTRE_PhoenixCore", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..83de291 --- /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" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json new file mode 100644 index 0000000..dca1d82 --- /dev/null +++ b/vendordeps/navx_frc.json @@ -0,0 +1,35 @@ +{ + "fileName": "navx_frc.json", + "name": "KauaiLabs_navX_FRC", + "version": "3.1.413", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://repo1.maven.org/maven2/" + ], + "jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-java", + "version": "3.1.413" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-cpp", + "version": "3.1.413", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file