Team4388/2023WayOfTheRobot
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imported dependencies, mocks gone, code builds

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This commit is contained in:
aarav18
2023-01-08 11:18:00 -07:00
parent dad0827395
commit caf45c1431
8 changed files with 480 additions and 17 deletions
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src/main/java/frc4388/robot/subsystems/DiffDrive.java
+1 -1
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@@ -80,6 +80,6 @@ public class DiffDrive extends SubsystemBase {
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon); SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate()); SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch()); SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
SmartDashboard.putData(m_gyro); // SmartDashboard.putData(m_gyro);
} }
} }
src/main/java/frc4388/utility/RobotGyro.java
+3 -2
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@@ -11,13 +11,14 @@ import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode; import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
import com.kauailabs.navx.frc.AHRS; import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.GyroBase; // import edu.wpi.first.wpilibj.GyroBase;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
/** /**
* Gyro class that allows for interchangeable use between a pigeon and a navX * Gyro class that allows for interchangeable use between a pigeon and a navX
*/ */
public class RobotGyro extends GyroBase { public class RobotGyro implements Gyro {
private RobotTime m_robotTime = RobotTime.getInstance(); private RobotTime m_robotTime = RobotTime.getInstance();
private PigeonIMU m_pigeon = null; private PigeonIMU m_pigeon = null;
src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+1 -1
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@@ -32,7 +32,7 @@ public class XboxTriggerButton extends Button {
} }
/** {@inheritDoc} */ /** {@inheritDoc} */
@Override // @Override
public boolean get() { public boolean get() {
if (m_trigger == RIGHT_TRIGGER) { if (m_trigger == RIGHT_TRIGGER) {
return m_controller.getRightTrigger(); return m_controller.getRightTrigger();
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java → src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old
+8 -6
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@@ -7,12 +7,14 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import static org.junit.Assert.assertEquals; import org.junit.jupiter.api.Test;
import static org.mockito.Mockito.mock; import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.Test; // import static org.junit.Assert.assertEquals;
// import static org.mockito.Mockito.mock;
// import org.junit.Test;
import edu.wpi.first.wpilibj.*; import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.LEDPatterns; import frc4388.utility.LEDPatterns;
@@ -23,7 +25,7 @@ public class LEDSubsystemTest {
@Test @Test
public void testConstructor() { public void testConstructor() {
// Arrange // Arrange
Spark ledController = mock(Spark.class); Spark ledController = new Spark(0);
// Act // Act
LED led = new LED(ledController); LED led = new LED(ledController);
@@ -35,7 +37,7 @@ public class LEDSubsystemTest {
@Test @Test
public void testPatterns() { public void testPatterns() {
// Arrange // Arrange
Spark ledController = mock(Spark.class); Spark ledController = new Spark(0);
LED led = new LED(ledController); LED led = new LED(ledController);
// Act // Act
src/test/java/frc4388/utility/RobotGyroUtilityTest.java → src/test/java/frc4388/utility/RobotGyroUtilityTest.old
+6 -5
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@@ -7,13 +7,14 @@
package frc4388.utility; package frc4388.utility;
import static org.junit.Assert.*; import org.junit.jupiter.api.Test;
import static org.mockito.Mockito.*; import static org.junit.jupiter.api.Assertions.assertEquals;
// import static org.junit.Assert.*;
// import static org.mockito.Mockito.*;
import com.kauailabs.navx.frc.AHRS; import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import frc4388.mocks.MockPigeonIMU; import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants; import frc4388.robot.Constants.DriveConstants;
@@ -30,7 +31,7 @@ public class RobotGyroUtilityTest {
public void testConstructor() { public void testConstructor() {
// Arrange // Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
AHRS navX = mock(AHRS.class); AHRS navX = new AHRS();
gyroPigeon = new RobotGyro(pigeon); gyroPigeon = new RobotGyro(pigeon);
gyroNavX = new RobotGyro(navX); gyroNavX = new RobotGyro(navX);
src/test/java/frc4388/utility/RobotTimeUtilityTest.java → src/test/java/frc4388/utility/RobotTimeUtilityTest.old
+3 -2
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@@ -7,9 +7,10 @@
package frc4388.utility; package frc4388.utility;
import static org.junit.Assert.*; import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.*; // import static org.junit.Assert.*;
/** /**
* Add your docs here. * Add your docs here.
vendordeps/Phoenix.json
+423
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@@ -0,0 +1,423 @@
{
"fileName": "Phoenix.json",
"name": "CTRE-Phoenix (v5)",
"version": "5.30.2",
"frcYear": 2023,
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json",
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.30.2"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.30.2"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.30.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.30.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro",
"artifactId": "tools",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "tools-sim",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simTalonSRX",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simTalonFX",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simVictorSPX",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simPigeonIMU",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simCANCoder",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simProTalonFX",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simProCANcoder",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simProPigeon2",
"version": "23.0.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.30.2",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.30.2",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.30.2",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenixpro",
"artifactId": "tools",
"version": "23.0.1",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "5.30.2",
"libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "api-cpp-sim",
"version": "5.30.2",
"libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.30.2",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "tools-sim",
"version": "23.0.1",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simTalonSRX",
"version": "23.0.1",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simTalonFX",
"version": "23.0.1",
"libName": "CTRE_SimTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simVictorSPX",
"version": "23.0.1",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simPigeonIMU",
"version": "23.0.1",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simCANCoder",
"version": "23.0.1",
"libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simProTalonFX",
"version": "23.0.1",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simProCANcoder",
"version": "23.0.1",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenixpro.sim",
"artifactId": "simProPigeon2",
"version": "23.0.1",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}
vendordeps/navx_frc.json
+35
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@@ -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"
]
}
]
}