diff --git a/.gitattributes b/.gitattributes deleted file mode 100644 index dfe0770..0000000 --- a/.gitattributes +++ /dev/null @@ -1,2 +0,0 @@ -# Auto detect text files and perform LF normalization -* text=auto diff --git a/.gitignore b/.gitignore index 983678a..9535c83 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ -# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. ### C++ ### # Prerequisites @@ -151,11 +152,11 @@ gradle-app.setting # gradle/wrapper/gradle-wrapper.properties # # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project .classpath .project .settings/ bin/ -imgui.ini - -# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode +# Simulation GUI and other tools window save file +*-window.json diff --git a/.templates/CommandTest.java b/.templates/CommandTest.java deleted file mode 100644 index 72b31df..0000000 --- a/.templates/CommandTest.java +++ /dev/null @@ -1,40 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 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.commands; - -import edu.wpi.first.wpilibj2.command.*; -import frc4388.robot.subsystems.*; -import org.junit.*; - -import static org.mockito.Mockito.mock; -import static org.mockito.Mockito.verify; - -public class CommandTest { - private CommandScheduler scheduler = null; - - @Before - public void setup() { - scheduler = CommandScheduler.getInstance(); - } - - // TODO: Update this to use an actual command. Won't work with inline commands for some reason - - @Test - public void testExample() { - // Arrange - Drive drive = mock(Drive.class); - RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive); - - // Act - scheduler.schedule(command); - scheduler.run(); - - // Assert - verify(drive).driveWithInput(0, 0); - } -} diff --git a/.templates/SubsystemTest.java b/.templates/SubsystemTest.java deleted file mode 100644 index 51f30d5..0000000 --- a/.templates/SubsystemTest.java +++ /dev/null @@ -1,59 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* 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.*; -import static org.mockito.Mockito.*; - -import org.junit.*; - -import edu.wpi.first.wpilibj.Spark; -import frc4388.robot.Constants.LEDConstants; -import frc4388.utility.LEDPatterns; - -/** - * Based off the LEDSubsystemTest class - */ -public class SubsystemTest { - @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/.templates/UtilityTest.java b/.templates/UtilityTest.java deleted file mode 100644 index 11c15cd..0000000 --- a/.templates/UtilityTest.java +++ /dev/null @@ -1,61 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* 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; - -/** - * Based on the RobotGyroUtilityTest class - */ -public class UtilityTest { - 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); - } -} diff --git a/.vscode/settings.json b/.vscode/settings.json index 5200b5c..4ed293b 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,5 +1,6 @@ { "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", "files.exclude": { "**/.git": true, "**/.svn": true, @@ -10,6 +11,19 @@ "**/.classpath": true, "**/.project": true, "**/.settings": true, - "**/.factorypath": 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 index a5920a4..9c62ece 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2020", + "projectYear": "2023", "teamNumber": 4388 } \ No newline at end of file diff --git a/LICENSE b/LICENSE deleted file mode 100644 index c714e13..0000000 --- a/LICENSE +++ /dev/null @@ -1,24 +0,0 @@ -Copyright (c) 2009-2018 FIRST -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 the FIRST nor the - names of its 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 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. \ No newline at end of file diff --git a/README.md b/README.md deleted file mode 100644 index 045dea3..0000000 --- a/README.md +++ /dev/null @@ -1,2 +0,0 @@ -# 2023WayOfTheRobot -FRC Team 4388 Ridgebotics codebase for the 2023 Charged Up FRC season 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 index b202c6b..b31ed86 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2020.3.2" + id "edu.wpi.first.GradleRIO" version "2023.1.1" } sourceCompatibility = JavaVersion.VERSION_11 @@ -9,61 +9,91 @@ targetCompatibility = JavaVersion.VERSION_11 def ROBOT_MAIN_CLASS = "frc4388.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project EmbeddedTools. +// This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roboRIO("roborio") { + 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 = frc.getTeamNumber() - } - } - artifacts { - frcJavaArtifact('frcJava') { - targets << "roborio" - // Debug can be overridden by command line, for use with VSCode - debug = frc.getDebugOrDefault(false) - } - // Built in artifact to deploy arbitrary files to the roboRIO. - fileTreeArtifact('frcStaticFileDeploy') { - // The directory below is the local directory to deploy - files = fileTree(dir: 'src/main/deploy') - // Deploy to RoboRIO target, into /home/lvuser/deploy - targets << "roborio" - directory = '/home/lvuser/deploy' + 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 +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 4. +// Also defines JUnit 5. dependencies { - implementation wpi.deps.wpilib() - nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio) - nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) + 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) - implementation wpi.deps.vendor.java() - nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio) - nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - testImplementation 'junit:junit:4.12' - testCompile "org.mockito:mockito-core:2.+" + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() - // Enable simulation gui support. Must check the box in vscode to enable support - // upon debugging - simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2' + testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2' + testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2' } +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// 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) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' } diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index cc4fdc2..249e583 100644 Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index d050f17..c23a1b3 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,5 +1,5 @@ distributionBase=GRADLE_USER_HOME distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip zipStoreBase=GRADLE_USER_HOME zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew index 2fe81a7..a69d9cb 100644 --- a/gradlew +++ b/gradlew @@ -1,7 +1,7 @@ -#!/usr/bin/env sh +#!/bin/sh # -# Copyright 2015 the original author or authors. +# 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. @@ -17,78 +17,113 @@ # ############################################################################## -## -## Gradle start up script for UN*X -## +# +# 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 -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi +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 -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >/dev/null -APP_HOME="`pwd -P`" -cd "$SAVED" >/dev/null + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` +APP_BASE_NAME=${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" +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 - ;; - MINGW* ) - msys=true - ;; - NONSTOP* ) - nonstop=true - ;; +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="$JAVA_HOME/jre/sh/java" + JAVACMD=$JAVA_HOME/jre/sh/java else - JAVACMD="$JAVA_HOME/bin/java" + JAVACMD=$JAVA_HOME/bin/java fi if [ ! -x "$JAVACMD" ] ; then die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME @@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the location of your Java installation." fi else - JAVACMD="java" + JAVACMD=java which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the @@ -105,79 +140,101 @@ location of your Java installation." fi # Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi -fi - -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi - -# For Cygwin or MSYS, switch paths to Windows format before running java -if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - JAVACMD=`cygpath --unix "$JAVACMD"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi - # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" - fi - i=`expr $i + 1` - done - case $i in - 0) set -- ;; - 1) set -- "$args0" ;; - 2) set -- "$args0" "$args1" ;; - 3) set -- "$args0" "$args1" "$args2" ;; - 4) set -- "$args0" "$args1" "$args2" "$args3" ;; - 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; +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 $MAX_FD" esac fi -# Escape application args -save () { - for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done - echo " " -} -APP_ARGS=`save "$@"` +# 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. -# Collect all arguments for the java command, following the shell quoting and substitution rules -eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" +# 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 "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat index 9618d8d..f127cfd 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -14,7 +14,7 @@ @rem limitations under the License. @rem -@if "%DEBUG%" == "" @echo off +@if "%DEBUG%"=="" @echo off @rem ########################################################################## @rem @rem Gradle startup script for Windows @@ -25,10 +25,13 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 -if "%DIRNAME%" == "" set DIRNAME=. +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" @@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto init +if %ERRORLEVEL% equ 0 goto execute echo. echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. @@ -51,7 +54,7 @@ goto fail set JAVA_HOME=%JAVA_HOME:"=% set JAVA_EXE=%JAVA_HOME%/bin/java.exe -if exist "%JAVA_EXE%" goto init +if exist "%JAVA_EXE%" goto execute echo. echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% @@ -61,38 +64,26 @@ echo location of your Java installation. goto fail -:init -@rem Get command-line arguments, handling Windows variants - -if not "%OS%" == "Windows_NT" goto win9xME_args - -:win9xME_args -@rem Slurp the command line arguments. -set CMD_LINE_ARGS= -set _SKIP=2 - -:win9xME_args_slurp -if "x%~1" == "x" goto execute - -set CMD_LINE_ARGS=%* - :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 %CMD_LINE_ARGS% +"%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 +if %ERRORLEVEL% equ 0 goto mainEnd :fail rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of rem the _cmd.exe /c_ return code! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% :mainEnd if "%OS%"=="Windows_NT" endlocal diff --git a/settings.gradle b/settings.gradle index 81f96ab..48c039e 100644 --- a/settings.gradle +++ b/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2020' + String frcYear = '2023' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 4bec615..5f17853 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -12,7 +12,7 @@ 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.motorcontrol.Spark; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import frc4388.robot.Constants.LEDConstants; import frc4388.utility.RobotGyro; diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index 57c7b58..0d4af80 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -7,7 +7,7 @@ package frc4388.robot.subsystems; -import edu.wpi.first.wpilibj.Spark; +import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java index a42e8c8..76df2eb 100644 --- a/src/main/java/frc4388/utility/RobotGyro.java +++ b/src/main/java/frc4388/utility/RobotGyro.java @@ -12,7 +12,7 @@ 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; +import edu.wpi.first.math.MathUtil; /** * Gyro class that allows for interchangeable use between a pigeon and a navX diff --git a/template.config.js b/template.config.js deleted file mode 100644 index 54f2425..0000000 --- a/template.config.js +++ /dev/null @@ -1,31 +0,0 @@ -/** - * 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 deleted file mode 100644 index f8d42a4..0000000 --- a/vendordeps/Phoenix.json +++ /dev/null @@ -1,180 +0,0 @@ -{ - "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 index 83de291..65dcc03 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -1,37 +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 + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "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", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json deleted file mode 100644 index dca1d82..0000000 --- a/vendordeps/navx_frc.json +++ /dev/null @@ -1,35 +0,0 @@ -{ - "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