Team4388/2023WayOfTheRobot
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Updated to WPILib 2023

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This commit is contained in:
aarav18
2023-01-07 14:23:01 -07:00
parent bfc6bc39c5
commit dad0827395
23 changed files with 329 additions and 646 deletions
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.gitattributes
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# Auto detect text files and perform LF normalization
* text=auto
.gitignore
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@@ -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
.templates/CommandTest.java
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@@ -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);
}
}
.templates/SubsystemTest.java
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@@ -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);
}
}
.templates/UtilityTest.java
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@@ -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);
}
}
.vscode/settings.json
Vendored
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@@ -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"
}
.wpilib/wpilib_preferences.json
+1 -1
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@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2020",
"projectYear": "2023",
"teamNumber": 4388
}
LICENSE
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@@ -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.
README.md
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@@ -1,2 +0,0 @@
# 2023WayOfTheRobot
FRC Team 4388 Ridgebotics codebase for the 2023 Charged Up FRC season
WPILib-License.md
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@@ -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.
build.gradle
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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'
}
gradle/wrapper/gradle-wrapper.jar
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gradle/wrapper/gradle-wrapper.properties
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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
gradlew
Vendored
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@@ -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 "$JAVACMD" "$@"
gradlew.bat
Vendored
+14 -23
View File
@@ -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
settings.gradle
+1 -1
View File
@@ -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')
src/main/java/frc4388/robot/RobotMap.java
+1 -1
View File
@@ -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;
src/main/java/frc4388/robot/subsystems/LED.java
+1 -1
View File
@@ -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;
src/main/java/frc4388/utility/RobotGyro.java
+1 -1
View File
@@ -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
template.config.js
-31
View File
@@ -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;
}
};
vendordeps/Phoenix.json
-180
View File
@@ -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"
]
}
]
}
vendordeps/WPILibNewCommands.json
+36 -36
View File
@@ -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"
]
}
]
}
"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"
]
}
]
}
vendordeps/navx_frc.json
-35
View File
@@ -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"
]
}
]
}