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 SwerveDriveConstants {
+
+ public static final double MAX_ROT_SPEED = 1.5;
+ public static final double MIN_ROT_SPEED = 0.8;
+ public static double ROTATION_SPEED = MAX_ROT_SPEED;
+ public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
+
+ public static final double CORRECTION_MIN = 10;
+ public static final double CORRECTION_MAX = 50;
+
+ public static final double SLOW_SPEED = 0.8;
+ public static final double FAST_SPEED = 1.0;
+ public static final double TURBO_SPEED = 4.0;
+
+ public static final class IDs {
+ public static final int LEFT_FRONT_WHEEL_ID = 2;
+ public static final int LEFT_FRONT_STEER_ID = 3;
+ public static final int LEFT_FRONT_ENCODER_ID = 10;
+
+ public static final int RIGHT_FRONT_WHEEL_ID = 4;
+ public static final int RIGHT_FRONT_STEER_ID = 5;
+ public static final int RIGHT_FRONT_ENCODER_ID = 11;
+
+ public static final int LEFT_BACK_WHEEL_ID = 6;
+ public static final int LEFT_BACK_STEER_ID = 7;
+ public static final int LEFT_BACK_ENCODER_ID = 12;
+
+ public static final int RIGHT_BACK_WHEEL_ID = 8;
+ public static final int RIGHT_BACK_STEER_ID = 9;
+ public static final int RIGHT_BACK_ENCODER_ID = 13;
+ }
+
+ public static final class PIDConstants {
+ public static final int SWERVE_SLOT_IDX = 0;
+ public static final int SWERVE_PID_LOOP_IDX = 1;
+ public static final Gains SWERVE_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 1.0);
+ }
+
+ public static final class AutoConstants {
+ public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
+ public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
+ public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
+ public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
+
+ public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
+ public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
+ }
+
+ public static final class Conversions {
+ public static final int CANCODER_TICKS_PER_ROTATION = 4096;
+
+ public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
+ public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
+
+ public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
+ public static final double MOTOR_REV_PER_STEER_REV = 12.8;
+
+ public static final double TICKS_PER_MOTOR_REV = 2048;
+ public static final double WHEEL_DIAMETER_INCHES = 3.9;
+ public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
+
+ public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
+ public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
+ public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
+ public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
+
+ public static final double TICK_TIME_TO_SECONDS = 10;
+ public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
+ }
+
+ public static final class Configurations {
+ public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
+ public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
+ public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
+ }
+
+ public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
+ public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
+
+ // dimensions
+ public static final double WIDTH = 18.5;
+ public static final double HEIGHT = 18.5;
+ public static final double HALF_WIDTH = WIDTH / 2.d;
+ public static final double HALF_HEIGHT = HEIGHT / 2.d;
+
+ // misc
+ public static final int TIMEOUT_MS = 30;
+ public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
+ }
+
+ public static final class VisionConstants {
+ public static final String NAME = "photonCamera";
+
+ public static final int LIME_HIXELS = 640;
+ public static final int LIME_VIXELS = 480;
+
+ public static final double H_FOV = 59.6;
+ public static final double V_FOV = 45.7;
+
+ public static final double LIME_HEIGHT = 6.0;
+ public static final double LIME_ANGLE = 55.0;
+
+ // public static final double HIGH_TARGET_HEIGHT = 46.0;
+ public static final double HIGH_TAPE_HEIGHT = 44.0;
+
+ // public static final double MID_TARGET_HEIGHT = 34.0;
+ public static final double MID_TAPE_HEIGHT = 24.0;
+
+ public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
+
+ }
+
+ public static final class DriveConstants {
+ 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..e555b09
--- /dev/null
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -0,0 +1,131 @@
+/*----------------------------------------------------------------------------*/
+/* 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.DeferredBlock;
+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() {
+ }
+
+ @Override
+ public void disabledExit() {
+ DeferredBlock.execute();
+ }
+
+ /**
+ * 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..23c1b0f
--- /dev/null
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands.Swerve.JoystickPlayback;
+import frc4388.robot.commands.Swerve.JoystickRecorder;
+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 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
+ // 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(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
+ // .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
+ // () -> getDeadbandedDriverController().getLeftX(),
+ // () -> getDeadbandedDriverController().getLeftY(),
+ // () -> getDeadbandedDriverController().getRightX(),
+ // () -> getDeadbandedDriverController().getRightY(),
+ // "Blue1Path.txt"))
+ // .onFalse(new InstantCommand());
+
+ // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
+ // .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
+ // .onFalse(new InstantCommand());
+
+ /* 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..5f17853
--- /dev/null
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* 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.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+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() {
+
+ }
+
+ void configureDriveMotorControllers() {
+ }
+}
diff --git a/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
new file mode 100644
index 0000000..2438a38
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
@@ -0,0 +1,91 @@
+package frc4388.robot.commands.Autos;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.HashMap;
+
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc4388.robot.commands.Swerve.JoystickPlayback;
+import frc4388.robot.subsystems.SwerveDrive;
+
+public class PlaybackChooser {
+ private final ArrayList> m_choosers = new ArrayList<>();
+ private SendableChooser m_playback = null;
+ private final ArrayList m_widgets = new ArrayList<>();
+ private final HashMap m_commandPool = new HashMap<>();
+
+ private final File m_dir = new File("/home/lvuser/autos/");
+ private int m_cmdNum = 0;
+ private final SwerveDrive m_swerve;
+
+ // commands
+ private Command m_noAuto = new InstantCommand();
+
+ public PlaybackChooser(SwerveDrive swerve, Object... pool) {
+ m_swerve = swerve;
+ }
+
+ public PlaybackChooser addOption(String name, Command option) {
+ m_commandPool.put(name, option);
+ return this;
+ }
+
+ public PlaybackChooser buildDisplay() {
+ for (int i = 0; i < 10; i++) {
+ appendCommand();
+ }
+ m_playback = m_choosers.get(0);
+ nextChooser();
+
+ Shuffleboard.getTab("Auto Chooser")
+ .add("Add Sequence", new InstantCommand(() -> nextChooser()))
+ .withPosition(4, 0);
+ return this;
+ }
+
+ // This will be bound to a button for the time being
+ public void appendCommand() {
+ var chooser = new SendableChooser();
+ chooser.setDefaultOption("No Auto", m_noAuto);
+
+ m_choosers.add(chooser);
+ ComplexWidget widget = Shuffleboard.getTab("Auto Chooser")
+ .add("Command: " + m_choosers.size(), chooser)
+ .withSize(4, 1)
+ .withPosition(0, m_choosers.size() - 1)
+ .withWidget(BuiltInWidgets.kSplitButtonChooser);
+
+ m_widgets.add(widget);
+ }
+
+ public void nextChooser() {
+ SendableChooser chooser = m_choosers.get(m_cmdNum++);
+
+ for (String auto : m_dir.list()) {
+ chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
+ }
+ for (var cmd_name : m_commandPool.keySet()) {
+ chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
+ }
+ }
+
+ public Command getCommand() {
+ Command command = m_playback.getSelected();
+ command = command == null ? m_noAuto : command.asProxy();
+
+ Command[] commands = new Command[m_cmdNum - 1];
+ for (int i = 0; i < m_cmdNum - 1; i++) {
+ Command command2 = m_choosers.get(i + 1).getSelected();
+ command2 = command2 == null ? m_noAuto : command2.asProxy();
+
+ commands[i] = command2.asProxy();
+ }
+
+ return command.andThen(commands);
+ }
+}
diff --git a/src/main/java/frc4388/robot/commands/Autos/Taxi.txt b/src/main/java/frc4388/robot/commands/Autos/Taxi.txt
new file mode 100644
index 0000000..c99ee2c
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Autos/Taxi.txt
@@ -0,0 +1,225 @@
+0.0,0.0,0.0,0.0,0
+0.0,0.0,0.0,0.0,0
+0.0,0.0,0.0,0.0,12
+0.0,0.0,0.0,0.0,26
+0.0,0.0,0.0,0.0,37
+0.0,0.0,0.0,0.0,50
+0.0,0.0,0.0,0.0,62
+0.0,0.0,0.0,0.0,73
+0.0,0.0,0.0,0.0,88
+0.0,0.0,0.0,0.0,103
+0.0,0.0,0.0,0.0,116
+0.0,0.0,0.0,0.0,160
+0.0,0.0,0.0,0.0,173
+0.0,0.0,0.0,0.0,185
+0.0,0.0,0.0,0.0,200
+0.0,0.0,0.0,0.0,211
+0.0,0.0,0.0,0.0,223
+0.0,0.0,0.0,0.0,235
+0.0,0.0,0.0,0.0,247
+0.0,0.0,0.0,0.0,263
+0.0,0.0,0.0,0.0,283
+0.0,0.0,0.0,0.0,303
+0.0,-0.109375,0.0,0.0,323
+0.0,-0.1484375,0.0,0.0,343
+0.0,-0.2109375,0.0,0.0,363
+0.0,-0.3671875,0.0,0.0,398
+0.0,-0.4140625,0.0,0.0,411
+0.0,-0.4765625,0.0,0.0,425
+0.0,-0.5078125,0.0,0.0,443
+0.0,-0.5078125,0.0,0.0,463
+0.0,-0.53125,0.0,0.0,483
+0.0,-0.5546875,0.0,0.0,504
+0.0,-0.5625,0.0,0.0,523
+0.0,-0.5625,0.0,0.0,544
+0.0,-0.5703125,0.0,0.0,563
+0.0,-0.5859375,0.0,0.0,584
+0.0,-0.5859375,0.0,0.0,603
+0.0,-0.5859375,0.0,0.0,640
+0.0,-0.59375,0.0,0.0,657
+0.0,-0.6015625,0.0,0.0,672
+0.0,-0.6015625,0.0,0.0,685
+0.0,-0.6015625,0.0,0.0,703
+0.0,-0.6015625,0.0,0.0,723
+0.0,-0.6015625,0.0,0.0,743
+0.0,-0.6015625,0.0,0.0,763
+0.0,-0.6015625,0.0,0.0,783
+0.0,-0.6015625,0.0,0.0,803
+0.0,-0.6015625,0.0,0.0,823
+0.0,-0.6015625,0.0,0.0,844
+0.0,-0.6015625,0.0,0.0,878
+0.0,-0.6015625,0.0,0.0,893
+0.0,-0.6015625,0.0,0.0,907
+0.0,-0.6015625,0.0,0.0,924
+0.0,-0.609375,0.0,0.0,943
+0.0,-0.609375,0.0,0.0,963
+0.0,-0.609375,0.0,0.0,983
+0.0,-0.609375,0.0,0.0,1004
+0.0,-0.609375,0.0,0.0,1023
+0.0,-0.609375,0.0,0.0,1043
+0.0,-0.609375,0.0,0.0,1064
+0.0,-0.609375,0.0,0.0,1083
+0.0,-0.609375,0.0,0.0,1156
+0.0,-0.609375,0.0,0.0,1172
+0.0,-0.609375,0.0,0.0,1185
+0.0,-0.609375,0.0,0.0,1200
+0.0,-0.609375,0.0,0.0,1215
+0.0,-0.609375,0.0,0.0,1225
+0.0,-0.609375,0.0,0.0,1236
+0.0,-0.609375,0.0,0.0,1249
+0.0,-0.609375,0.0,0.0,1263
+0.0,-0.609375,0.0,0.0,1283
+0.0,-0.609375,0.0,0.0,1303
+0.0,-0.609375,0.0,0.0,1323
+0.0,-0.609375,0.0,0.0,1363
+0.0,-0.6015625,0.0,0.0,1376
+0.0,-0.6015625,0.0,0.0,1394
+0.0,-0.6015625,0.0,0.0,1405
+0.0,-0.6015625,0.0,0.0,1423
+0.0,-0.6015625,0.0,0.0,1443
+0.0,-0.6015625,0.0,0.0,1463
+0.0,-0.6015625,0.0,0.0,1483
+0.0,-0.6015625,0.0,0.0,1503
+0.0,-0.6015625,0.0,0.0,1523
+0.0,-0.6015625,0.0,0.0,1543
+0.0,-0.6015625,0.0,0.0,1563
+0.0,-0.6015625,0.0,0.0,1597
+0.0,-0.6015625,0.0,0.0,1608
+0.0,-0.6015625,0.0,0.0,1624
+0.0,-0.6015625,0.0,0.0,1643
+0.0,-0.6015625,0.0,0.0,1664
+0.0,-0.5859375,0.0,0.0,1683
+0.0,-0.5859375,0.0,0.0,1703
+0.0,-0.5625,0.0,0.0,1723
+0.0,-0.5625,0.0,0.0,1743
+0.0,-0.5625,0.0,0.0,1763
+0.0,-0.5625,0.0,0.0,1783
+0.0,-0.5625,0.0,0.0,1803
+0.0,-0.5625,0.0,0.0,1843
+0.0,-0.5625,0.0,0.0,1855
+0.0,-0.5625,0.0,0.0,1868
+0.0,-0.5625,0.0,0.0,1883
+0.0,-0.5625,0.0,0.0,1903
+0.0,-0.5625,0.0,0.0,1923
+0.0,-0.5625,0.0,0.0,1943
+0.0,-0.5625,0.0,0.0,1963
+0.0,-0.5625,0.0,0.0,1983
+0.0,-0.5625,0.0,0.0,2003
+0.0,-0.5625,0.0,0.0,2024
+0.0,-0.5625,0.0,0.0,2043
+0.0,-0.5625,0.0,0.0,2081
+0.0,-0.5625,0.0,0.0,2093
+0.0,-0.5625,0.0,0.0,2105
+0.0,-0.5625,0.0,0.0,2123
+0.0,-0.5625,0.0,0.0,2143
+0.0,-0.5625,0.0,0.0,2163
+0.0,-0.5625,0.0,0.0,2183
+0.0,-0.5625,0.0,0.0,2203
+0.0,-0.5625,0.0,0.0,2223
+0.0,-0.5625,0.0,0.0,2243
+0.0,-0.5625,0.0,0.0,2263
+0.0,-0.5625,0.0,0.0,2283
+0.0,-0.5625,0.0,0.0,2366
+0.0,-0.5625,0.0,0.0,2377
+0.0,-0.5625,0.0,0.0,2394
+0.0,-0.5703125,0.0,0.0,2405
+0.0,-0.5703125,0.0,0.0,2418
+0.0,-0.5703125,0.0,0.0,2431
+0.0,-0.5703125,0.0,0.0,2444
+0.0,-0.5703125,0.0,0.0,2458
+0.0,-0.5703125,0.0,0.0,2470
+0.0,-0.5703125,0.0,0.0,2485
+0.0,-0.5703125,0.0,0.0,2503
+0.0,-0.5703125,0.0,0.0,2523
+0.0,-0.5703125,0.0,0.0,2563
+0.0,-0.5703125,0.0,0.0,2577
+0.0,-0.5703125,0.0,0.0,2591
+0.0,-0.5703125,0.0,0.0,2608
+0.0,-0.5703125,0.0,0.0,2624
+0.0,-0.5703125,0.0,0.0,2643
+0.0,-0.5703125,0.0,0.0,2677
+0.0,-0.5703125,0.0,0.0,2698
+0.0,-0.5703125,0.0,0.0,2711
+0.0,-0.5703125,0.0,0.0,2725
+0.0,-0.5703125,0.0,0.0,2743
+0.0,-0.5703125,0.0,0.0,2764
+0.0,-0.5703125,0.0,0.0,2810
+0.0,-0.5703125,0.0,0.0,2820
+0.0,-0.5703125,0.0,0.0,2833
+0.0,-0.5703125,0.0,0.0,2845
+0.0,-0.5703125,0.0,0.0,2863
+0.0,-0.5703125,0.0,0.0,2883
+0.0,-0.5703125,0.0,0.0,2904
+0.0,-0.5703125,0.0,0.0,2924
+0.0,-0.5703125,0.0,0.0,2943
+0.0,-0.5703125,0.0,0.0,2963
+0.0,-0.5703125,0.0,0.0,2983
+0.0,-0.5703125,0.0,0.0,3003
+0.0,-0.5703125,0.0,0.0,3033
+0.0,-0.5703125,0.0,0.0,3050
+0.0,-0.5703125,0.0,0.0,3065
+0.0,-0.5703125,0.0,0.0,3083
+0.0,-0.5703125,0.0,0.0,3103
+0.0,-0.5703125,0.0,0.0,3123
+0.0,-0.5703125,0.0,0.0,3144
+0.0,-0.5703125,0.0,0.0,3164
+0.0,-0.5703125,0.0,0.0,3184
+0.0,-0.5703125,0.0,0.0,3203
+0.0,-0.5703125,0.0,0.0,3223
+0.0,-0.5703125,0.0,0.0,3243
+0.0,-0.5703125,0.0,0.0,3272
+0.0,-0.5703125,0.0,0.0,3289
+0.0,-0.5703125,0.0,0.0,3303
+0.0,-0.5703125,0.0,0.0,3323
+0.0,-0.5703125,0.0,0.0,3343
+0.0,-0.5703125,0.0,0.0,3363
+0.0,-0.5703125,0.0,0.0,3383
+0.0,-0.5703125,0.0,0.0,3403
+0.0,-0.5703125,0.0,0.0,3423
+0.0,-0.5703125,0.0,0.0,3443
+0.0,-0.5703125,0.0,0.0,3463
+0.0,-0.5703125,0.0,0.0,3483
+0.0,-0.5703125,0.0,0.0,3566
+0.0,-0.5703125,0.0,0.0,3578
+0.0,-0.5703125,0.0,0.0,3596
+0.0,-0.5703125,0.0,0.0,3610
+0.0,-0.5703125,0.0,0.0,3623
+0.0,-0.5703125,0.0,0.0,3640
+0.0,-0.5703125,0.0,0.0,3651
+0.0,-0.5703125,0.0,0.0,3663
+0.0,-0.5703125,0.0,0.0,3678
+0.0,-0.5703125,0.0,0.0,3691
+0.0,-0.5703125,0.0,0.0,3706
+0.0,-0.5703125,0.0,0.0,3723
+0.0,-0.5703125,0.0,0.0,3766
+0.0,-0.5703125,0.0,0.0,3778
+0.0,-0.5703125,0.0,0.0,3792
+0.0,-0.5703125,0.0,0.0,3807
+0.0,-0.5703125,0.0,0.0,3823
+0.0,-0.5703125,0.0,0.0,3843
+0.0,-0.53125,0.0,0.0,3863
+0.0,-0.53125,0.0,0.0,3884
+0.0,-0.421875,0.0,0.0,3904
+0.0,0.0,0.0,0.0,3924
+0.0,0.0,0.0,0.0,3944
+0.0,0.0,0.0,0.0,3963
+0.0,0.0,0.0,0.0,3999
+0.0,0.0,0.0,0.0,4010
+0.0,0.0,0.0,0.0,4025
+0.0,0.0,0.0,0.0,4043
+0.0,0.0,0.0,0.0,4063
+0.0,0.0,0.0,0.0,4083
+0.0,0.0,0.0,0.0,4103
+0.0,0.0,0.0,0.0,4123
+0.0,0.0,0.0,0.0,4143
+0.0,0.0,0.0,0.0,4163
+0.0,0.0,0.0,0.0,4183
+0.0,0.0,0.0,0.0,4203
+0.0,0.0,0.0,0.0,4236
+0.0,0.0,0.0,0.0,4247
+0.0,0.0,0.0,0.0,4264
+0.0,0.0,0.0,0.0,4284
+0.0,0.0,0.0,0.0,4304
+0.0,0.0,0.0,0.0,4324
+0.0,0.0,0.0,0.0,4343
+0.0,0.0,0.0,0.0,4363
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/PID.java b/src/main/java/frc4388/robot/commands/PID.java
new file mode 100644
index 0000000..fdbda0b
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/PID.java
@@ -0,0 +1,60 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.utility.Gains;
+
+public abstract class PID extends CommandBase {
+ protected Gains gains;
+ private double output = 0;
+ private double tolerance = 0;
+
+ /** Creates a new PelvicInflammatoryDisease. */
+ public PID(double kp, double ki, double kd, double kf, double tolerance) {
+ gains = new Gains(kp, ki, kd, kf, 0);
+ this.tolerance = tolerance;
+ }
+
+ public PID(Gains gains, double tolerance) {
+ this.gains = gains;
+ this.tolerance = tolerance;
+ }
+
+ /** produces the error from the setpoint */
+ public abstract double getError();
+
+ /** todo: javadoc */
+ public abstract void runWithOutput(double output);
+
+ // Called when the command is initially scheduled.
+ @Override
+ public final void initialize() {
+ output = 0;
+ }
+
+ private double prevError, cumError = 0;
+
+ // Called every time the scheduler runs while the command is scheduled.
+ @Override
+ public final void execute() {
+ double error = getError();
+ cumError += error * .02; // 20 ms
+ double delta = error - prevError;
+
+ output = error * gains.kP;
+ output += cumError * gains.kI;
+ output += delta * gains.kD;
+ output += gains.kF;
+
+ runWithOutput(output);
+ }
+
+ // Returns true when the command should end.
+ @Override
+ public final boolean isFinished() {
+ return Math.abs(getError()) < tolerance;
+ }
+}
diff --git a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
new file mode 100644
index 0000000..56e8d43
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
@@ -0,0 +1,141 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.Swerve;
+
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.util.ArrayList;
+import java.util.Scanner;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.utility.UtilityStructs.TimedOutput;
+
+public class JoystickPlayback extends CommandBase {
+ private final SwerveDrive swerve;
+ private String filename;
+ private int mult = 1;
+ private Scanner input;
+ private final ArrayList outputs = new ArrayList<>();
+ private int counter = 0;
+ private long startTime = 0;
+ private long playbackTime = 0;
+ private int lastIndex;
+ private boolean m_finished = false; // ! find a better way
+
+ /** Creates a new JoystickPlayback. */
+ public JoystickPlayback(SwerveDrive swerve, String filename, int mult) {
+ this.swerve = swerve;
+ this.filename = filename;
+ this.mult = mult;
+
+ addRequirements(this.swerve);
+ }
+
+ /** Creates a new JoystickPlayback. */
+ public JoystickPlayback(SwerveDrive swerve, String filename) {
+ this(swerve, filename, 1);
+ }
+
+ // Called when the command is initially scheduled.
+ @Override
+ public void initialize() {
+ outputs.clear();
+ m_finished = false;
+
+ startTime = System.currentTimeMillis();
+ playbackTime = 0;
+ lastIndex = 0;
+ try {
+ input = new Scanner(new File("/home/lvuser/autos/" + filename));
+
+ String line = "";
+ while (input.hasNextLine()) {
+ line = input.nextLine();
+
+ if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
+ continue;
+ }
+
+ String[] values = line.split(",");
+ System.out.println("values: " + values[0] + " " + values[1] + " " + values[2] + " " + values[3]);
+
+ var out = new TimedOutput();
+ out.leftX = Double.parseDouble(values[0]) * mult;
+ out.leftY = Double.parseDouble(values[1]);
+ out.rightX = Double.parseDouble(values[2]);
+ out.rightY = Double.parseDouble(values[3]);
+
+ out.timedOffset = Long.parseLong(values[4]);
+
+ outputs.add(out);
+ }
+
+ input.close();
+ } catch (FileNotFoundException e) {
+ e.printStackTrace();
+ }
+ }
+
+ // Called every time the scheduler runs while the command is scheduled.
+ @Override
+ public void execute() {
+ if (counter == 0) {
+ startTime = System.currentTimeMillis();
+ playbackTime = 0;
+ } else {
+ playbackTime = System.currentTimeMillis() - startTime;
+ }
+
+ // skip to reasonable time frame
+ // too tired to write comment: ask daniel thomas; it goes to the thing until it's bigger than the other thing
+ {
+ int i = lastIndex == 0 ? 1 : lastIndex;
+ while (i < outputs.size() && outputs.get(i).timedOffset < playbackTime) {
+ i++;
+ }
+
+ if (i >= outputs.size()) {
+ m_finished = true; // ! kind of a hack
+ return;
+ }
+ lastIndex = i;
+ }
+
+ TimedOutput lastOut = outputs.get(lastIndex - 1);
+ TimedOutput out = outputs.get(lastIndex);
+
+ double deltaTime = out.timedOffset - lastOut.timedOffset;
+ double playbackDelta = playbackTime - lastOut.timedOffset;
+
+ double lerpLX = lastOut.leftX + (out.leftX - lastOut.leftX) * (playbackDelta / deltaTime);
+ double lerpLY = lastOut.leftY + (out.leftY - lastOut.leftY) * (playbackDelta / deltaTime);
+ double lerpRX = lastOut.rightX + (out.rightX - lastOut.rightX) * (playbackDelta / deltaTime);
+ double lerpRY = lastOut.rightY + (out.rightY - lastOut.rightY) * (playbackDelta / deltaTime);
+
+ // this.swerve.driveWithInput(new Translation2d(out.leftX, out.leftY),
+ // new Translation2d(out.rightX, out.rightY),
+ // true);
+
+ this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
+ new Translation2d(lerpRX, lerpRY),
+ true);
+
+ counter++;
+ }
+
+ // Called once the command ends or is interrupted.
+ @Override
+ public void end(boolean interrupted) {
+ input.close();
+ swerve.stopModules();
+ }
+
+ // Returns true when the command should end.
+ @Override
+ public boolean isFinished() {
+ return m_finished;
+ }
+}
diff --git a/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
new file mode 100644
index 0000000..84608cc
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
@@ -0,0 +1,97 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.Swerve;
+
+import java.io.File;
+import java.io.IOException;
+import java.io.PrintWriter;
+import java.util.ArrayList;
+import java.util.function.Supplier;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.utility.UtilityStructs.TimedOutput;
+
+public class JoystickRecorder extends CommandBase {
+ public final SwerveDrive swerve;
+
+ public final Supplier leftX;
+ public final Supplier leftY;
+ public final Supplier rightX;
+ public final Supplier rightY;
+ private String filename;
+ public final ArrayList outputs = new ArrayList<>();
+ private long startTime = -1;
+
+
+ /** Creates a new JoystickRecorder. */
+ public JoystickRecorder(SwerveDrive swerve, Supplier leftX, Supplier leftY,
+ Supplier rightX, Supplier rightY,
+ String filename)
+ {
+ this.swerve = swerve;
+ this.leftX = leftX;
+ this.leftY = leftY;
+ this.rightX = rightX;
+ this.rightY = rightY;
+ this.filename = filename;
+
+ addRequirements(this.swerve);
+ }
+
+ // Called when the command is initially scheduled.
+ @Override
+ public void initialize() {
+ outputs.clear();
+
+ this.startTime = System.currentTimeMillis();
+
+ outputs.add(new TimedOutput());
+ }
+
+ // Called every time the scheduler runs while the command is scheduled.
+ @Override
+ public void execute() {
+ var inputs = new TimedOutput();
+ inputs.leftX = leftX.get();
+ inputs.leftY = leftY.get();
+ inputs.rightX = rightX.get();
+ inputs.rightY = rightY.get();
+ inputs.timedOffset = System.currentTimeMillis() - startTime;
+
+ outputs.add(inputs);
+
+ swerve.driveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
+ new Translation2d(inputs.rightX, inputs.rightY),
+ true);
+
+ System.out.println("RECORDING");
+ }
+
+ // Called once the command ends or is interrupted.
+ @Override
+ public void end(boolean interrupted) {
+ File output = new File("/home/lvuser/autos/" + filename);
+
+ try (PrintWriter writer = new PrintWriter(output)) {
+ for (var input : outputs) {
+ writer.println( input.leftX + "," + input.leftY + "," +
+ input.rightX + "," + input.rightY + "," +
+ input.timedOffset);
+ }
+
+ writer.close();
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ }
+
+ // Returns true when the command should end.
+ @Override
+ public boolean isFinished() {
+ return false;
+ }
+}
diff --git a/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
new file mode 100644
index 0000000..a2945c0
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands.Swerve;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import frc4388.robot.commands.PID;
+import frc4388.robot.subsystems.SwerveDrive;
+
+public class RotateToAngle extends PID {
+
+ SwerveDrive drive;
+ double targetAngle;
+
+ /** Creates a new RotateToAngle. */
+ public RotateToAngle(SwerveDrive drive, double targetAngle) {
+ super(0.3, 0.0, 0.0, 0.0, 1);
+
+ this.drive = drive;
+ this.targetAngle = targetAngle;
+
+ addRequirements(drive);
+ }
+
+ @Override
+ public double getError() {
+ return targetAngle - drive.getGyroAngle();
+ }
+
+ @Override
+ public void runWithOutput(double output) {
+ drive.driveWithInput(new Translation2d(0.0, 0.0), new Translation2d(output / Math.abs(getError()), 0.0), true);
+ }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Apriltags.java b/src/main/java/frc4388/robot/subsystems/Apriltags.java
new file mode 100644
index 0000000..c6062e8
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Apriltags.java
@@ -0,0 +1,36 @@
+package frc4388.robot.subsystems;
+
+//import edu.wpi.first.apriltag.AprilTag;
+//import edu.wpi.first.math.geometry.Pose3d;
+//import edu.wpi.first.math.geometry.Rotation3d;
+//import edu.wpi.first.networktables.NetworkTable;
+//import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class Apriltags {
+ public static class Tag {
+ public boolean visible = true;
+ public double x, y, z = 0;
+ public double ry, rp, rr = 0;
+ }
+
+ public Tag getTagPosRot() {
+ final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
+
+ final Tag tag = new Tag();
+ tag.visible = isAprilTag();
+ tag.x = tagTable.getEntry("TagPosX").getDouble(0);
+ tag.y = tagTable.getEntry("TagPosY").getDouble(0);
+ tag.z = tagTable.getEntry("TagPosZ").getDouble(0);
+ tag.ry = tagTable.getEntry("TagRotY").getDouble(0);
+ tag.rp = tagTable.getEntry("TagRotP").getDouble(0);
+ tag.rr = tagTable.getEntry("TagRotR").getDouble(0);
+
+ return tag;
+ }
+
+ public boolean isAprilTag() {
+ final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
+ return tagTable.getEntry("IsTag").getBoolean(false);
+ }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/DiffDrive.java b/src/main/java/frc4388/robot/subsystems/DiffDrive.java
new file mode 100644
index 0000000..9ec39df
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/DiffDrive.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 DiffDrive 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 DiffDrive(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..0d4af80
--- /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.motorcontrol.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/robot/subsystems/Limelight.java b/src/main/java/frc4388/robot/subsystems/Limelight.java
new file mode 100644
index 0000000..9d1289b
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Limelight.java
@@ -0,0 +1,165 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Optional;
+
+import org.photonvision.EstimatedRobotPose;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonPoseEstimator;
+import org.photonvision.PhotonPoseEstimator.PoseStrategy;
+import org.photonvision.common.hardware.VisionLEDMode;
+import org.photonvision.targeting.PhotonPipelineResult;
+import org.photonvision.targeting.PhotonTrackedTarget;
+import org.photonvision.targeting.TargetCorner;
+
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.VisionConstants;
+
+public class Limelight extends SubsystemBase {
+
+ private PhotonCamera cam;
+ private PhotonPoseEstimator photonPoseEstimator;
+
+ private boolean lightOn;
+
+ /** Creates a new Limelight. */
+ public Limelight() {
+ cam = new PhotonCamera(VisionConstants.NAME);
+ cam.setDriverMode(false);
+ }
+
+ public void setLEDs(boolean on) {
+ lightOn = on;
+ cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
+ }
+
+ public void toggleLEDs() {
+ lightOn = !lightOn;
+ cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
+ }
+
+ public void setDriverMode(boolean driverMode) {
+ cam.setDriverMode(driverMode);
+ }
+
+ public void setToLimePipeline() {
+ cam.setPipelineIndex(1);
+ setLEDs(true);
+ }
+
+ public void setToAprilPipeline() {
+ cam.setPipelineIndex(0);
+ setLEDs(false);
+ }
+
+ public PhotonTrackedTarget getAprilPoint() {
+ if (!cam.isConnected()) return null;
+
+ PhotonPipelineResult result = cam.getLatestResult();
+
+ if (!result.hasTargets()) return null;
+
+ return result.getBestTarget();
+ }
+
+ private List getAprilCorners() {
+ if (!cam.isConnected()) return null;
+
+ PhotonPipelineResult result = cam.getLatestResult();
+
+ if (!result.hasTargets()) return null;
+
+ return result.getBestTarget().getDetectedCorners();
+ }
+
+ public double getAprilSkew() {
+ List corners = getAprilCorners();
+ ArrayList bottomSide = getAprilBottomSide(corners);
+
+ if (bottomSide == null) return 0;
+
+ TargetCorner bottomRight = bottomSide.get(0).x > bottomSide.get(1).x ? bottomSide.get(0) : bottomSide.get(1);
+ TargetCorner bottomLeft = bottomRight.x == bottomSide.get(0).x ? bottomSide.get(1) : bottomSide.get(0);
+
+ return bottomLeft.y - bottomRight.y;
+ }
+
+ private ArrayList getAprilBottomSide(List box) {
+ if (box == null) return null;
+
+ ArrayList bottomSide = new ArrayList<>();
+
+ TargetCorner l1 = new TargetCorner(-1, -1);
+ TargetCorner l2 = new TargetCorner(-1, -1);
+
+ for (TargetCorner c : box) {
+ if (c.y > l1.y) l1 = c;
+ }
+
+ for (TargetCorner c : box) {
+ if (c.y == l1.y) continue;
+ if (c.y > l2.y) l2 = c;
+ }
+
+ bottomSide.add(l1);
+ bottomSide.add(l2);
+
+ return bottomSide;
+ }
+
+ public double getDistanceToApril() {
+ PhotonTrackedTarget aprilPoint = getAprilPoint();
+ if (aprilPoint == null) return -1;
+
+ double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
+ double theta = 35.0 + aprilPoint.getPitch();
+
+ double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
+ return distanceToApril;
+ }
+
+ public PhotonTrackedTarget getLowestTape() {
+ if (!cam.isConnected()) return null;
+
+ PhotonPipelineResult result = cam.getLatestResult();
+
+ if (!result.hasTargets()) return null;
+
+ ArrayList points = (ArrayList) result.getTargets();
+
+ PhotonTrackedTarget lowest = points.get(0);
+ for (PhotonTrackedTarget point : points) {
+ if (point.getPitch() < lowest.getPitch()) {
+ lowest = point;
+ }
+ }
+
+ return lowest;
+ }
+
+ public double getDistanceToTape() {
+ PhotonTrackedTarget tapePoint = getLowestTape();
+ if (tapePoint == null) return -1;
+
+ double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
+ double theta = 35.0 + tapePoint.getPitch();
+
+ double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
+ return distanceToTape;
+ }
+
+ @Override
+ public void periodic() {}
+}
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
new file mode 100644
index 0000000..055230b
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -0,0 +1,195 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.RobotGyro;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class SwerveDrive extends SubsystemBase {
+
+ private SwerveModule leftFront;
+ private SwerveModule rightFront;
+ private SwerveModule leftBack;
+ private SwerveModule rightBack;
+
+ private SwerveModule[] modules;
+
+ private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+ private Translation2d rightFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+ private Translation2d leftBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+ private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+
+ private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
+
+ private RobotGyro gyro;
+
+ public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
+
+ public double rotTarget = 0.0;
+ public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
+
+ /** Creates a new SwerveDrive. */
+ public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
+ this.leftFront = leftFront;
+ this.rightFront = rightFront;
+ this.leftBack = leftBack;
+ this.rightBack = rightBack;
+
+ this.gyro = gyro;
+
+ this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
+ }
+
+ boolean stopped = false;
+ public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
+ if (fieldRelative) {
+
+ double rot = 0;
+
+ if (rightStick.getNorm() > 0.05) {
+ rotTarget = gyro.getAngle();
+ rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
+ SmartDashboard.putBoolean("drift correction", false);
+ stopped = false;
+ } else if(leftStick.getNorm() > 0.05) {
+ if (!stopped) {
+ stopModules();
+ stopped = true;
+ }
+
+ SmartDashboard.putBoolean("drift correction", true);
+ rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
+
+ }
+
+ // Use the left joystick to set speed. Apply a cubic curve and the set max speed.
+ Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
+ // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
+
+ // Convert field-relative speeds to robot-relative speeds.
+ chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
+ } else {
+ // Create robot-relative speeds.
+ chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
+ }
+ setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
+ }
+
+ /**
+ * Set each module of the swerve drive to the corresponding desired state.
+ * @param desiredStates Array of module states to set.
+ */
+ public void setModuleStates(SwerveModuleState[] desiredStates) {
+ SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+ for (int i = 0; i < desiredStates.length; i++) {
+ SwerveModule module = modules[i];
+ SwerveModuleState state = desiredStates[i];
+ module.setDesiredState(state);
+ }
+ }
+
+ public boolean rotateToTarget(double angle) {
+ double currentAngle = getGyroAngle();
+ double error = angle - currentAngle;
+
+ driveWithInput(new Translation2d(0, 0), new Translation2d(error / Math.abs(error) * 0.3, 0), true);
+
+ if (Math.abs(angle - getGyroAngle()) < 5.0) {
+ return true;
+ }
+
+ return false;
+ }
+
+ public double getGyroAngle() {
+ return gyro.getAngle();
+ }
+
+ public void resetGyro() {
+ gyro.reset();
+ rotTarget = 0.0;
+ }
+
+ public void stopModules() {
+ for (SwerveModule module : this.modules) {
+ module.stop();
+ }
+ }
+
+ public SwerveDriveKinematics getKinematics() {
+ return this.kinematics;
+ }
+
+ @Override
+ public void periodic() {
+ // This method will be called once per scheduler run\
+ SmartDashboard.putNumber("Gyro", getGyroAngle());
+ }
+
+ public void shiftDown() {
+ if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
+
+ } else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
+ this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
+ } else {
+ this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
+ }
+ }
+
+ public void setToSlow() {
+ this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ }
+
+ public void setToFast() {
+ this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
+ System.out.println("FAST");
+ System.out.println("FAST");
+ System.out.println("FAST");
+ System.out.println("FAST");
+ System.out.println("FAST");
+ }
+
+ public void setToTurbo() {
+ this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ }
+
+ public void shiftUp() {
+ if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
+ this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
+ } else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
+ this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
+ } else {
+
+ }
+ }
+
+ public void toggleGear(double angle) {
+ if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
+ this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
+ SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
+ } else {
+ this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
+ SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
+ }
+ }
+
+}
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
new file mode 100644
index 0000000..1ddab51
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -0,0 +1,161 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.sensors.CANCoder;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.Gains;
+
+public class SwerveModule extends SubsystemBase {
+ private WPI_TalonFX driveMotor;
+ private WPI_TalonFX angleMotor;
+ private CANCoder encoder;
+
+ public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
+
+ /** Creates a new SwerveModule. */
+ public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
+ this.driveMotor = driveMotor;
+ this.angleMotor = angleMotor;
+ this.encoder = encoder;
+
+ TalonFXConfiguration angleConfig = new TalonFXConfiguration();
+ angleConfig.slot0.kP = swerveGains.kP;
+ angleConfig.slot0.kI = swerveGains.kI;
+ angleConfig.slot0.kD = swerveGains.kD;
+
+ // use the CANcoder as the remote sensor for the primary TalonFX PID
+ angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
+ angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
+ angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
+ angleMotor.configAllSettings(angleConfig);
+
+ encoder.configMagnetOffset(offset);
+
+ driveMotor.setSelectedSensorPosition(0);
+ driveMotor.config_kP(0, 0.2);
+ }
+
+ /**
+ * Get the drive motor of the SwerveModule
+ * @return the drive motor of the SwerveModule
+ */
+ public WPI_TalonFX getDriveMotor() {
+ return this.driveMotor;
+ }
+
+ /**
+ * Get the angle motor of the SwerveModule
+ * @return the angle motor of the SwerveModule
+ */
+ public WPI_TalonFX getAngleMotor() {
+ return this.angleMotor;
+ }
+
+ /**
+ * Get the CANcoder of the SwerveModule
+ * @return the CANcoder of the SwerveModule
+ */
+ public CANCoder getEncoder() {
+ return this.encoder;
+ }
+
+ /**
+ * Get the angle of a SwerveModule as a Rotation2d
+ * @return the angle of a SwerveModule as a Rotation2d
+ */
+ public Rotation2d getAngle() {
+ // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
+ return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
+ }
+
+ public double getAngularVel() {
+ return this.angleMotor.getSelectedSensorVelocity();
+ }
+
+ public double getDrivePos() {
+ return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
+ }
+
+ public double getDriveVel() {
+ return this.driveMotor.getSelectedSensorVelocity(0);
+ }
+
+ public void stop() {
+ driveMotor.set(0);
+ angleMotor.set(0);
+ }
+
+ public void rotateToAngle(double angle) {
+ angleMotor.set(TalonFXControlMode.Position, angle);
+ }
+
+ /**
+ * Get state of swerve module
+ * @return speed in m/s and angle in degrees
+ */
+ public SwerveModuleState getState() {
+ return new SwerveModuleState(
+ Units.inchesToMeters(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.Conversions.INCHES_PER_TICK) * SwerveDriveConstants.Conversions.TICK_TIME_TO_SECONDS,
+ getAngle()
+ );
+ }
+
+ /**
+ * Returns the current position of the SwerveModule
+ * @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
+ */
+ public SwerveModulePosition getPosition() {
+ return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle());
+ }
+
+ /**
+ * Set the speed and rotation of the SwerveModule from a SwerveModuleState object
+ * @param desiredState a SwerveModuleState representing the desired new state of the module
+ */
+ public void setDesiredState(SwerveModuleState desiredState) {
+ Rotation2d currentRotation = this.getAngle();
+
+ SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
+
+ // calculate the difference between our current rotational position and our new rotational position
+ Rotation2d rotationDelta = state.angle.minus(currentRotation);
+
+ // calculate the new absolute position of the SwerveModule based on the difference in rotation
+ double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
+
+ // convert the CANCoder from its position reading to ticks
+ double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
+
+ angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
+
+ double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
+
+ driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+ }
+
+ public void reset(double position) {
+ encoder.setPositionToAbsolute();
+ }
+
+ public double getCurrent() {
+ return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
+ }
+
+ public double getVoltage() {
+ return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
+ }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
new file mode 100644
index 0000000..371f621
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -0,0 +1,38 @@
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.apriltag.AprilTag;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class Vision {
+ private final NetworkTableEntry m_isTags;
+ private final NetworkTableEntry m_xPoses;
+ private final NetworkTableEntry m_yPoses;
+ private final NetworkTableEntry m_zPoses;
+
+ public Vision() {
+ final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
+
+ m_isTags = tagTable.getEntry("IsTag");
+ m_xPoses = tagTable.getEntry("TagPosX");
+ m_yPoses = tagTable.getEntry("TagPosY");
+ m_zPoses = tagTable.getEntry("TagPosZ");
+ }
+
+ public AprilTag[] getAprilTags() {
+ if (!m_isTags.getBoolean(false)) return new AprilTag[0];
+
+ double xarr[] = m_xPoses.getDoubleArray(new double[] {});
+ double yarr[] = m_yPoses.getDoubleArray(new double[] {});
+ double zarr[] = m_zPoses.getDoubleArray(new double[] {});
+
+ AprilTag tags[] = new AprilTag[xarr.length];
+ for (int i = 0; i < tags.length; i++) {
+ tags[i] = new AprilTag(0, new Pose3d(xarr[i], yarr[i], zarr[i], new Rotation3d()));
+ }
+
+ return tags;
+ }
+}
diff --git a/src/main/java/frc4388/utility/AprilTag.java b/src/main/java/frc4388/utility/AprilTag.java
new file mode 100644
index 0000000..c2ad269
--- /dev/null
+++ b/src/main/java/frc4388/utility/AprilTag.java
@@ -0,0 +1,13 @@
+package frc4388.utility;
+
+// This is a seperate class in case I want to encode rotation or other
+// information about the tag
+public class AprilTag {
+ public final double x, y, z;
+
+ public AprilTag(double _x, double _y, double _z) {
+ x = _x;
+ y = _y;
+ z = _z;
+ }
+}
diff --git a/src/main/java/frc4388/utility/DeferredBlock.java b/src/main/java/frc4388/utility/DeferredBlock.java
new file mode 100644
index 0000000..20d3c57
--- /dev/null
+++ b/src/main/java/frc4388/utility/DeferredBlock.java
@@ -0,0 +1,23 @@
+package frc4388.utility;
+
+import java.util.ArrayList;
+
+public class DeferredBlock {
+ private static ArrayList m_blocks = new ArrayList<>();
+ private static boolean m_hasRun = false;
+
+ public DeferredBlock(Runnable block) {
+ m_blocks.add(block);
+ }
+
+ public static void execute() {
+ if (m_hasRun) return;
+
+ for (Runnable block : m_blocks) {
+ block.run();
+ }
+
+ m_blocks.clear(); // for garbage collection
+ m_hasRun = true;
+ }
+}
diff --git a/src/main/java/frc4388/utility/Gains.java b/src/main/java/frc4388/utility/Gains.java
new file mode 100644
index 0000000..7a3a026
--- /dev/null
+++ b/src/main/java/frc4388/utility/Gains.java
@@ -0,0 +1,83 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility;
+
+/** Add your docs here. */
+public class Gains {
+ public double kP;
+ public double kI;
+ public double kD;
+ public double kF;
+ public int kIZone;
+ public double kPeakOutput;
+ public double kMaxOutput;
+ public double kMinOutput;
+
+ /**
+ * Creates Gains object for PIDs
+ * @param kP The P value.
+ * @param kI The I value.
+ * @param kD The D value.
+ * @param kF The F value.
+ * @param kIZone The zone of the I value.
+ * @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
+ */
+ public Gains(double kP, double kI, double kD, double kF, int kIZone, double kPeakOutput) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ this.kF = kF;
+ this.kIZone = kIZone;
+ this.kPeakOutput = kPeakOutput;
+ this.kMaxOutput = kPeakOutput;
+ this.kMinOutput = -kPeakOutput;
+ }
+
+ /**
+ * Creates Gains object for PIDs
+ * @param kP The P value.
+ * @param kI The I value.
+ * @param kD The D value.
+ * @param kF The F value.
+ * @param kIZone The zone of the I value.
+ */
+ public Gains(double kP, double kI, double kD, double kF, int kIZone) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ this.kF = kF;
+ this.kIZone = kIZone;
+ this.kPeakOutput = 1.0;
+ this.kMaxOutput = 1.0;
+ this.kMinOutput = -1.0;
+ }
+
+ public Gains(double kP, double kI, double kD) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ }
+
+ /**
+ * Creates Gains object for PIDs
+ * @param kP The P value.
+ * @param kI The I value.
+ * @param kD The D value.
+ * @param kF The F value.
+ * @param kIZone The zone of the I value.
+ * @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
+ * @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
+ */
+ public Gains(double kP, double kI, double kD, double kF, int kIZone, double kMaxOutput, double kMinOutput) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ this.kF = kF;
+ this.kIZone = kIZone;
+ this.kMaxOutput = kMaxOutput;
+ this.kMinOutput = kMinOutput;
+ this.kPeakOutput = (Math.abs(kMinOutput) > Math.abs(kMaxOutput)) ? Math.abs(kMinOutput) : Math.abs(kMaxOutput);
+ }
+}
\ 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..a037914
--- /dev/null
+++ b/src/main/java/frc4388/utility/RobotGyro.java
@@ -0,0 +1,200 @@
+/*----------------------------------------------------------------------------*/
+/* 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.WPI_Pigeon2;
+import com.kauailabs.navx.frc.AHRS;
+
+// import edu.wpi.first.wpilibj.GyroBase;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.math.MathUtil;
+
+/**
+ * Gyro class that allows for interchangeable use between a pigeon and a navX
+ */
+public class RobotGyro implements Gyro {
+ private RobotTime m_robotTime = RobotTime.getInstance();
+
+ private WPI_Pigeon2 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;
+
+ private double pitchZero = 0;
+ private double rollZero = 0;
+
+ /**
+ * Creates a Gyro based on a pigeon
+ * @param gyro the gyroscope to use for Gyro
+ */
+ public RobotGyro(WPI_Pigeon2 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;
+ }
+
+ /**
+ * Resets yaw, pitch, and roll.
+ */
+ public void resetZeroValues() {
+ if (!m_isGyroAPigeon) return;
+
+ pitchZero = m_pigeon.getPitch();
+ rollZero = m_pigeon.getRoll();
+ }
+
+ /**
+ * 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.calibrate();
+ } else {
+ m_navX.calibrate();
+ }
+ }
+
+ @Override
+ public void reset() {
+ resetZeroValues();
+
+ 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[] ypr = new double[3];
+ m_pigeon.getYawPitchRoll(ypr);
+
+ return new double[] {ypr[0], (ypr[1] - pitchZero), (ypr[2] - rollZero)};
+ }
+
+ @Override
+ public double getAngle() {
+ if (m_isGyroAPigeon) {
+ return getPigeonAngles()[0];
+ } else {
+ return m_navX.getAngle();
+ }
+ }
+
+ public double getYaw() {
+ return this.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 WPI_Pigeon2 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/RobotUnits.java b/src/main/java/frc4388/utility/RobotUnits.java
new file mode 100644
index 0000000..9e07312
--- /dev/null
+++ b/src/main/java/frc4388/utility/RobotUnits.java
@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility;
+
+/** Aarav's good units class (better than WPILib)
+ * @author Aarav Shah */
+
+public class RobotUnits {
+ // constants
+
+ // angle conversions
+ public static double degreesToRadians(final double degrees) {return degrees * Math.PI / 180;}
+
+ public static double radiansToDegrees(final double radians) {return radians / Math.PI * 180;}
+
+ // falcon conversions
+ public static double falconTicksToRotations(final double ticks) {return ticks / 2048;}
+
+ public static double falconRotationsToTicks(final double rotations) {return rotations * 2048;}
+
+ // distance conversions
+ public static double metersToFeet(final double meters) {return meters * 3.28084;}
+
+ public static double feetToMeters(final double feet) {return feet / 3.28084;}
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/utility/UtilityStructs.java b/src/main/java/frc4388/utility/UtilityStructs.java
new file mode 100644
index 0000000..e8b10cc
--- /dev/null
+++ b/src/main/java/frc4388/utility/UtilityStructs.java
@@ -0,0 +1,12 @@
+package frc4388.utility;
+
+public class UtilityStructs {
+ public static class TimedOutput {
+ public double leftX = 0.0;
+ public double leftY = 0.0;
+ public double rightX = 0.0;
+ public double rightY = 0.0;
+
+ public long timedOffset = 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..8c2fe88
--- /dev/null
+++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
@@ -0,0 +1,68 @@
+package frc4388.utility.controller;
+
+import edu.wpi.first.wpilibj2.command.button.Button;
+
+/**
+ * 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.old b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old
new file mode 100644
index 0000000..8fcbf53
--- /dev/null
+++ b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old
@@ -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.old b/src/test/java/frc4388/utility/RobotGyroUtilityTest.old
new file mode 100644
index 0000000..8c0b1e5
--- /dev/null
+++ b/src/test/java/frc4388/utility/RobotGyroUtilityTest.old
@@ -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.old b/src/test/java/frc4388/utility/RobotTimeUtilityTest.old
new file mode 100644
index 0000000..2c31a34
--- /dev/null
+++ b/src/test/java/frc4388/utility/RobotTimeUtilityTest.old
@@ -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/NavX.json b/vendordeps/NavX.json
new file mode 100644
index 0000000..33d81f6
--- /dev/null
+++ b/vendordeps/NavX.json
@@ -0,0 +1,39 @@
+{
+ "fileName": "NavX.json",
+ "name": "KauaiLabs_navX_FRC",
+ "version": "2023.0.4",
+ "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+ "mavenUrls": [
+ "https://dev.studica.com/maven/release/2023/"
+ ],
+ "jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-frc-java",
+ "version": "2023.0.4"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-frc-cpp",
+ "version": "2023.0.4",
+ "headerClassifier": "headers",
+ "sourcesClassifier": "sources",
+ "sharedLibrary": false,
+ "libName": "navx_frc",
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena",
+ "linuxraspbian",
+ "linuxarm32",
+ "linuxarm64",
+ "linuxx86-64",
+ "osxuniversal",
+ "windowsx86-64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
new file mode 100644
index 0000000..614dc3a
--- /dev/null
+++ b/vendordeps/Phoenix.json
@@ -0,0 +1,423 @@
+{
+ "fileName": "Phoenix.json",
+ "name": "CTRE-Phoenix (v5)",
+ "version": "5.31.0+23.2.2",
+ "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": "5.31.0"
+ },
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "wpiapi-java",
+ "version": "5.31.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "cci",
+ "version": "5.31.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "cci-sim",
+ "version": "5.31.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonFX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "wpiapi-cpp",
+ "version": "5.31.0",
+ "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": "5.31.0",
+ "libName": "CTRE_Phoenix",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix",
+ "artifactId": "cci",
+ "version": "5.31.0",
+ "libName": "CTRE_PhoenixCCI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "23.2.2",
+ "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": "5.31.0",
+ "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": "5.31.0",
+ "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": "5.31.0",
+ "libName": "CTRE_PhoenixCCISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "23.2.2",
+ "libName": "CTRE_PhoenixTools_Sim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonFX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "23.2.2",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "23.2.2",
+ "libName": "CTRE_SimCANCoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimProTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "23.2.2",
+ "libName": "CTRE_SimProCANcoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "23.2.2",
+ "libName": "CTRE_SimProPigeon2",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
new file mode 100644
index 0000000..bd535bf
--- /dev/null
+++ b/vendordeps/WPILibNewCommands.json
@@ -0,0 +1,37 @@
+{
+ "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
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
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..c940b75
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,42 @@
+{
+ "fileName": "photonlib.json",
+ "name": "photonlib",
+ "version": "v2024.1.1-beta-3.2",
+ "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+ "frcYear": "2024",
+ "mavenUrls": [
+ "https://maven.photonvision.org/repository/internal",
+ "https://maven.photonvision.org/repository/snapshots"
+ ],
+ "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "PhotonLib-cpp",
+ "version": "v2024.1.1-beta-3.2",
+ "libName": "Photon",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxathena",
+ "linuxx86-64",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "PhotonLib-java",
+ "version": "v2024.1.1-beta-3.2"
+ },
+ {
+ "groupId": "org.photonvision",
+ "artifactId": "PhotonTargeting-java",
+ "version": "v2024.1.1-beta-3.2"
+ }
+ ]
+}
\ No newline at end of file