mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-08 16:28:03 -06:00
Janky working prototype, Most code removed, Using phoenix 6
This commit is contained in:
Michael Mikovsky
@@ -13,10 +13,10 @@ jobs:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v1
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- name: Set up JDK 1.8
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- name: Set up JDK 17
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uses: actions/setup-java@v1
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with:
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java-version: 1.12
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java-version: 17
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- name: Change wrapper permissions
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run: chmod +x ./gradlew
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- name: Build with Gradle
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@@ -170,3 +170,11 @@ out/
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# Simulation GUI and other tools window save file
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*-window.json
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# Simulation data log directory
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logs/
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# Folder that has CTRE Phoenix Sim device config storage
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ctre_sim/
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simgui.json
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simgui-ds.json
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@@ -1,6 +1,6 @@
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{
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"enableCppIntellisense": false,
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"currentLanguage": "java",
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"projectYear": "2023",
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"projectYear": "2024",
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"teamNumber": 4388
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}
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+1
-1
@@ -1,4 +1,4 @@
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Copyright (c) 2009-2021 FIRST and other WPILib contributors
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Copyright (c) 2009-2023 FIRST and other WPILib contributors
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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Binary file not shown.
Binary file not shown.
+12
-10
@@ -1,10 +1,12 @@
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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2023.4.3"
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id "edu.wpi.first.GradleRIO" version "2024.3.1"
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}
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sourceCompatibility = JavaVersion.VERSION_11
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targetCompatibility = JavaVersion.VERSION_11
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java {
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sourceCompatibility = JavaVersion.VERSION_17
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targetCompatibility = JavaVersion.VERSION_17
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}
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def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
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@@ -65,15 +67,14 @@ dependencies {
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nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
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simulationRelease wpi.sim.enableRelease()
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testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
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testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
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testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
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//testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
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//testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
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}
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test {
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useJUnitPlatform()
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systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
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}
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// test {
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// useJUnitPlatform()
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// systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
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//}
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// Simulation configuration (e.g. environment variables).
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wpi.sim.addGui().defaultEnabled = true
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@@ -84,6 +85,7 @@ wpi.sim.addDriverstation()
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// knows where to look for our Robot Class.
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jar {
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from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
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from sourceSets.main.allSource
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manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
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duplicatesStrategy = DuplicatesStrategy.INCLUDE
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}
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Vendored
BIN
Binary file not shown.
+3
-1
@@ -1,5 +1,7 @@
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distributionBase=GRADLE_USER_HOME
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distributionPath=permwrapper/dists
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distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
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distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
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networkTimeout=10000
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validateDistributionUrl=true
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zipStoreBase=GRADLE_USER_HOME
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zipStorePath=permwrapper/dists
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|
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@@ -55,7 +55,7 @@
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# Darwin, MinGW, and NonStop.
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#
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||||
# (3) This script is generated from the Groovy template
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# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
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||||
# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
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||||
# within the Gradle project.
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||||
#
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||||
# You can find Gradle at https://github.com/gradle/gradle/.
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||||
@@ -80,13 +80,11 @@ do
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esac
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||||
done
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APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
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APP_NAME="Gradle"
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# This is normally unused
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# shellcheck disable=SC2034
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APP_BASE_NAME=${0##*/}
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||||
|
||||
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
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DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
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# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
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APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
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# Use the maximum available, or set MAX_FD != -1 to use that value.
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MAX_FD=maximum
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@@ -133,22 +131,29 @@ location of your Java installation."
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fi
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else
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JAVACMD=java
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which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
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if ! command -v java >/dev/null 2>&1
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then
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die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
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||||
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||||
Please set the JAVA_HOME variable in your environment to match the
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||||
location of your Java installation."
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fi
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fi
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# Increase the maximum file descriptors if we can.
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if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
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case $MAX_FD in #(
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max*)
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# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
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# shellcheck disable=SC2039,SC3045
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MAX_FD=$( ulimit -H -n ) ||
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warn "Could not query maximum file descriptor limit"
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esac
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case $MAX_FD in #(
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||||
'' | soft) :;; #(
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*)
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||||
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
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||||
# shellcheck disable=SC2039,SC3045
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ulimit -n "$MAX_FD" ||
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warn "Could not set maximum file descriptor limit to $MAX_FD"
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esac
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||||
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
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||||
done
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||||
fi
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||||
|
||||
# Collect all arguments for the java command;
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||||
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
|
||||
# shell script including quotes and variable substitutions, so put them in
|
||||
# double quotes to make sure that they get re-expanded; and
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||||
# * put everything else in single quotes, so that it's not re-expanded.
|
||||
|
||||
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
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||||
|
||||
# Collect all arguments for the java command:
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||||
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
|
||||
# and any embedded shellness will be escaped.
|
||||
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
|
||||
# treated as '${Hostname}' itself on the command line.
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||||
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set -- \
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"-Dorg.gradle.appname=$APP_BASE_NAME" \
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Vendored
+1
@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
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|
||||
set DIRNAME=%~dp0
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if "%DIRNAME%"=="" set DIRNAME=.
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@rem This is normally unused
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set APP_BASE_NAME=%~n0
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set APP_HOME=%DIRNAME%
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||||
|
||||
|
||||
@@ -0,0 +1 @@
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||||
[]
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||||
+4
-1
@@ -4,7 +4,7 @@ pluginManagement {
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repositories {
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mavenLocal()
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gradlePluginPortal()
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String frcYear = '2023'
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String frcYear = '2024'
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File frcHome
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if (OperatingSystem.current().isWindows()) {
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String publicFolder = System.getenv('PUBLIC')
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||||
@@ -25,3 +25,6 @@ pluginManagement {
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||||
}
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||||
}
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||||
}
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||||
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Properties props = System.getProperties();
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||||
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
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||||
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||||
@@ -7,10 +7,10 @@
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||||
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package frc4388.robot;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.trajectory.TrapezoidProfile;
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import frc4388.utility.LEDPatterns;
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import frc4388.utility.Gains;
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||||
import frc4388.utility.LEDPatterns;
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||||
|
||||
/**
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* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
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||||
@@ -23,40 +23,51 @@ import frc4388.utility.Gains;
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public final class Constants {
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public static final class SwerveDriveConstants {
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public static final double MAX_ROT_SPEED = 1.5;
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public static final double MIN_ROT_SPEED = 0.8;
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public static final double MAX_ROT_SPEED = 3.5;
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public static final double AUTO_MAX_ROT_SPEED = 1.5;
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public static final double MIN_ROT_SPEED = 1.0;
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public static double ROTATION_SPEED = MAX_ROT_SPEED;
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public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
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public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
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|
||||
public static final String CANBUS_NAME = "IDK";
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|
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public static final double CORRECTION_MIN = 10;
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public static final double CORRECTION_MAX = 50;
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public static final double SLOW_SPEED = 0.8;
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public static final double SLOW_SPEED = 0.5;
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public static final double FAST_SPEED = 1.0;
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public static final double TURBO_SPEED = 4.0;
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|
||||
public static final class DefaultSwerveRotOffsets {
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public static final double FRONT_LEFT_ROT_OFFSET = 220;
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public static final double FRONT_RIGHT_ROT_OFFSET = 136.365;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
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public static final double BACK_LEFT_ROT_OFFSET = -279.08349884;
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public static final double BACK_RIGHT_ROT_OFFSET = 140.8887656;
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||||
}
|
||||
|
||||
public static final class IDs {
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||||
public static final int LEFT_FRONT_WHEEL_ID = 2;
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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 = 0;
|
||||
public static final int RIGHT_FRONT_STEER_ID = 1;
|
||||
public static final int RIGHT_FRONT_ENCODER_ID = 12;
|
||||
|
||||
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_FRONT_WHEEL_ID = 4;
|
||||
// public static final int LEFT_FRONT_STEER_ID = 5;
|
||||
// public static final int LEFT_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 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 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 Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
|
||||
}
|
||||
|
||||
public static final class AutoConstants {
|
||||
@@ -112,29 +123,40 @@ public final class Constants {
|
||||
}
|
||||
|
||||
public static final class VisionConstants {
|
||||
public static final String NAME = "photonCamera";
|
||||
// public static final String NAME = "photonCamera";
|
||||
|
||||
public static final int LIME_HIXELS = 640;
|
||||
public static final int LIME_VIXELS = 480;
|
||||
// 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 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 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 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 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 double APRIL_HEIGHT = -1.0; // TODO: find actual value
|
||||
|
||||
public static final Translation2d RedSpeakerCenter = new Translation2d(7.914259, -3.221609);
|
||||
public static final Translation2d BlueSpeakerCenter = new Translation2d(-8.308975, 1.442593);
|
||||
|
||||
public static final double SpeakerBubbleDistance = 3;
|
||||
public static final double targetPosDistance = 1.5;
|
||||
|
||||
}
|
||||
|
||||
public static final class AutoAlignConstants {
|
||||
public static final double MoveSpeed = 0.0;
|
||||
public static final double RotSpeed = 0.0;
|
||||
}
|
||||
|
||||
public static final class DriveConstants {
|
||||
public static final int DRIVE_PIGEON_ID = 6;
|
||||
public static final int DRIVE_PIGEON_ID = 14;
|
||||
|
||||
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
|
||||
}
|
||||
@@ -145,6 +167,34 @@ public final class Constants {
|
||||
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
|
||||
}
|
||||
|
||||
public static final class ShooterConstants {
|
||||
public static final int LEFT_SHOOTER_ID = 15; // final
|
||||
public static final int RIGHT_SHOOTER_ID = 16; // final
|
||||
public static final double SHOOTER_SPEED = 0.50; // final
|
||||
public static final double SHOOTER_IDLE = 0.20; // final
|
||||
public static final double SHOOTER_IDLE_LIMELIGHT = 0.20;
|
||||
}
|
||||
|
||||
public static final class IntakeConstants {
|
||||
public static final int INTAKE_MOTOR_ID = 18;
|
||||
public static final int PIVOT_MOTOR_ID = 17;
|
||||
public static final double INTAKE_SPEED = 0.75;
|
||||
public static final double INTAKE_OUT_SPEED_UNPRESSED = 1.0;
|
||||
public static final double INTAKE_OUT_SPEED_PRESSED = 0.5;
|
||||
public static final double HANDOFF_SPEED = 0.4;
|
||||
public static final double PIVOT_SPEED = 0.2;
|
||||
|
||||
public static final class ArmPID {
|
||||
public static final Gains INTAKE_GAINS = new Gains(0.05, 0, 0, 0, 0, 1.0);
|
||||
}
|
||||
}
|
||||
|
||||
public static final class ClimbConstants {
|
||||
public static final int CLIMB_MOTOR_ID = 19;
|
||||
public static final double CLIMB_IN_SPEED = -1.0;
|
||||
public static final double CLIMB_OUT_SPEED = 0.87;
|
||||
}
|
||||
|
||||
public static final class OIConstants {
|
||||
public static final int XBOX_DRIVER_ID = 0;
|
||||
public static final int XBOX_OPERATOR_ID = 1;
|
||||
|
||||
@@ -7,12 +7,14 @@
|
||||
|
||||
package frc4388.robot;
|
||||
|
||||
import edu.wpi.first.cameraserver.CameraServer;
|
||||
|
||||
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;
|
||||
|
||||
//import frc4388.robot.subsystems.LED;
|
||||
/**
|
||||
* The VM is configured to automatically run this class, and to call the
|
||||
* functions corresponding to each mode, as described in the TimedRobot
|
||||
@@ -25,13 +27,14 @@ public class Robot extends TimedRobot {
|
||||
|
||||
private RobotTime m_robotTime = RobotTime.getInstance();
|
||||
private RobotContainer m_robotContainer;
|
||||
|
||||
//private LED mled = new LED();
|
||||
/**
|
||||
* 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();
|
||||
@@ -40,7 +43,7 @@ public class Robot extends TimedRobot {
|
||||
/**
|
||||
* 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.
|
||||
* autonomous, teleoperated and test.doubl
|
||||
*
|
||||
* <p>This runs after the mode specific periodic functions, but before
|
||||
* LiveWindow and SmartDashboard integrated updating.
|
||||
@@ -48,6 +51,8 @@ public class Robot extends TimedRobot {
|
||||
@Override
|
||||
public void robotPeriodic() {
|
||||
m_robotTime.updateTimes();
|
||||
//System.out.println(m_robotContainer.limelight.isNearSpeaker());
|
||||
//mled.updateLED();
|
||||
// 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
|
||||
@@ -119,7 +124,7 @@ public class Robot extends TimedRobot {
|
||||
*/
|
||||
@Override
|
||||
public void teleopPeriodic() {
|
||||
|
||||
m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@@ -7,20 +7,50 @@
|
||||
|
||||
package frc4388.robot;
|
||||
|
||||
// Drive Systems
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.cameraserver.CameraServer;
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
import edu.wpi.first.wpilibj.Joystick;
|
||||
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
import frc4388.robot.Constants.OIConstants;
|
||||
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||
import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
|
||||
// Commands
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||
import frc4388.robot.Constants.*;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.WaitCommand;
|
||||
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
|
||||
|
||||
// Autos
|
||||
import frc4388.robot.commands.Autos.PlaybackChooser;
|
||||
import frc4388.robot.commands.Swerve.JoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.JoystickRecorder;
|
||||
import frc4388.robot.subsystems.LED;
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
|
||||
// import frc4388.robot.commands.Intake.ArmIntakeIn;
|
||||
//import frc4388.robot.commands.Autos.AutoAlign;
|
||||
|
||||
// Subsystems
|
||||
// import frc4388.robot.subsystems.LED;
|
||||
// import frc4388.robot.subsystems.Limelight;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.LEDPatterns;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
import frc4388.utility.controller.IHandController;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
// import frc4388.robot.subsystems.Shooter;
|
||||
// import frc4388.robot.subsystems.Climber;
|
||||
// import frc4388.robot.subsystems.Intake;
|
||||
|
||||
// Utilites
|
||||
import frc4388.utility.DeferredBlock;
|
||||
import frc4388.utility.configurable.ConfigurableString;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since
|
||||
@@ -31,34 +61,160 @@ import frc4388.utility.controller.XboxController;
|
||||
*/
|
||||
public class RobotContainer {
|
||||
/* RobotMap */
|
||||
private final RobotMap m_robotMap = new RobotMap();
|
||||
public final RobotMap m_robotMap = new RobotMap();
|
||||
|
||||
/* Subsystems */
|
||||
private final LED m_robotLED = new LED(m_robotMap.LEDController);
|
||||
// private final LED m_robotLED = new LED();
|
||||
|
||||
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
m_robotMap.rightFront,
|
||||
m_robotMap.leftBack,
|
||||
m_robotMap.rightBack,
|
||||
m_robotMap.gyro);
|
||||
// private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
|
||||
|
||||
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
// m_robotMap.rightFront,
|
||||
// m_robotMap.leftBack,
|
||||
// m_robotMap.rightBack,
|
||||
|
||||
// m_robotMap.gyro);
|
||||
/* Limelight */
|
||||
// private final Limelight limelight = new Limelight();
|
||||
|
||||
// private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
|
||||
|
||||
// private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
|
||||
|
||||
/* Controllers */
|
||||
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
|
||||
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
|
||||
// private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
|
||||
|
||||
|
||||
/* Virtual Controllers */
|
||||
// private final VirtualController m_virtualDriver = new VirtualController(0);
|
||||
// private final VirtualController m_virtualOperator = new VirtualController(1);
|
||||
|
||||
// private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
|
||||
// private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
|
||||
|
||||
// private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotIntake.PIDIn()),
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// // new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
|
||||
// // new InstantCommand(() -> m_robotShooter.spin())
|
||||
// );
|
||||
|
||||
|
||||
// ! Teleop Commands
|
||||
|
||||
//private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
|
||||
|
||||
// private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
|
||||
// // MoveToSpeaker,
|
||||
// //autoAlign,
|
||||
// new InstantCommand(() -> m_robotShooter.spin()),
|
||||
// new WaitCommand(3.0),
|
||||
// new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
|
||||
// new WaitCommand(3.0),
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// // new InstantCommand(() -> autoAlign.reverse()),
|
||||
// // autoAlign.asProxy()
|
||||
// );
|
||||
|
||||
|
||||
// private SequentialCommandGroup i = new SequentialCommandGroup(
|
||||
// intakeToShootStuff, intakeToShoot,
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
// new WaitCommand(0.75),
|
||||
// new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
|
||||
// // new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
|
||||
// interrupt,
|
||||
// new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
|
||||
// new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotIntake.ampPosition()),
|
||||
// new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
|
||||
// );
|
||||
|
||||
// ! /* Autos */
|
||||
// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
|
||||
// private String lastAutoName = "final_red_center_4note_taxi.auto";
|
||||
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
|
||||
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// () -> autoplaybackName.get(), // lastAutoName
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false);
|
||||
|
||||
|
||||
// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
|
||||
// .addOption("Taxi Auto", taxi.asProxy())
|
||||
// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
|
||||
// .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
|
||||
// // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
|
||||
// // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
|
||||
// .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
|
||||
// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
|
||||
// .buildDisplay();
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||
*/
|
||||
public RobotContainer() {
|
||||
configureButtonBindings();
|
||||
configureVirtualButtonBindings();
|
||||
// new Trigger(() -> autoplaybackName.get().equals(lastAutoName)).onTrue(new InstantCommand(() -> changeAuto()));
|
||||
// new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
|
||||
|
||||
/* Default Commands */
|
||||
// drives the robot with a two-axis input from the driver controller
|
||||
|
||||
// DriverStation.silenceJoystickConnectionWarning(true);
|
||||
// // CameraServer.startAutomaticCapture();
|
||||
|
||||
// /* Default Commands */
|
||||
// // drives the robot with a two-axis input from the driver controller
|
||||
// ! Swerve Drive Default Command (Regular Rotation)
|
||||
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
|
||||
// }
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
|
||||
// getDeadbandedDriverController().getRight(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive)
|
||||
// .withName("SwerveDrive DefaultCommand"));
|
||||
// m_robotSwerveDrive.setToSlow();
|
||||
|
||||
// ! Swerve Drive Default Command (Orientation Rotation)
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
|
||||
// getDeadbandedDriverController().getRightX(),
|
||||
// getDeadbandedDriverController().getRightY(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive)
|
||||
// .withName("SwerveDrive OrientationCommand"));
|
||||
// continually sends updates to the Blinkin LED controller to keep the lights on
|
||||
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
|
||||
}
|
||||
|
||||
// private void changeAuto() {
|
||||
// autoPlayback.unloadAuto();
|
||||
// autoPlayback.loadAuto();
|
||||
// lastAutoName = autoplaybackName.get();
|
||||
// System.out.println("AUTO: Changed auto to; `" + lastAutoName + "`");
|
||||
// }
|
||||
/**
|
||||
* Use this method to define your button->command mappings. Buttons can be
|
||||
* created by instantiating a {@link GenericHID} or one of its subclasses
|
||||
@@ -66,26 +222,191 @@ public class RobotContainer {
|
||||
* 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
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// * /* D-Pad Stuff */
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// ! /* Auto Recording */
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
// () -> autoplaybackName.get()))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// () -> autoplaybackName.get(),
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
// () -> getDeadbandedDriverController().getLeftX(),
|
||||
// () -> getDeadbandedDriverController().getLeftY(),
|
||||
// () -> getDeadbandedDriverController().getRightX(),
|
||||
// () -> getDeadbandedDriverController().getRightY(),
|
||||
// "Blue1Path.txt"))
|
||||
// "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// ! /* Speed */
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
||||
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
|
||||
// .whileTrue(new InstantCommand(() ->
|
||||
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true), m_robotSwerveDrive));
|
||||
|
||||
|
||||
//? /* Operator Buttons */
|
||||
|
||||
// new Joystick(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotMap.rightFront.go(new Translation2d())));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
|
||||
// .onTrue(emergencyRetract);
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
|
||||
|
||||
// // Override Intake Position encoder: in
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
|
||||
// .onFalse(turnOffShoot);
|
||||
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(i)
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
|
||||
|
||||
// //spins up shooter, no wind down
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
// // DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// // .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
|
||||
// // .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// .onTrue(emergencyRetract);
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
|
||||
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
|
||||
*/
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
|
||||
* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
|
||||
* Auto Recording controls : We don't want an Null Ouroboros for an auto.
|
||||
*/
|
||||
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
|
||||
* We don't need it in an auto.
|
||||
* Climbing controls : We don't need to climb in auto.
|
||||
*/
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
/* Operator Buttons */
|
||||
// activates "Lit Mode"
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
|
||||
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
|
||||
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -95,7 +416,19 @@ public class RobotContainer {
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
//no auto
|
||||
return new InstantCommand();
|
||||
// return autoPlayback;
|
||||
//return playbackChooser.getCommand();
|
||||
return new Command() {};
|
||||
}
|
||||
|
||||
/**
|
||||
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
|
||||
* @param joystickA A controller
|
||||
* @param joystickB A controller
|
||||
* @param buttonNumber The button to bind to
|
||||
*/
|
||||
public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
|
||||
return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -108,4 +441,12 @@ public class RobotContainer {
|
||||
public DeadbandedXboxController getDeadbandedOperatorController() {
|
||||
return this.m_operatorXbox;
|
||||
}
|
||||
|
||||
// public VirtualController getVirtualDriverController() {
|
||||
// return m_virtualDriver;
|
||||
// }
|
||||
|
||||
// public VirtualController getVirtualOperatorController() {
|
||||
// return m_virtualOperator;
|
||||
// }
|
||||
}
|
||||
|
||||
@@ -7,16 +7,20 @@
|
||||
|
||||
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.CANCoder;
|
||||
import com.ctre.phoenix.sensors.PigeonIMU;
|
||||
import com.ctre.phoenix.sensors.WPI_Pigeon2;
|
||||
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
// import com.ctre.phoenix.sensors.CANCoder;
|
||||
// import com.ctre.phoenix.sensors.WPI_Pigeon2;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
|
||||
import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
||||
import frc4388.robot.Constants.LEDConstants;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.robot.Constants.ShooterConstants;
|
||||
import frc4388.robot.Constants.ClimbConstants;
|
||||
import frc4388.robot.Constants.IntakeConstants;
|
||||
import frc4388.robot.subsystems.SwerveModule;
|
||||
import frc4388.utility.RobotGyro;
|
||||
|
||||
@@ -25,8 +29,8 @@ import frc4388.utility.RobotGyro;
|
||||
* testing and modularization.
|
||||
*/
|
||||
public class RobotMap {
|
||||
private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
|
||||
public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
// private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
|
||||
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule rightFront;
|
||||
@@ -39,58 +43,118 @@ public class RobotMap {
|
||||
}
|
||||
|
||||
/* LED Subsystem */
|
||||
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
||||
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
||||
|
||||
|
||||
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
|
||||
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
|
||||
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
|
||||
|
||||
/* Swreve Drive Subsystem */
|
||||
public final WPI_TalonFX leftFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
|
||||
public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
|
||||
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
|
||||
// public final WPI_TalonFX leftFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
|
||||
// public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
|
||||
// public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
|
||||
|
||||
public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
|
||||
public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
|
||||
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
|
||||
|
||||
public final WPI_TalonFX leftBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
|
||||
public final WPI_TalonFX leftBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
|
||||
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
|
||||
// public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
|
||||
// public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
|
||||
// public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
|
||||
|
||||
public final WPI_TalonFX rightBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
|
||||
public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
|
||||
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
|
||||
// public final WPI_TalonFX leftBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
|
||||
// public final WPI_TalonFX leftBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
|
||||
// public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
|
||||
|
||||
// public final WPI_TalonFX rightBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
|
||||
// public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
|
||||
// public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
|
||||
|
||||
/* Shooter Subsystem */
|
||||
// public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
|
||||
// public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
|
||||
|
||||
/* Intake Subsystem */
|
||||
// public final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID);
|
||||
// public final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID);
|
||||
|
||||
/* Climber Subsystem */
|
||||
// public final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID);
|
||||
|
||||
void configureLEDMotorControllers() {
|
||||
}
|
||||
|
||||
void configureIntakeMotorControllers() {
|
||||
// intakeMotor.getConfigurator().apply(new TalonFXConfiguration());
|
||||
// pivotMotor.getConfigurator().apply(new TalonFXConfiguration());
|
||||
}
|
||||
|
||||
void configureDriveMotorControllers() {
|
||||
// config factory default
|
||||
leftFrontWheel.configFactoryDefault();
|
||||
leftFrontSteer.configFactoryDefault();
|
||||
// leftFrontWheel.configFactoryDefault();
|
||||
// leftFrontSteer.configFactoryDefault();
|
||||
|
||||
rightFrontWheel.configFactoryDefault();
|
||||
rightFrontSteer.configFactoryDefault();
|
||||
// rightFrontWheel.configFactoryDefault();
|
||||
// rightFrontSteer.configFactoryDefault();
|
||||
|
||||
leftBackWheel.configFactoryDefault();
|
||||
leftBackSteer.configFactoryDefault();
|
||||
// leftBackWheel.configFactoryDefault();
|
||||
// leftBackSteer.configFactoryDefault();
|
||||
|
||||
rightBackWheel.configFactoryDefault();
|
||||
rightBackSteer.configFactoryDefault();
|
||||
// rightBackWheel.configFactoryDefault();
|
||||
// rightBackSteer.configFactoryDefault();
|
||||
|
||||
// set neutral mode
|
||||
leftFrontWheel.setNeutralMode(NeutralMode.Brake);
|
||||
rightFrontWheel.setNeutralMode(NeutralMode.Brake);
|
||||
leftBackWheel.setNeutralMode(NeutralMode.Brake);
|
||||
rightBackWheel.setNeutralMode(NeutralMode.Brake);
|
||||
// // config open loop ramp
|
||||
// leftFrontWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// leftFrontSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
leftFrontSteer.setNeutralMode(NeutralMode.Brake);
|
||||
rightFrontSteer.setNeutralMode(NeutralMode.Brake);
|
||||
leftBackSteer.setNeutralMode(NeutralMode.Brake);
|
||||
rightBackSteer.setNeutralMode(NeutralMode.Brake);
|
||||
// rightFrontWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// rightFrontSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// initialize SwerveModules
|
||||
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
|
||||
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
|
||||
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
|
||||
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
|
||||
// leftBackWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// leftBackSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// rightBackWheel.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// rightBackSteer.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// // config closed loop ramp
|
||||
// leftFrontWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// leftFrontSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// rightFrontWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// rightFrontSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// leftBackWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// leftBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// rightBackWheel.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// rightBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// // config neutral deadband
|
||||
// leftFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// leftFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// rightFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// rightFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// leftBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// leftBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
// rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
|
||||
|
||||
// // set neutral mode
|
||||
// leftFrontWheel.setNeutralMode(NeutralMode.Brake);
|
||||
// rightFrontWheel.setNeutralMode(NeutralMode.Brake);
|
||||
// leftBackWheel.setNeutralMode(NeutralMode.Brake);
|
||||
// rightBackWheel.setNeutralMode(NeutralMode.Brake);
|
||||
|
||||
// leftFrontSteer.setNeutralMode(NeutralMode.Brake);
|
||||
// rightFrontSteer.setNeutralMode(NeutralMode.Brake);
|
||||
// leftBackSteer.setNeutralMode(NeutralMode.Brake);
|
||||
// rightBackSteer.setNeutralMode(NeutralMode.Brake);
|
||||
|
||||
// // initialize SwerveModules
|
||||
// this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||
// this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
||||
// this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,208 @@
|
||||
// package frc4388.robot.commands.Autos;
|
||||
// import frc4388.robot.subsystems.Limelight;
|
||||
// import frc4388.robot.subsystems.SwerveDrive;
|
||||
// import frc4388.robot.Constants.AutoAlignConstants;
|
||||
// import frc4388.robot.Constants.VisionConstants;
|
||||
// import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
// import edu.wpi.first.math.geometry.Translation2d;
|
||||
// import edu.wpi.first.math.geometry.Rotation2d;
|
||||
|
||||
// import java.util.Optional;
|
||||
|
||||
// import org.opencv.core.RotatedRect;
|
||||
|
||||
// import edu.wpi.first.math.geometry.Pose2d;
|
||||
|
||||
// import edu.wpi.first.wpilibj.DriverStation;
|
||||
// import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
|
||||
// public class AutoAlign extends Command {
|
||||
// private SwerveDrive swerve;
|
||||
// private Limelight limelight;
|
||||
// private Pose2d pose;
|
||||
// private Translation2d targetPos;
|
||||
// private Rotation2d targetRot;
|
||||
|
||||
// private Optional<Alliance> alliance;
|
||||
// private boolean isRed;
|
||||
|
||||
// private boolean isFinished;
|
||||
// private boolean isReverseFinished;
|
||||
|
||||
// private boolean reverseAfterFinish;
|
||||
// private Translation2d[] moveStickReplayArr;
|
||||
// private Translation2d[] rotStickReplayArr;
|
||||
// private int replayIndex;
|
||||
|
||||
// // PID Stuff
|
||||
// private double prevError;
|
||||
// private double cumError;
|
||||
|
||||
// public AutoAlign(SwerveDrive swerve, Limelight limelight) {
|
||||
// this.swerve = swerve;
|
||||
// this.limelight = limelight;
|
||||
// }
|
||||
|
||||
// // Calc the closest point on a circle, to the center of the speaker
|
||||
// private Translation2d calcTargetPos(){
|
||||
// final double R = VisionConstants.targetPosDistance;
|
||||
// final double cX;
|
||||
// final double cY;
|
||||
// if(isRed){
|
||||
// cX = VisionConstants.RedSpeakerCenter.getX();
|
||||
// cY = VisionConstants.RedSpeakerCenter.getY();
|
||||
// }else{
|
||||
// cX = VisionConstants.BlueSpeakerCenter.getX();
|
||||
// cY = VisionConstants.BlueSpeakerCenter.getY();
|
||||
// }
|
||||
// final double pX = pose.getX();
|
||||
// final double pY = pose.getY();
|
||||
|
||||
// // Code is from https://stackoverflow.com/questions/300871/best-way-to-find-a-point-on-a-circle-closest-to-a-given-point
|
||||
// double vX = pX - cX;
|
||||
// double vY = pY - cY;
|
||||
// double magV = Math.sqrt(vX*vX + vY*vY);
|
||||
// double aX = cX + vX / magV * R;
|
||||
// double aY = cY + vY / magV * R;
|
||||
|
||||
// return new Translation2d(aX, aY);
|
||||
// }
|
||||
|
||||
// // Calculate the angle facing the center, at the target rot
|
||||
// private Rotation2d calcTargetRot() {
|
||||
// final double R = VisionConstants.targetPosDistance;
|
||||
// final double cX;
|
||||
// final double cY;
|
||||
// if(isRed){
|
||||
// cX = VisionConstants.RedSpeakerCenter.getX();
|
||||
// cY = VisionConstants.RedSpeakerCenter.getY();
|
||||
// }else{
|
||||
// cX = VisionConstants.BlueSpeakerCenter.getX();
|
||||
// cY = VisionConstants.BlueSpeakerCenter.getY();
|
||||
// }
|
||||
// final double pX = pose.getX();
|
||||
// final double pY = pose.getY();
|
||||
|
||||
// final double dX = pX - cX;
|
||||
// final double dY = pY - cY;
|
||||
|
||||
// final double yaw = ((Math.atan2(dX, dY)*360/Math.PI) % 360);
|
||||
|
||||
// return Rotation2d.fromDegrees(yaw);
|
||||
// }
|
||||
|
||||
// // Clamp to a circle, like an xbox controller
|
||||
// private Translation2d clamp(double oldX, double oldY){
|
||||
// // Code is from https://stackoverflow.com/questions/74329985/how-can-i-clamp-a-position-to-a-circley
|
||||
// final double alpha = (Math.atan2(oldX, -oldY) * 180 / Math.PI + 360) % 360;
|
||||
// final double maxX = Math.abs(Math.cos(alpha / 180 * Math.PI));
|
||||
// final double maxY = Math.abs(Math.sin(alpha / 180 * Math.PI));
|
||||
|
||||
// final double newX = Math.max(-maxX, Math.min(maxX, oldX));
|
||||
// final double newY = Math.max(-maxY, Math.min(maxY, oldY));
|
||||
|
||||
// return new Translation2d(newX, newY);
|
||||
// }
|
||||
|
||||
// private Translation2d calcMoveStick(){
|
||||
// final double curX = pose.getX();
|
||||
// final double curY = pose.getY();
|
||||
|
||||
// // I think this might work, assuming the constants are good
|
||||
// double stickX = -(curX - targetPos.getX()) * AutoAlignConstants.MoveSpeed;
|
||||
// double stickY = -(curY - targetPos.getY()) * AutoAlignConstants.MoveSpeed;
|
||||
|
||||
// return clamp(stickX, stickY);
|
||||
// }
|
||||
|
||||
// private Translation2d calcRotStick(){
|
||||
// double error = pose.getRotation().getDegrees() - targetRot.getDegrees();
|
||||
// cumError += error * .02; // 20 ms
|
||||
// double delta = error - prevError;
|
||||
|
||||
// final double kP = 4;
|
||||
// final double kI = 4;
|
||||
// final double kD = 4;
|
||||
// final double kF = 4;
|
||||
|
||||
// double output = error * kP;
|
||||
// output += cumError * kI;
|
||||
// output += delta * kD;
|
||||
// output += kF;
|
||||
|
||||
// prevError = error;
|
||||
// return clamp(output, 0);
|
||||
// }
|
||||
|
||||
// public void reverse() {
|
||||
// this.reverseAfterFinish = true;
|
||||
// }
|
||||
|
||||
// // Called when the command is initially scheduled.
|
||||
// @Override
|
||||
// public final void initialize() {
|
||||
// isRed = alliance.get() == DriverStation.Alliance.Red;
|
||||
// if(reverseAfterFinish){
|
||||
// // isReverseFinished = false;
|
||||
// replayIndex = 0;
|
||||
// }else{
|
||||
// moveStickReplayArr = new Translation2d[]{};
|
||||
// rotStickReplayArr = new Translation2d[]{};
|
||||
// }
|
||||
// }
|
||||
|
||||
// // Called every time the scheduler runs while the command is scheduled.
|
||||
// @Override
|
||||
// public void execute() {
|
||||
// // Update limelight pos
|
||||
// pose = limelight.getPose();
|
||||
|
||||
// // These must be 0, or it will error
|
||||
// Translation2d moveStick = new Translation2d(0, 0);
|
||||
// Translation2d rotStick = new Translation2d(0, 0);
|
||||
|
||||
// // Regular replay
|
||||
// if(!isFinished){
|
||||
// targetPos = calcTargetPos();
|
||||
// targetRot = calcTargetRot();
|
||||
|
||||
// moveStick = calcMoveStick();
|
||||
// rotStick = calcRotStick();
|
||||
|
||||
// // This is a way of appending...
|
||||
// moveStickReplayArr[moveStickReplayArr.length] = moveStick;
|
||||
// rotStickReplayArr[rotStickReplayArr.length] = rotStick;
|
||||
|
||||
// // if(isFinished != limelight.isNearSpeaker() && isReverseFinished){
|
||||
// // replayIndex
|
||||
// // }
|
||||
// isFinished = limelight.isNearSpeaker();
|
||||
|
||||
// // If reverseAfterFinish, then loop back over and replay in reverse
|
||||
// }else if(reverseAfterFinish && !isReverseFinished){
|
||||
// // Get reverse direction
|
||||
// moveStick = moveStickReplayArr[replayIndex-moveStickReplayArr.length-1];
|
||||
// rotStick = rotStickReplayArr[replayIndex-rotStickReplayArr.length-1];
|
||||
|
||||
// // Invert sticks
|
||||
// moveStick = new Translation2d(moveStick.getX()*-1, moveStick.getY()*-1);
|
||||
// rotStick = new Translation2d(rotStick.getX()*-1, rotStick.getY()*-1);
|
||||
|
||||
// replayIndex++;
|
||||
|
||||
// if(replayIndex >= moveStickReplayArr.length){
|
||||
// reverseAfterFinish = true;
|
||||
// }
|
||||
// }
|
||||
|
||||
// // This would greatly benifit from having feild Relative implemented.
|
||||
// swerve.driveWithInput(moveStick, rotStick, true);
|
||||
// }
|
||||
|
||||
// // Returns true when the command should end.
|
||||
// @Override
|
||||
// public final boolean isFinished() {
|
||||
// return isFinished && (isReverseFinished || !reverseAfterFinish);
|
||||
// }
|
||||
// }
|
||||
@@ -42,6 +42,7 @@ public class PlaybackChooser {
|
||||
m_playback = m_choosers.get(0);
|
||||
nextChooser();
|
||||
|
||||
// ! This does not work, why?
|
||||
Shuffleboard.getTab("Auto Chooser")
|
||||
.add("Add Sequence", new InstantCommand(() -> nextChooser()))
|
||||
.withPosition(4, 0);
|
||||
@@ -66,9 +67,15 @@ public class PlaybackChooser {
|
||||
public void nextChooser() {
|
||||
SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
|
||||
|
||||
for (String auto : m_dir.list()) {
|
||||
String[] dirs = m_dir.list();
|
||||
|
||||
if(dirs != null){ // Fix funny error
|
||||
for (String auto : dirs) {
|
||||
chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (var cmd_name : m_commandPool.keySet()) {
|
||||
chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
|
||||
}
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
AUTO file format
|
||||
|
||||
HEADER static size 0x5
|
||||
0x00 BYTE NUM AXES: defualts to 6
|
||||
0x01 BYTE NUM POV: defualts to 1
|
||||
0x02 BYTE NUM CONTROLLERS: defualts to 2
|
||||
0x03 SHORT FRAMES: any value greator or equal than one.
|
||||
|
||||
FRAME PER CONTROLLER: defualt size 0x34
|
||||
0x00 DOUBLE AXES[NUM AXES]
|
||||
0x30 SHORT BUTTONS
|
||||
0x32 SHORT POVs[NUM POV]
|
||||
|
||||
FRAME: size varrys
|
||||
FRAME PER CONTROLLER[NUM CONTROLLERS]
|
||||
INT UNIXTIMESTAMP
|
||||
|
||||
FILE:
|
||||
HEADER
|
||||
FRAME[FRAMES]
|
||||
@@ -0,0 +1,107 @@
|
||||
// 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.commands.Swerve.neoJoystickPlayback;
|
||||
// import frc4388.robot.subsystems.SwerveDrive;
|
||||
// import frc4388.utility.controller.VirtualController;
|
||||
|
||||
// public class neoPlaybackChooser {
|
||||
// private final SendableChooser<String> m_teamChosser = new SendableChooser<String>();
|
||||
// private final SendableChooser<String> m_possitionChosser = new SendableChooser<String>();
|
||||
// private final SendableChooser<String> m_autoNameChosser = new SendableChooser<String>();
|
||||
|
||||
// private final SwerveDrive m_swerve;
|
||||
// private final VirtualController[] m_controllers;
|
||||
// // private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
|
||||
// // private SendableChooser<Command> m_playback = null;
|
||||
// private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
|
||||
// // private final HashMap<String, Command> m_commandPool = new HashMap<>();
|
||||
|
||||
// // private final File m_dir = new File("/home/lvuser/autos/");
|
||||
// // private int m_cmdNum = 0;
|
||||
|
||||
// // commands
|
||||
// private Command m_noAuto = new InstantCommand();
|
||||
|
||||
// public neoPlaybackChooser(SwerveDrive swerve, VirtualController[] controllers) {
|
||||
// m_teamChosser.addOption("Red", "red");
|
||||
// m_teamChosser.setDefaultOption("Blue", "blue");
|
||||
// m_teamChosser.addOption("Nuetral", "nuetral");
|
||||
// m_possitionChosser.addOption("AMP", "amp");
|
||||
// m_possitionChosser.setDefaultOption("Center", "center");
|
||||
// m_possitionChosser.addOption("Source", "source");
|
||||
// m_swerve = swerve;
|
||||
// m_controllers = controllers;
|
||||
// }
|
||||
|
||||
// public neoPlaybackChooser addOption(String name, String option) {
|
||||
// m_autoNameChosser.addOption(name, option);
|
||||
// return this;
|
||||
// }
|
||||
|
||||
// // public PlaybackChooser buildDisplay() {
|
||||
// // for (int i = 0; i < 10; i++) {
|
||||
// // appendCommand();
|
||||
// // }
|
||||
// // m_playback = m_choosers.get(0);
|
||||
// // nextChooser();
|
||||
|
||||
// // // ! This does not work, why?
|
||||
// // 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 render() {
|
||||
// // var chooser = new SendableChooser<Command>();
|
||||
// // // chooser.setDefaultOption("No Auto", m_noAuto);
|
||||
|
||||
// // m_choosers.add(chooser);
|
||||
// ComplexWidget widget = Shuffleboard.getTab("Neo Auto Chooser")
|
||||
// .add("Command: " + m_choosers.size(), chooser)
|
||||
// .withSize(4, 1)
|
||||
// .withPosition(0, m_choosers.size() - 1)
|
||||
// .withWidget(BuiltInWidgets.kSplitButtonChooser)
|
||||
// .withWidget(BuiltInWidgets.kComboBoxChooser);
|
||||
|
||||
|
||||
// m_widgets.add(widget);
|
||||
// }
|
||||
|
||||
// // public void nextChooser() {
|
||||
// // SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
|
||||
|
||||
// // String[] dirs = m_dir.list();
|
||||
|
||||
// // if(dirs != null){ // Fix funny error
|
||||
// // for (String auto : dirs) {
|
||||
// // 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 String autoName() {
|
||||
// return m_teamChosser.getSelected() + "_" + m_possitionChosser.getSelected() + "_" + m_autoNameChosser.getSelected() + ".auto";
|
||||
// }
|
||||
|
||||
// public Command getCommand() {
|
||||
// return new neoJoystickPlayback(m_swerve, autoName(), m_controllers, true, true);
|
||||
// }
|
||||
// }
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package frc4388.robot.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
public abstract class PID extends CommandBase {
|
||||
public abstract class PID extends Command {
|
||||
protected Gains gains;
|
||||
private double output = 0;
|
||||
private double tolerance = 0;
|
||||
|
||||
@@ -119,7 +119,11 @@ public class JoystickPlayback extends CommandBase {
|
||||
// new Translation2d(out.rightX, out.rightY),
|
||||
// true);
|
||||
|
||||
this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
|
||||
// this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
|
||||
// new Translation2d(lerpRX, lerpRY),
|
||||
// true);
|
||||
|
||||
this.swerve.playbackDriveWithInput( new Translation2d(lerpLX, lerpLY),
|
||||
new Translation2d(lerpRX, lerpRY),
|
||||
true);
|
||||
|
||||
|
||||
@@ -64,11 +64,11 @@ public class JoystickRecorder extends CommandBase {
|
||||
|
||||
outputs.add(inputs);
|
||||
|
||||
swerve.driveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
|
||||
swerve.playbackDriveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
|
||||
new Translation2d(inputs.rightX, inputs.rightY),
|
||||
true);
|
||||
|
||||
System.out.println("RECORDING");
|
||||
//System.out.println("RECORDING");
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
|
||||
@@ -0,0 +1,197 @@
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileInputStream;
|
||||
import java.util.ArrayList;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.DataUtils;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
|
||||
|
||||
/**
|
||||
* The NEO autonomus playback system, designed based the old {@link JoystickPlayback} System but with {@link VirtualController}s
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class neoJoystickPlayback extends Command {
|
||||
private final SwerveDrive swerve;
|
||||
private final VirtualController[] controllers;
|
||||
private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
|
||||
private final Supplier<String> filenameGetter;
|
||||
private String filename;
|
||||
private int frame_index = 0;
|
||||
private long startTime = 0;
|
||||
private long playbackTime = 0;
|
||||
private boolean m_finished = false; // ! There is no better way.
|
||||
private boolean m_shouldfree = false; // should free memory on ending
|
||||
|
||||
private byte m_numAxes = 0;
|
||||
private byte m_numPOVs = 0;
|
||||
private byte m_numControllers = 0;
|
||||
private short m_numFrames = -1;
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param shouldfree Unloads the auto on compleation or intruption.
|
||||
* @param instantload Load the auto on object instantiation
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
|
||||
this.swerve = swerve;
|
||||
this.filenameGetter = filenameGetter;
|
||||
this.controllers = controllers;
|
||||
this.m_shouldfree = shouldfree;
|
||||
|
||||
if (instantload) loadAuto();
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filename a String containing the name of the auto file you wish to playback.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param shouldfree unloads the auto on compleation or intruption.
|
||||
* @param instantload load the auto on object instantiation
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
|
||||
this(swerve, () -> filename, controllers, shouldfree, instantload);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers) {
|
||||
this(swerve, filenameGetter, controllers, true, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filename a String containing the name of the auto file you wish to playback.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers) {
|
||||
this(swerve, () -> filename, controllers, true, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* Load the auto file from disk into memory
|
||||
* @return Returns true if loading was successful, else wise; return false
|
||||
* @implNote if the auto is already loaded, it will return true.
|
||||
*/
|
||||
public boolean loadAuto() {
|
||||
filename = filenameGetter.get();
|
||||
try (FileInputStream stream = new FileInputStream("/home/lvuser/autos/" + filename)) {
|
||||
if (m_numFrames != -1 && m_numFrames == frames.size()) {
|
||||
System.out.println("AUTOPLAYBACK: Auto Already loaded.");
|
||||
return true;
|
||||
}
|
||||
|
||||
m_numAxes = stream.readNBytes(1)[0];
|
||||
m_numPOVs = stream.readNBytes(1)[0];
|
||||
m_numControllers = stream.readNBytes(1)[0];
|
||||
m_numFrames = DataUtils.byteArrayToShort(stream.readNBytes(2));
|
||||
|
||||
if (m_numControllers > controllers.length) {
|
||||
System.out.println("AUTOPLAYBACK: The auto file `" + filename + "` wants " + m_numControllers
|
||||
+ " virtual controllers but only " + controllers.length + " were given");
|
||||
return false;
|
||||
}
|
||||
|
||||
for (int i = 0; i < m_numFrames; i++) {
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
for (int j = 0; j < m_numControllers; j++) {
|
||||
AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame();
|
||||
double[] axes = new double[m_numAxes];
|
||||
for (int k = 0; k < m_numAxes; k++) { // we love third level for loops.
|
||||
axes[k] = DataUtils.byteArrayToDouble(stream.readNBytes(8));
|
||||
}
|
||||
short button = DataUtils.byteArrayToShort(stream.readNBytes(2));
|
||||
short[] POV = new short[m_numPOVs];
|
||||
for (int k = 0; k < m_numPOVs; k++) {
|
||||
POV[k] = DataUtils.byteArrayToShort(stream.readNBytes(2));
|
||||
}
|
||||
controllerFrame.axes = axes;
|
||||
controllerFrame.button = button;
|
||||
controllerFrame.POV = POV;
|
||||
frame.controllerFrames[j] = controllerFrame;
|
||||
}
|
||||
frame.timeStamp = DataUtils.byteArrayToInt(stream.readNBytes(4));
|
||||
frames.add(frame);
|
||||
}
|
||||
|
||||
System.out.println("AUTOPLAYBACK: Read Auto `" + filename + "` that is " + m_numFrames + " frames long");
|
||||
return true;
|
||||
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
System.out.println("AUTOPLAYBACK: Unable to read auto file `" + filename + '`');
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Unloads the auto.
|
||||
*/
|
||||
public void unloadAuto() {
|
||||
System.out.println("AUTOPLAYBACK: Auto unloaded");
|
||||
frames.clear();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
startTime = System.currentTimeMillis();
|
||||
playbackTime = 0;
|
||||
frame_index = 0;
|
||||
|
||||
m_finished = !loadAuto();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
if (frame_index >= m_numFrames) m_finished = true;
|
||||
if (m_finished) return;
|
||||
|
||||
// if (frame_index == 0) {
|
||||
// startTime = System.currentTimeMillis();
|
||||
// playbackTime = 0;
|
||||
// } else {
|
||||
// playbackTime = System.currentTimeMillis() - startTime;
|
||||
// }
|
||||
|
||||
AutoRecordingFrame frame = frames.get(frame_index);
|
||||
for (int i = 0; i < controllers.length; i++) {
|
||||
AutoRecordingControllerFrame controllerFrame = frame.controllerFrames[i];
|
||||
controllers[i].setFrame(controllerFrame.axes, controllerFrame.button, controllerFrame.POV);
|
||||
if (i == 0) {
|
||||
this.swerve.driveWithInput(
|
||||
new Translation2d(controllers[i].getRawAxis(0), controllers[i].getRawAxis(1)),
|
||||
new Translation2d(controllers[i].getRawAxis(4), controllers[i].getRawAxis(5)),
|
||||
true);
|
||||
}
|
||||
}
|
||||
frame_index++;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
for (VirtualController controller : controllers) controller.zeroControls();
|
||||
swerve.stopModules();
|
||||
if (m_shouldfree) unloadAuto();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return m_finished;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,129 @@
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileOutputStream;
|
||||
import java.util.ArrayList;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.DataUtils;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
|
||||
/**
|
||||
* The NEO autonomus recording system, designed based the old {@link JoystickRecorder} System but with {@link frc4388.utility.controller.VirtualController VirtualController}s
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class neoJoystickRecorder extends Command {
|
||||
private final SwerveDrive swerve;
|
||||
private final XboxController[] controllers;
|
||||
private String filename;
|
||||
private final Supplier<String> filenameGetter;
|
||||
private long startTime = -1;
|
||||
private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
|
||||
*/
|
||||
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, Supplier<String> filenameGetter) {
|
||||
this.swerve = swerve;
|
||||
this.controllers = controllers;
|
||||
this.filenameGetter = filenameGetter;
|
||||
this.filename = "";
|
||||
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param filename a String containing the name of the auto file you wish to playback.
|
||||
*/
|
||||
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, String filename) {
|
||||
this(swerve, controllers, () -> filename);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
frames.clear();
|
||||
|
||||
this.startTime = System.currentTimeMillis();
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
frame.controllerFrames = new AutoRecordingControllerFrame[] {new AutoRecordingControllerFrame(), new AutoRecordingControllerFrame()};
|
||||
frames.add(frame);
|
||||
this.filename = this.filenameGetter.get();
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
System.out.println("AUTORECORD: RECORDING");
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
frame.timeStamp = (int) (System.currentTimeMillis() - startTime);
|
||||
for (int i = 0; i < controllers.length; i++) {
|
||||
XboxController controller = controllers[i];
|
||||
AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame();
|
||||
double[] axes = {controller.getLeftX(), controller.getLeftY(),
|
||||
controller.getLeftTriggerAxis(), controller.getRightTriggerAxis(),
|
||||
controller.getRightX(), controller.getRightY()};
|
||||
short button = 0;
|
||||
for (int j = 0; j < 10; j++)
|
||||
if (controller.getRawButton(j+1))
|
||||
button |= 1 << j;
|
||||
short[] POV = {(short)(controller.getPOV())};
|
||||
controllerFrame.axes = axes;
|
||||
controllerFrame.button = button;
|
||||
controllerFrame.POV = POV;
|
||||
frame.controllerFrames[i] = controllerFrame;
|
||||
}
|
||||
|
||||
frames.add(frame);
|
||||
|
||||
swerve.driveWithInput(new Translation2d(frame.controllerFrames[0].axes[0], frame.controllerFrames[0].axes[1]),
|
||||
new Translation2d(frame.controllerFrames[0].axes[4], frame.controllerFrames[0].axes[5]),
|
||||
true); // Really jank way of doing this.
|
||||
|
||||
}
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
try (FileOutputStream stream = new FileOutputStream("/home/lvuser/autos/" + filename)) {
|
||||
// header: size of 0x5
|
||||
// byte Number of axes per controller
|
||||
// byte Number of POVs per controller
|
||||
// byte Number of controllers
|
||||
// short Number of frames
|
||||
stream.write(new byte[]{6, 1, (byte) controllers.length});
|
||||
stream.write(DataUtils.shortToByteArray((short) frames.size()));
|
||||
|
||||
// frame
|
||||
// controller frame * number of controllers
|
||||
// int unix time stamp.
|
||||
for (AutoRecordingFrame frame : frames) {
|
||||
// controller frame
|
||||
// double axis * Number of axes per controller
|
||||
// short button states
|
||||
// short POV * Number of POVs per controller
|
||||
for (AutoRecordingControllerFrame controllerFrame: frame.controllerFrames) {
|
||||
for (double axis: controllerFrame.axes) {
|
||||
stream.write(DataUtils.doubleToByteArray(axis));
|
||||
}
|
||||
stream.write(DataUtils.shortToByteArray(controllerFrame.button));
|
||||
for (short POV: controllerFrame.POV) {
|
||||
stream.write(DataUtils.shortToByteArray(POV));
|
||||
}
|
||||
}
|
||||
stream.write(DataUtils.intToByteArray(frame.timeStamp));
|
||||
}
|
||||
System.out.println("AUTORECORD: Wrote auto `" + filename + "` that is " + frames.size() + " frames long.");
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -4,15 +4,16 @@
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
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.wpilibj.smartdashboard.SmartDashboard;
|
||||
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 {
|
||||
|
||||
@@ -24,17 +25,20 @@ public class SwerveDrive extends SubsystemBase {
|
||||
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 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 speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // * slow by default
|
||||
public double rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||
public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
|
||||
|
||||
public double rotTarget = 0.0;
|
||||
public Rotation2d orientRotTarget = new Rotation2d();
|
||||
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
|
||||
|
||||
/** Creates a new SwerveDrive. */
|
||||
@@ -51,14 +55,51 @@ public class SwerveDrive extends SubsystemBase {
|
||||
|
||||
boolean stopped = false;
|
||||
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
rightFront.go(leftStick);
|
||||
// if (fieldRelative) {
|
||||
|
||||
// double rot = 0;
|
||||
|
||||
// // ! drift correction
|
||||
// if (rightStick.getNorm() > 0.05) {
|
||||
// rotTarget = gyro.getAngle();
|
||||
// rot = rightStick.getX();
|
||||
// // 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(), -1 * speed.getY(), rightStick.getX() * rotSpeedAdjust, gyro.getRotation2d());//.times(-1));
|
||||
// } else { // Create robot-relative speeds.
|
||||
// chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
|
||||
// }
|
||||
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
}
|
||||
|
||||
public void playbackDriveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
if (fieldRelative) {
|
||||
|
||||
double rot = 0;
|
||||
|
||||
// ! drift correction
|
||||
if (rightStick.getNorm() > 0.05) {
|
||||
rotTarget = gyro.getAngle();
|
||||
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
|
||||
SmartDashboard.putBoolean("drift correction", false);
|
||||
// SmartDashboard.putBoolean("drift correction", false);
|
||||
stopped = false;
|
||||
} else if(leftStick.getNorm() > 0.05) {
|
||||
if (!stopped) {
|
||||
@@ -66,36 +107,63 @@ public class SwerveDrive extends SubsystemBase {
|
||||
stopped = true;
|
||||
}
|
||||
|
||||
SmartDashboard.putBoolean("drift correction", 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 speed = leftStick.times(leftStick.getNorm() * autoSpeedAdjust);
|
||||
// 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);
|
||||
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
|
||||
} else { // Create robot-relative speeds.
|
||||
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED);
|
||||
}
|
||||
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
}
|
||||
|
||||
public void driveWithInputOrientation(Translation2d leftStick, double rightX, double rightY, boolean fieldRelative) {
|
||||
|
||||
Translation2d rightStick = new Translation2d(-rightX, rightY);
|
||||
|
||||
if(fieldRelative) {
|
||||
double rot = 0;
|
||||
if(rightStick.getNorm() > 0.5) {
|
||||
orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
|
||||
|
||||
Rotation2d tmp = orientRotTarget.minus(gyro.getRotation2d().minus(new Rotation2d(Math.PI)).interpolate(orientRotTarget, 0.5));
|
||||
double min = tmp.getDegrees();
|
||||
min = Math.max(Math.abs(min), 2);
|
||||
if(tmp.getDegrees() < 0)
|
||||
min*=-1;
|
||||
tmp = new Rotation2d(min * Math.PI / 180);
|
||||
rot = tmp.getRadians(); // x x - y/x
|
||||
}
|
||||
|
||||
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
|
||||
|
||||
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d()).times(1);
|
||||
} else { // Create robot-relative speeds.
|
||||
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * 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 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();
|
||||
@@ -114,9 +182,30 @@ public class SwerveDrive extends SubsystemBase {
|
||||
return gyro.getAngle();
|
||||
}
|
||||
|
||||
public void add180() {
|
||||
gyro.reset(gyro.getAngle()+180);
|
||||
rotTarget = gyro.getAngle();
|
||||
|
||||
}
|
||||
|
||||
public void resetGyro() {
|
||||
gyro.reset();
|
||||
rotTarget = 0.0;
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyroFlip() {
|
||||
gyro.resetFlip();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyroRightBlue() {
|
||||
gyro.resetRightSideBlue();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyroRightAmp() {
|
||||
gyro.resetAmpSide();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void stopModules() {
|
||||
@@ -129,10 +218,15 @@ public class SwerveDrive extends SubsystemBase {
|
||||
return this.kinematics;
|
||||
}
|
||||
|
||||
public boolean getSpeedState() {
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run\
|
||||
SmartDashboard.putNumber("Gyro", getGyroAngle());
|
||||
// SmartDashboard.putNumber("Gyro", getGyroAngle());
|
||||
}
|
||||
|
||||
public void shiftDown() {
|
||||
@@ -142,6 +236,7 @@ public class SwerveDrive extends SubsystemBase {
|
||||
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
|
||||
} else {
|
||||
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -192,4 +287,14 @@ public class SwerveDrive extends SubsystemBase {
|
||||
}
|
||||
}
|
||||
|
||||
public void shiftUpRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
|
||||
}
|
||||
|
||||
public void shiftDownRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -4,56 +4,92 @@
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
// import javax.swing.text.StyleContext.SmallAttributeSet;
|
||||
|
||||
// import com.ctre.phoenix.ErrorCode;
|
||||
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 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 com.ctre.phoenix.sensors.SensorInitializationStrategy;
|
||||
|
||||
import com.ctre.phoenix6.Utils;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.controls.DutyCycleOut;
|
||||
import com.ctre.phoenix6.controls.Follower;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.InvertedValue;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
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.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.utility.Gains;
|
||||
// import frc4388.utility.configurable.ConfigurableDouble;
|
||||
|
||||
public class SwerveModule extends SubsystemBase {
|
||||
private WPI_TalonFX driveMotor;
|
||||
private WPI_TalonFX angleMotor;
|
||||
private CANCoder encoder;
|
||||
|
||||
private TalonFX driveMotor;
|
||||
private TalonFX angleMotor;
|
||||
private CANcoder encoder;
|
||||
// private int selfid;
|
||||
// private ConfigurableDouble offsetGetter;
|
||||
private static int swerveId = 0;
|
||||
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
|
||||
|
||||
|
||||
/** Creates a new SwerveModule. */
|
||||
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
|
||||
public SwerveModule(TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
|
||||
this.driveMotor = driveMotor;
|
||||
this.angleMotor = angleMotor;
|
||||
this.encoder = encoder;
|
||||
// // this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
|
||||
// this.selfid = swerveId;
|
||||
// swerveId++;
|
||||
// TalonFXConfiguration angleConfig = new TalonFXConfiguration();
|
||||
// angleConfig.slot0.kP = swerveGains.kP;
|
||||
// angleConfig.slot0.kI = swerveGains.kI;
|
||||
// angleConfig.slot0.kD = swerveGains.kD;
|
||||
|
||||
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);
|
||||
|
||||
// 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.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
|
||||
// reset(0);
|
||||
// encoder.configMagnetOffset(offset);
|
||||
|
||||
encoder.configMagnetOffset(offset);
|
||||
|
||||
driveMotor.setSelectedSensorPosition(0);
|
||||
driveMotor.config_kP(0, 0.2);
|
||||
// driveMotor.setSelectedSensorPosition(0);
|
||||
// driveMotor.config_kP(0, 0.2);
|
||||
}
|
||||
|
||||
public void go(Translation2d leftStick){
|
||||
System.out.println(leftStick.getY());
|
||||
driveMotor.set(leftStick.getY());
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
//encoder.configMagnetOffset(offsetGetter.get());
|
||||
//SmartDashboard.putString("Error Code: " + selfid, getstuff());
|
||||
// SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees());
|
||||
// SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel());
|
||||
// SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos());
|
||||
// SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel());
|
||||
}
|
||||
/**
|
||||
* Get the drive motor of the SwerveModule
|
||||
* @return the drive motor of the SwerveModule
|
||||
*/
|
||||
public WPI_TalonFX getDriveMotor() {
|
||||
public TalonFX getDriveMotor() {
|
||||
return this.driveMotor;
|
||||
}
|
||||
|
||||
@@ -61,7 +97,7 @@ public class SwerveModule extends SubsystemBase {
|
||||
* Get the angle motor of the SwerveModule
|
||||
* @return the angle motor of the SwerveModule
|
||||
*/
|
||||
public WPI_TalonFX getAngleMotor() {
|
||||
public TalonFX getAngleMotor() {
|
||||
return this.angleMotor;
|
||||
}
|
||||
|
||||
@@ -69,7 +105,7 @@ public class SwerveModule extends SubsystemBase {
|
||||
* Get the CANcoder of the SwerveModule
|
||||
* @return the CANcoder of the SwerveModule
|
||||
*/
|
||||
public CANCoder getEncoder() {
|
||||
public CANcoder getEncoder() {
|
||||
return this.encoder;
|
||||
}
|
||||
|
||||
@@ -79,19 +115,23 @@ public class SwerveModule extends SubsystemBase {
|
||||
*/
|
||||
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());
|
||||
// return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
|
||||
return new Rotation2d();
|
||||
}
|
||||
|
||||
public double getAngularVel() {
|
||||
return this.angleMotor.getSelectedSensorVelocity();
|
||||
// return this.angleMotor.getSelectedSensorVelocity();
|
||||
return 0;
|
||||
}
|
||||
|
||||
public double getDrivePos() {
|
||||
return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
|
||||
// return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
|
||||
return 0;
|
||||
}
|
||||
|
||||
public double getDriveVel() {
|
||||
return this.driveMotor.getSelectedSensorVelocity(0);
|
||||
// return this.driveMotor.getSelectedSensorVelocity(0);
|
||||
return 0.0;
|
||||
}
|
||||
|
||||
public void stop() {
|
||||
@@ -100,62 +140,67 @@ public class SwerveModule extends SubsystemBase {
|
||||
}
|
||||
|
||||
public void rotateToAngle(double angle) {
|
||||
angleMotor.set(TalonFXControlMode.Position, 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()
|
||||
);
|
||||
}
|
||||
// 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());
|
||||
}
|
||||
// */
|
||||
// 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();
|
||||
// */
|
||||
// public void setDesiredState(SwerveModuleState desiredState) {
|
||||
// Rotation2d currentRotation = this.getAngle();
|
||||
|
||||
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
// 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 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;
|
||||
// // 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();
|
||||
// // convert the CANCoder from its position reading to ticks
|
||||
// double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
|
||||
|
||||
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
|
||||
// angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
|
||||
|
||||
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
// 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()));
|
||||
}
|
||||
// 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()));
|
||||
// }
|
||||
|
||||
// public String getstuff() {
|
||||
// encoder.getPosition();
|
||||
// return "" + encoder.getLastError().value;
|
||||
// }
|
||||
}
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
package frc4388.utility;
|
||||
|
||||
import java.nio.ByteBuffer;
|
||||
|
||||
public class DataUtils {
|
||||
public static byte[] doubleToByteArray(double value) {
|
||||
byte[] bytes = new byte[8];
|
||||
ByteBuffer.wrap(bytes).putDouble(value);
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static double byteArrayToDouble(byte[] bytes) {
|
||||
return ByteBuffer.wrap(bytes).getDouble();
|
||||
}
|
||||
|
||||
public static byte[] intToByteArray(int value) {
|
||||
byte[] bytes = new byte[4];
|
||||
ByteBuffer.wrap(bytes).putInt(value);
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static int byteArrayToInt(byte[] bytes) {
|
||||
return ByteBuffer.wrap(bytes).getInt();
|
||||
}
|
||||
|
||||
public static byte[] shortToByteArray(short value) {
|
||||
byte[] bytes = new byte[2];
|
||||
ByteBuffer.wrap(bytes).putShort(value);
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static short byteArrayToShort(byte[] bytes) {
|
||||
return ByteBuffer.wrap(bytes).getShort();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,22 @@
|
||||
package frc4388.utility;
|
||||
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
|
||||
|
||||
/**
|
||||
* A button binding for two controllers, preferably an {@link frc4388.utility.controller.DeadbandedXboxController Xbox Controller} and {@link frc4388.utility.controller.VirtualController Virtual Xbox Controller}
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class DualJoystickButton extends Trigger {
|
||||
|
||||
/**
|
||||
* Creates an Button binding on two controllers
|
||||
* @param joystickA A controller
|
||||
* @param joystickB A controller
|
||||
* @param buttonNumber The button to bind to
|
||||
*/
|
||||
public DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
|
||||
super(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
|
||||
}
|
||||
}
|
||||
@@ -86,11 +86,12 @@ public class RobotGyro implements Gyro {
|
||||
*/
|
||||
@Override
|
||||
public void calibrate() {
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.calibrate();
|
||||
} else {
|
||||
m_navX.calibrate();
|
||||
}
|
||||
return;
|
||||
// if (m_isGyroAPigeon) {
|
||||
// m_pigeon.calibrate();
|
||||
// } else {
|
||||
// m_navX.calibrate();
|
||||
// }
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -102,6 +103,73 @@ public class RobotGyro implements Gyro {
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void reset(double val) {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(val);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetFlip() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(180);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetNinety() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(90);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetTwoSeventy() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(270);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetRightSideBlue() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(60);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetAmpSide() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(-60);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@@ -7,6 +7,20 @@ public class UtilityStructs {
|
||||
public double rightX = 0.0;
|
||||
public double rightY = 0.0;
|
||||
|
||||
public boolean OPLB;
|
||||
public boolean OPRB;
|
||||
|
||||
|
||||
public long timedOffset = 0;
|
||||
}
|
||||
public static class AutoRecordingControllerFrame {
|
||||
public double[] axes = new double[6];
|
||||
public short button = 0;
|
||||
public short[] POV = new short[1];
|
||||
|
||||
}
|
||||
public static class AutoRecordingFrame {
|
||||
public AutoRecordingControllerFrame[] controllerFrames = new AutoRecordingControllerFrame[2];
|
||||
public int timeStamp;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
package frc4388.utility.configurable;
|
||||
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
public class ConfigurableDouble {
|
||||
private double defualtValue;
|
||||
private String name;
|
||||
|
||||
/**
|
||||
* Creates an new ConfigurableDouble through Smart Dashboard.
|
||||
* @param name the name of the Smart Dashboard key.
|
||||
* @param defualtValue the initilization value
|
||||
*/
|
||||
public ConfigurableDouble(String name, double defualtValue) {
|
||||
this.name = name;
|
||||
this.defualtValue = defualtValue;
|
||||
SmartDashboard.putNumber(name, defualtValue);
|
||||
}
|
||||
|
||||
public double get() {
|
||||
return SmartDashboard.getNumber(name, defualtValue);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
package frc4388.utility.configurable;
|
||||
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
public class ConfigurableString {
|
||||
private String defualtValue;
|
||||
private String name;
|
||||
|
||||
/**
|
||||
* Creates an new ConfigurableString through Smart Dashboard.
|
||||
* @param name the name of the Smart Dashboard key.
|
||||
* @param defualtValue the initilization value
|
||||
*/
|
||||
public ConfigurableString(String name, String defualtValue) {
|
||||
this.name = name;
|
||||
this.defualtValue = defualtValue;
|
||||
SmartDashboard.putString(name, defualtValue);
|
||||
}
|
||||
|
||||
public String get() {
|
||||
return SmartDashboard.getString(name, defualtValue);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,145 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
|
||||
/**
|
||||
* A virtual controller that can be bound like an standard controller.
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class VirtualController extends GenericHID {
|
||||
private short m_buttonStates = 0;
|
||||
private short m_buttonStatesLastFrame = 0;
|
||||
private double[] m_axes = new double[6];
|
||||
private short[] m_pov = new short[1];
|
||||
|
||||
/**
|
||||
* Create an virtual controller
|
||||
* @param port virtual port (merely a formality).
|
||||
*/
|
||||
public VirtualController(int port) {
|
||||
super(port);
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the curent inputs to the new frames.
|
||||
* @param axes joystick axes, (i.e. joysticks and triggers).
|
||||
* @param buttonFlags the bit packed button states.
|
||||
* @param pov the array of dpads.
|
||||
*/
|
||||
public void setFrame(double[] axes, short buttonFlags, short[] pov) {
|
||||
m_axes = axes;
|
||||
setOutputs(buttonFlags);
|
||||
m_pov = pov;
|
||||
}
|
||||
|
||||
/**
|
||||
* Zero outs the controls.
|
||||
*/
|
||||
public void zeroControls() {
|
||||
m_axes = new double[6];
|
||||
m_buttonStates = 0;
|
||||
m_buttonStatesLastFrame = 0;
|
||||
m_pov = new short[] {-1};
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the value of a bitflag from an int
|
||||
* @param value int to search
|
||||
* @param index index of bit
|
||||
* @return if the bit is set
|
||||
*/
|
||||
public static boolean getFlag(int value, int index) {
|
||||
return ((value & 1 << index) != 0);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean getRawButton(int button) { // man why are buttons indexed at 1.
|
||||
return getFlag(m_buttonStates, button - 1);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean getRawButtonPressed(int button) {
|
||||
return (!getFlag(m_buttonStatesLastFrame, button - 1) && getRawButton(button));
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean getRawButtonReleased(int button) {
|
||||
return (getFlag(m_buttonStatesLastFrame, button - 1) && !getRawButton(button));
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getRawAxis(int axis) {
|
||||
return m_axes[axis];
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getPOV(int pov) {
|
||||
return m_pov[pov];
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getAxisCount() {
|
||||
return m_axes.length;
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getPOVCount() {
|
||||
return m_pov.length;
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getButtonCount() {
|
||||
return 10;
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isConnected() {
|
||||
return true;
|
||||
}
|
||||
|
||||
@Override
|
||||
public HIDType getType() {
|
||||
return HIDType.kXInputGamepad;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "Virtual Controller";
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getAxisType(int axis) {
|
||||
return 1; /* ! Warning, does not return accurate data.
|
||||
Hopefully this isn't a problem */
|
||||
}
|
||||
|
||||
/**
|
||||
* Use {@link VirtualController#setFrame} or {@link VirtualController#setOutputs}.
|
||||
* this is an no-op overide.
|
||||
*/
|
||||
@Override
|
||||
public void setOutput(int outputNumber, boolean value) {
|
||||
// do not use
|
||||
//m_buttonStatesLastFrame[outputNumber - 1] = m_buttonStates[outputNumber - 1];
|
||||
//m_buttonStates[outputNumber - 1] = value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set buttons from a packed int, if you want to set joysticks and dpad use {@link VirtualController#SetFrame}
|
||||
*/
|
||||
@Override
|
||||
public void setOutputs(int value) {
|
||||
m_buttonStatesLastFrame = m_buttonStates;
|
||||
m_buttonStates = (short) value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Why are you Setting rumble on an virtual controller?
|
||||
* @param type the rumble type (even though it won't do anything)
|
||||
* @param value the rumble strength (always multiplyed by 0.0)
|
||||
*/
|
||||
@Override
|
||||
public void setRumble(RumbleType type, double value) {
|
||||
System.out.println("Why are you Setting rumble on an virtual controller?");
|
||||
}
|
||||
}
|
||||
@@ -1,13 +1,13 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.button.Button;
|
||||
//import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
|
||||
/**
|
||||
* 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 class XboxTriggerButton {//extends Trigger {
|
||||
public static final int RIGHT_TRIGGER = 0;
|
||||
public static final int LEFT_TRIGGER = 1;
|
||||
public static final int RIGHT_AXIS_UP_TRIGGER = 2;
|
||||
|
||||
@@ -1,17 +1,18 @@
|
||||
{
|
||||
"fileName": "NavX.json",
|
||||
"name": "KauaiLabs_navX_FRC",
|
||||
"version": "2023.0.4",
|
||||
"name": "NavX",
|
||||
"version": "2024.1.0",
|
||||
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
||||
"frcYear": "2024",
|
||||
"mavenUrls": [
|
||||
"https://dev.studica.com/maven/release/2023/"
|
||||
"https://dev.studica.com/maven/release/2024/"
|
||||
],
|
||||
"jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
|
||||
"jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.kauailabs.navx.frc",
|
||||
"artifactId": "navx-frc-java",
|
||||
"version": "2023.0.4"
|
||||
"version": "2024.1.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
@@ -19,7 +20,7 @@
|
||||
{
|
||||
"groupId": "com.kauailabs.navx.frc",
|
||||
"artifactId": "navx-frc-cpp",
|
||||
"version": "2023.0.4",
|
||||
"version": "2024.1.0",
|
||||
"headerClassifier": "headers",
|
||||
"sourcesClassifier": "sources",
|
||||
"sharedLibrary": false,
|
||||
|
||||
@@ -0,0 +1,151 @@
|
||||
{
|
||||
"fileName": "Phoenix5.json",
|
||||
"name": "CTRE-Phoenix (v5)",
|
||||
"version": "5.33.1",
|
||||
"frcYear": 2024,
|
||||
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
|
||||
"mavenUrls": [
|
||||
"https://maven.ctr-electronics.com/release/"
|
||||
],
|
||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
|
||||
"requires": [
|
||||
{
|
||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||
"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
|
||||
"offlineFileName": "Phoenix6.json",
|
||||
"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
|
||||
}
|
||||
],
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-java",
|
||||
"version": "5.33.1"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "5.33.1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.33.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.33.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "5.33.1",
|
||||
"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": "5.33.1",
|
||||
"libName": "CTRE_Phoenix",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.33.1",
|
||||
"libName": "CTRE_PhoenixCCI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "5.33.1",
|
||||
"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": "5.33.1",
|
||||
"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": "5.33.1",
|
||||
"libName": "CTRE_PhoenixCCISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,339 @@
|
||||
{
|
||||
"fileName": "Phoenix6.json",
|
||||
"name": "CTRE-Phoenix (v6)",
|
||||
"version": "24.3.0",
|
||||
"frcYear": 2024,
|
||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||
"mavenUrls": [
|
||||
"https://maven.ctr-electronics.com/release/"
|
||||
],
|
||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
|
||||
"conflictsWith": [
|
||||
{
|
||||
"uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
|
||||
"errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
|
||||
"offlineFileName": "Phoenix6And5.json"
|
||||
}
|
||||
],
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "24.3.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonFX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_Phoenix6_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_PhoenixTools",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_Phoenix6_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"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": "24.3.0",
|
||||
"libName": "CTRE_SimProPigeon2",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -3,6 +3,7 @@
|
||||
"name": "WPILib-New-Commands",
|
||||
"version": "1.0.0",
|
||||
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
||||
"frcYear": "2024",
|
||||
"mavenUrls": [],
|
||||
"jsonUrl": "",
|
||||
"javaDependencies": [
|
||||
|
||||
Reference in New Issue
Block a user