From 248284ef69cb435cfde386dbfb5e6c43b2844b47 Mon Sep 17 00:00:00 2001 From: C4llSqin <83995467+C4llSqin@users.noreply.github.com> Date: Sat, 4 Jan 2025 16:09:10 -0700 Subject: [PATCH] Initial commit --- .gitattributes | 2 + .github/workflows/gradle.yml | 23 ++ .gitignore | 187 +++++++++ .vscode/launch.json | 21 + .vscode/settings.json | 60 +++ .wpilib/wpilib_preferences.json | 6 + README.md | 2 + WPILib-License.md | 24 ++ build.gradle | 104 +++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 252 ++++++++++++ gradlew.bat | 94 +++++ networktables.json | 1 + settings.gradle | 30 ++ simgui-ds.json | 92 +++++ src/main/deploy/example.txt | 3 + src/main/java/frc4388/robot/Constants.java | 156 +++++++ src/main/java/frc4388/robot/Main.java | 29 ++ src/main/java/frc4388/robot/Robot.java | 231 +++++++++++ .../java/frc4388/robot/RobotContainer.java | 245 +++++++++++ src/main/java/frc4388/robot/RobotMap.java | 65 +++ .../frc4388/robot/commands/Autos/Taxi.txt | 225 ++++++++++ .../Autos/neo AutoRecoding format.txt | 20 + .../commands/Autos/neoPlaybackChooser.java | 107 +++++ src/main/java/frc4388/robot/commands/PID.java | 60 +++ .../robot/commands/Swerve/RotateToAngle.java | 35 ++ .../commands/Swerve/neoJoystickPlayback.java | 197 +++++++++ .../commands/Swerve/neoJoystickRecorder.java | 129 ++++++ .../frc4388/robot/subsystems/DiffDrive.java | 112 +++++ .../java/frc4388/robot/subsystems/LED.java | 90 ++++ .../frc4388/robot/subsystems/SwerveDrive.java | 364 ++++++++++++++++ .../robot/subsystems/SwerveModule.java | 280 +++++++++++++ src/main/java/frc4388/utility/AprilTag.java | 13 + src/main/java/frc4388/utility/CanDevice.java | 57 +++ src/main/java/frc4388/utility/DataUtils.java | 35 ++ .../java/frc4388/utility/DeferredBlock.java | 23 ++ src/main/java/frc4388/utility/Gains.java | 83 ++++ .../java/frc4388/utility/LEDPatterns.java | 45 ++ src/main/java/frc4388/utility/RobotGyro.java | 269 ++++++++++++ src/main/java/frc4388/utility/RobotTime.java | 79 ++++ src/main/java/frc4388/utility/RobotUnits.java | 27 ++ src/main/java/frc4388/utility/Status.java | 81 ++++ src/main/java/frc4388/utility/Subsystem.java | 25 ++ .../java/frc4388/utility/UtilityStructs.java | 26 ++ .../configurable/ConfigurableDouble.java | 23 ++ .../configurable/ConfigurableString.java | 23 ++ .../controller/DeadbandedXboxController.java | 27 ++ .../utility/controller/IHandController.java | 21 + .../utility/controller/VirtualController.java | 145 +++++++ .../utility/controller/XboxController.java | 218 ++++++++++ .../utility/controller/XboxTriggerButton.java | 68 +++ .../java/frc4388/mocks/MockPigeonIMU.java.old | 54 +++ .../robot/subsystems/LEDSubsystemTest.old | 59 +++ .../frc4388/utility/RobotGyroUtilityTest.old | 184 +++++++++ .../frc4388/utility/RobotTimeUtilityTest.old | 104 +++++ vendordeps/NavX.json | 40 ++ vendordeps/Phoenix6-25.1.0.json | 389 ++++++++++++++++++ vendordeps/WPILibNewCommands.json | 38 ++ 59 files changed, 5409 insertions(+) create mode 100644 .gitattributes create mode 100644 .github/workflows/gradle.yml create mode 100644 .gitignore create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 README.md create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100755 gradlew create mode 100644 gradlew.bat create mode 100644 networktables.json create mode 100644 settings.gradle create mode 100644 simgui-ds.json create mode 100644 src/main/deploy/example.txt create mode 100644 src/main/java/frc4388/robot/Constants.java create mode 100644 src/main/java/frc4388/robot/Main.java create mode 100644 src/main/java/frc4388/robot/Robot.java create mode 100644 src/main/java/frc4388/robot/RobotContainer.java create mode 100644 src/main/java/frc4388/robot/RobotMap.java create mode 100644 src/main/java/frc4388/robot/commands/Autos/Taxi.txt create mode 100644 src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt create mode 100644 src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java create mode 100644 src/main/java/frc4388/robot/commands/PID.java create mode 100644 src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java create mode 100644 src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java create mode 100644 src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java create mode 100644 src/main/java/frc4388/robot/subsystems/DiffDrive.java create mode 100644 src/main/java/frc4388/robot/subsystems/LED.java create mode 100644 src/main/java/frc4388/robot/subsystems/SwerveDrive.java create mode 100644 src/main/java/frc4388/robot/subsystems/SwerveModule.java create mode 100644 src/main/java/frc4388/utility/AprilTag.java create mode 100644 src/main/java/frc4388/utility/CanDevice.java create mode 100644 src/main/java/frc4388/utility/DataUtils.java create mode 100644 src/main/java/frc4388/utility/DeferredBlock.java create mode 100644 src/main/java/frc4388/utility/Gains.java create mode 100644 src/main/java/frc4388/utility/LEDPatterns.java create mode 100644 src/main/java/frc4388/utility/RobotGyro.java create mode 100644 src/main/java/frc4388/utility/RobotTime.java create mode 100644 src/main/java/frc4388/utility/RobotUnits.java create mode 100644 src/main/java/frc4388/utility/Status.java create mode 100644 src/main/java/frc4388/utility/Subsystem.java create mode 100644 src/main/java/frc4388/utility/UtilityStructs.java create mode 100644 src/main/java/frc4388/utility/configurable/ConfigurableDouble.java create mode 100644 src/main/java/frc4388/utility/configurable/ConfigurableString.java create mode 100644 src/main/java/frc4388/utility/controller/DeadbandedXboxController.java create mode 100644 src/main/java/frc4388/utility/controller/IHandController.java create mode 100644 src/main/java/frc4388/utility/controller/VirtualController.java create mode 100644 src/main/java/frc4388/utility/controller/XboxController.java create mode 100644 src/main/java/frc4388/utility/controller/XboxTriggerButton.java create mode 100644 src/test/java/frc4388/mocks/MockPigeonIMU.java.old create mode 100644 src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old create mode 100644 src/test/java/frc4388/utility/RobotGyroUtilityTest.old create mode 100644 src/test/java/frc4388/utility/RobotTimeUtilityTest.old create mode 100644 vendordeps/NavX.json create mode 100644 vendordeps/Phoenix6-25.1.0.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..dfe0770 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# Auto detect text files and perform LF normalization +* text=auto diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml new file mode 100644 index 0000000..7d89e58 --- /dev/null +++ b/.github/workflows/gradle.yml @@ -0,0 +1,23 @@ +name: Java CI + +on: + push: + branches: + - master + pull_request: + branches: + - master + +jobs: + build: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v1 + - name: Set up JDK 17 + uses: actions/setup-java@v1 + with: + java-version: 17 + - name: Change wrapper permissions + run: chmod +x ./gradlew + - name: Build with Gradle + run: ./gradlew build diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..9a9ca7b --- /dev/null +++ b/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..5b804e8 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..dccbc7c --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,60 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..60cf2c2 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 4388 +} \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..b659de7 --- /dev/null +++ b/README.md @@ -0,0 +1,2 @@ +# Robot-Essentials + Basic code for any Ridgebotics robot project \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..e7cd597 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..302477e --- /dev/null +++ b/build.gradle @@ -0,0 +1,104 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.1.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc4388.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..a4b76b9530d66f5e68d973ea569d8e19de379189 GIT binary patch literal 43583 zcma&N1CXTcmMvW9vTb(Rwr$&4wr$(C?dmSu>@vG-+vuvg^_??!{yS%8zW-#zn-LkA z5&1^$^{lnmUON?}LBF8_K|(?T0Ra(xUH{($5eN!MR#ZihR#HxkUPe+_R8Cn`RRs(P 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diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..8e975a5 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..f5feea6 --- /dev/null +++ b/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# 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"' + +# Collect all arguments for the java command: +# * 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. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..9b42019 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/networktables.json b/networktables.json new file mode 100644 index 0000000..fe51488 --- /dev/null +++ b/networktables.json @@ -0,0 +1 @@ +[] diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..7cab49b --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..73cc713 --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,92 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ] +} diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..70c79b6 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java new file mode 100644 index 0000000..b619905 --- /dev/null +++ b/src/main/java/frc4388/robot/Constants.java @@ -0,0 +1,156 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import java.util.ArrayList; +import java.util.List; + +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import frc4388.utility.CanDevice; +import frc4388.utility.Gains; +import frc4388.utility.LEDPatterns; + +/** + * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean + * constants. This class should not be used for any other purpose. All constants should be + * declared globally (i.e. public static). Do not put anything functional in this class. + * + *

It is advised to statically import this class (or one of its inner classes) wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + public static final String CANBUS_NAME = "rio"; + + public static final class SwerveDriveConstants { + + public static final double MAX_ROT_SPEED = 3.5; + public static final double AUTO_MAX_ROT_SPEED = 1.5; + public static final double MIN_ROT_SPEED = 1.0; + public static double ROTATION_SPEED = MAX_ROT_SPEED; + public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED; + public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED; + + public static final double CORRECTION_MIN = 10; + public static final double CORRECTION_MAX = 50; + + public static final double[] GEARS = {0.25, 0.5, 1.0}; + + public static final double SLOW_SPEED = 0.25; + public static final double FAST_SPEED = 0.5; + public static final double TURBO_SPEED = 1.0; + + // public static List CAN_DEVICES = new ArrayList<>(); + + public static final class DefaultSwerveRotOffsets { + public static final double FRONT_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. + public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. + public static final double BACK_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. + public static final double BACK_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. + } + + public static final class IDs { + public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 2); + public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 3); + public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 10); + + public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 4); + public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 5); + public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 11); + + public static final CanDevice LEFT_BACK_WHEEL = new CanDevice("LEFT_BACK_WHEEL", 6); + public static final CanDevice LEFT_BACK_STEER = new CanDevice("LEFT_BACK_STEER", 7); + public static final CanDevice LEFT_BACK_ENCODER = new CanDevice("LEFT_BACK_ENCODER", 12); + + public static final CanDevice RIGHT_BACK_WHEEL = new CanDevice("RIGHT_BACK_WHEEL", 8); + public static final CanDevice RIGHT_BACK_STEER = new CanDevice("RIGHT_BACK_STEER", 9); + public static final CanDevice RIGHT_BACK_ENCODER = new CanDevice("RIGHT_BACK_ENCODER", 13); + + public static final CanDevice DRIVE_PIGEON = new CanDevice("DRIVE_PIGEON", 4); + public static final CanDevice e = new CanDevice("NONEXISTANT_CAN", 50); + } + + 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(50, 0.0, 0.32, 0.0, 0, 0.0); + + public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0); + + } + + public static final class AutoConstants { + public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0); + public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0); + public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0); + public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune + + public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value + public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value + } + + public static final class Conversions { + public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22; + public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5; + + public static final double MOTOR_REV_PER_WHEEL_REV = 5.12; + public static final double MOTOR_REV_PER_STEER_REV = 12.8; + + public static final double TICKS_PER_MOTOR_REV = 0.5; + public static final double WHEEL_DIAMETER_INCHES = 3.9; + public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI; + + public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV; + public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV; + public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV; + public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH; + + public static final double TICK_TIME_TO_SECONDS = 10; + public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS; + } + + public static final class Configurations { + public static final double OPEN_LOOP_RAMP_RATE = 0.2; + public static final double CLOSED_LOOP_RAMP_RATE = 0.2; + public static final double NEUTRAL_DEADBAND = 0.04; + } + + public static final double MAX_SPEED_FEET_PER_SECOND = 20.4; + public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; + + // dimensions + public static final double WIDTH = 18.5; + public static final double HEIGHT = 18.5; + public static final double HALF_WIDTH = WIDTH / 2.d; + public static final double HALF_HEIGHT = HEIGHT / 2.d; + + // misc + public static final int TIMEOUT_MS = 30; + public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; + } + + public static final class VisionConstants { + } + + public static final class DriveConstants { + public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; + } + + public static final class LEDConstants { + public static final int LED_SPARK_ID = 0; + + public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; + } + + public static final class OIConstants { + public static final int XBOX_DRIVER_ID = 0; + public static final int XBOX_OPERATOR_ID = 1; + public static final int XBOX_PROGRAMMER_ID = 2; + public static final double LEFT_AXIS_DEADBAND = 0.1; + + } +} diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java new file mode 100644 index 0000000..ad2d494 --- /dev/null +++ b/src/main/java/frc4388/robot/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java new file mode 100644 index 0000000..f8acad3 --- /dev/null +++ b/src/main/java/frc4388/robot/Robot.java @@ -0,0 +1,231 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import java.util.ArrayList; +import java.util.Base64; +import java.util.List; +import java.util.logging.Level; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.CANBus.CANBusStatus; + +import edu.wpi.first.util.sendable.Sendable; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc4388.utility.CanDevice; +import frc4388.utility.DeferredBlock; +import frc4388.utility.RobotTime; +import frc4388.utility.Status; +import frc4388.utility.Subsystem; +import frc4388.utility.Status.Report; +import frc4388.utility.Status.ReportLevel; +//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 + * documentation. If you change the name of this class or the package after + * creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + Command m_autonomousCommand; + + private RobotTime m_robotTime = RobotTime.getInstance(); + private RobotContainer m_robotContainer; + //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(); + + + + new Thread() { + public void run() { + try{ + while(!this.isInterrupted() && this.isAlive()){ + Thread.sleep(500); + for(int i=0;iThis runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ + @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 + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** + * This function is called once each time the robot enters Disabled mode. + * You can use it to reset any subsystem information you want to clear when + * the robot is disabled. + */ + @Override + public void disabledInit() { + m_robotTime.endMatchTime(); + } + + @Override + public void disabledPeriodic() { + } + + @Override + public void disabledExit() { + DeferredBlock.execute(); + } + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + /* + * String autoSelected = SmartDashboard.getString("Auto Selector", + * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand + * = new MyAutoCommand(); break; case "Default Auto": default: + * autonomousCommand = new ExampleCommand(); break; } + */ + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + m_robotTime.startMatchTime(); + } + + /** + * This function is called periodically during autonomous. + */ + @Override + public void autonomousPeriodic() { + } + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + m_robotTime.startMatchTime(); + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + // m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft()); + } + + @Override + public void testInit() { + + List errors = new ArrayList<>(); + + // Subsystems header + System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWluKWl+KWliDilpfilpbilpfiloTiloTilpYgIOKWl+KWhOKWhOKWluKWl+KWliAg4paX4paW4paX4paE4paE4paW4paX4paE4paE4paE4paW4paX4paE4paE4paE4paW4paX4paWICDilpfilpYg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMICAgIOKWneKWmuKWnuKWmOKWkOKWjCAgICAg4paIICDilpDilowgICDilpDilpvilprilp7ilpzilozilpDilowgICAKIOKWneKWgOKWmuKWluKWkOKWjCDilpDilozilpDilpviloDilprilpYg4pad4paA4paa4paWICDilpDilowgIOKWneKWgOKWmuKWliAg4paIICDilpDilpviloDiloDilpjilpDilowgIOKWkOKWjCDilp3iloDilprilpYK4paX4paE4paE4pae4paY4pad4paa4paE4pae4paY4paQ4paZ4paE4pae4paY4paX4paE4paE4pae4paYICDilpDilowg4paX4paE4paE4pae4paYICDiloggIOKWkOKWmeKWhOKWhOKWluKWkOKWjCAg4paQ4paM4paX4paE4paE4pae4paY"))); + + for(int i=0;i< Subsystem.subsystems.size();i++){ + + Subsystem subsystem = Subsystem.subsystems.get(i); + System.out.println("** Subsystem diagnostic report for " + subsystem.getName() + ":"); + Status status = subsystem.diagnosticStatus(); + + for(int a=0;a 0) { + // Errors header + System.out.println(new String(Base64.getDecoder().decode("4paX4paE4paE4paE4paW4paX4paE4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilpDilowgICAK4paQ4pab4paA4paA4paY4paQ4pab4paA4paa4paW4paQ4pab4paA4paa4paW4paQ4paMIOKWkOKWjOKWkOKWm+KWgOKWmuKWliDilp3iloDilprilpYK4paQ4paZ4paE4paE4paW4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilp3ilpriloTilp7ilpjilpDilowg4paQ4paM4paX4paE4paE4pae4paY"))); + for(int i=0;i subsystems = new ArrayList<>(); + + // ! Teleop Commands + + // ! /* Autos */ + private String lastAutoName = "defualt.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); + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + configureButtonBindings(); + configureVirtualButtonBindings(); + new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip()); + DriverStation.silenceJoystickConnectionWarning(true); + // CameraServer.startAutomaticCapture(); + + /* Default Commands */ + // ! Swerve Drive Default Command (Regular Rotation) + // drives the robot with a two-axis input from the driver controller + m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { + m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), + getDeadbandedDriverController().getRight(), + true); + }, m_robotSwerveDrive) + .withName("SwerveDrive DefaultCommand")); + m_robotSwerveDrive.setToSlow(); + + // this.subsystems.add(m_robotSwerveDrive); + // this.subsystems.add(m_robotMap.leftFront); + // this.subsystems.add(m_robotMap.rightFront); + // this.subsystems.add(m_robotMap.rightBack); + // this.subsystems.add(m_robotMap.leftBack); + + // ! Swerve Drive One Module Test + // m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { + // m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft()); + // } + + // ! 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_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { + // m_robotSwerveDrive.driveWithInput( + // getDeadbandedDriverController().getLeft(), + // getDeadbandedDriverController().getRight(), + // true); + // }, m_robotSwerveDrive)); + + + + + } + + /** + * Use this method to define your button->command mappings. Buttons can be + * created by instantiating a {@link GenericHID} or one of its subclasses + * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then + * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configureButtonBindings() { + + // ? /* Driver Buttons */ + + DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON) + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip())); + + // ! /* Speed */ + new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp())); + + 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())); + + // ? /* Operator Buttons */ + + // ? /* Programer Buttons (Controller 3)*/ + + // * /* 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()); + } + + /** + * This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}.

+ * 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. + */ + + // ? Notice: the Programer Buttons are not to be replicated because they are designed for debuging the robot, and do not need to be replicated in auto. + + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return autoPlayback; + } + + /** + * 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))); + } + + public DeadbandedXboxController getDeadbandedDriverController() { + return this.m_driverXbox; + } + + public DeadbandedXboxController getDeadbandedOperatorController() { + return this.m_operatorXbox; + } + + public VirtualController getVirtualDriverController() { + return m_virtualDriver; + } + + public VirtualController getVirtualOperatorController() { + return m_virtualOperator; + } +} diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java new file mode 100644 index 0000000..a5e29df --- /dev/null +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -0,0 +1,65 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.Pigeon2; + +// import edu.wpi.first.wpilibj.motorcontrol.Spark; +// import frc4388.robot.Constants.LEDConstants; +import frc4388.robot.Constants.SwerveDriveConstants; +import frc4388.robot.subsystems.SwerveModule; +import frc4388.utility.RobotGyro; + +/** + * Defines and holds all I/O objects on the Roborio. This is useful for unit + * testing and modularization. + */ +public class RobotMap { + private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id); + public RobotGyro gyro = new RobotGyro(m_pigeon2); + + public SwerveModule leftFront; + public SwerveModule rightFront; + public SwerveModule leftBack; + public SwerveModule rightBack; + + public RobotMap() { + configureDriveMotorControllers(); + } + + /* LED Subsystem */ + // public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); + + /* Swreve Drive Subsystem */ + public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id); + public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id); + public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.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); + + public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id); + public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id); + public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id); + + public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id); + public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id); + public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id); + + void configureDriveMotorControllers() { + // initialize SwerveModules + this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET); + this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET); + this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET); + this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET); + } +} diff --git a/src/main/java/frc4388/robot/commands/Autos/Taxi.txt b/src/main/java/frc4388/robot/commands/Autos/Taxi.txt new file mode 100644 index 0000000..c99ee2c --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Autos/Taxi.txt @@ -0,0 +1,225 @@ +0.0,0.0,0.0,0.0,0 +0.0,0.0,0.0,0.0,0 +0.0,0.0,0.0,0.0,12 +0.0,0.0,0.0,0.0,26 +0.0,0.0,0.0,0.0,37 +0.0,0.0,0.0,0.0,50 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a/src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt b/src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt new file mode 100644 index 0000000..a65aea9 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt @@ -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] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java b/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java new file mode 100644 index 0000000..86bc7b2 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java @@ -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 m_teamChosser = new SendableChooser(); +// private final SendableChooser m_possitionChosser = new SendableChooser(); +// private final SendableChooser m_autoNameChosser = new SendableChooser(); + +// private final SwerveDrive m_swerve; +// private final VirtualController[] m_controllers; +// // private final ArrayList> m_choosers = new ArrayList<>(); +// // private SendableChooser m_playback = null; +// private final ArrayList m_widgets = new ArrayList<>(); +// // private final HashMap m_commandPool = new HashMap<>(); + +// // private final File m_dir = new File("/home/lvuser/autos/"); +// // private int m_cmdNum = 0; + +// // 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(); +// // // 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 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); +// } +// } diff --git a/src/main/java/frc4388/robot/commands/PID.java b/src/main/java/frc4388/robot/commands/PID.java new file mode 100644 index 0000000..97233f8 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/PID.java @@ -0,0 +1,60 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc4388.utility.Gains; + +public abstract class PID extends Command { + protected Gains gains; + private double output = 0; + private double tolerance = 0; + + /** Creates a new PelvicInflammatoryDisease. */ + public PID(double kp, double ki, double kd, double kf, double tolerance) { + gains = new Gains(kp, ki, kd, kf, 0); + this.tolerance = tolerance; + } + + public PID(Gains gains, double tolerance) { + this.gains = gains; + this.tolerance = tolerance; + } + + /** produces the error from the setpoint */ + public abstract double getError(); + + /** todo: javadoc */ + public abstract void runWithOutput(double output); + + // Called when the command is initially scheduled. + @Override + public final void initialize() { + output = 0; + } + + private double prevError, cumError = 0; + + // Called every time the scheduler runs while the command is scheduled. + @Override + public final void execute() { + double error = getError(); + cumError += error * .02; // 20 ms + double delta = error - prevError; + + output = error * gains.kP; + output += cumError * gains.kI; + output += delta * gains.kD; + output += gains.kF; + + runWithOutput(output); + } + + // Returns true when the command should end. + @Override + public final boolean isFinished() { + return Math.abs(getError()) < tolerance; + } +} diff --git a/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java new file mode 100644 index 0000000..a2945c0 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java @@ -0,0 +1,35 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.commands.Swerve; + +import edu.wpi.first.math.geometry.Translation2d; +import frc4388.robot.commands.PID; +import frc4388.robot.subsystems.SwerveDrive; + +public class RotateToAngle extends PID { + + SwerveDrive drive; + double targetAngle; + + /** Creates a new RotateToAngle. */ + public RotateToAngle(SwerveDrive drive, double targetAngle) { + super(0.3, 0.0, 0.0, 0.0, 1); + + this.drive = drive; + this.targetAngle = targetAngle; + + addRequirements(drive); + } + + @Override + public double getError() { + return targetAngle - drive.getGyroAngle(); + } + + @Override + public void runWithOutput(double output) { + drive.driveWithInput(new Translation2d(0.0, 0.0), new Translation2d(output / Math.abs(getError()), 0.0), true); + } +} diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java new file mode 100644 index 0000000..8b5afdf --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java @@ -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 frames = new ArrayList<>(); + private final Supplier 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 Order-Specific 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 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 Order-Specific 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 Order-Specific Array of Virtual controllers, index 0 means driver, index 1 means operator, etc. + */ + public neoJoystickPlayback(SwerveDrive swerve, Supplier 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 Order-Specific 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; + } +} diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java new file mode 100644 index 0000000..7f48a6c --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java @@ -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 filenameGetter; + private long startTime = -1; + private final ArrayList frames = new ArrayList<>(); + + /** + * Creates an new NEO Joystick Playback with specifyed pramiters. + * @param swerve m_robotSwerveDrive + * @param controllers an Order-Specific 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 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 Order-Specific 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(); + } + } +} diff --git a/src/main/java/frc4388/robot/subsystems/DiffDrive.java b/src/main/java/frc4388/robot/subsystems/DiffDrive.java new file mode 100644 index 0000000..0cffe0b --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/DiffDrive.java @@ -0,0 +1,112 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.subsystems; + +import java.util.logging.Level; + +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.hardware.TalonFX; + +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import frc4388.robot.Constants.DriveConstants; +import frc4388.utility.RobotGyro; +import frc4388.utility.RobotTime; +import frc4388.utility.Status; +import frc4388.utility.Subsystem; +import frc4388.utility.Status.ReportLevel; + +/** + * Add your docs here. + */ +public class DiffDrive extends Subsystem { + // Put methods for controlling this subsystem + // here. Call these from Commands. + + private RobotTime m_robotTime = RobotTime.getInstance(); + + private TalonFX m_leftFrontMotor; + private TalonFX m_rightFrontMotor; + private TalonFX m_leftBackMotor; + private TalonFX m_rightBackMotor; + private DifferentialDrive m_driveTrain; + private RobotGyro m_gyro; + + /** + * Add your docs here. + */ + public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor, + TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) { + + super(); + + m_leftFrontMotor = leftFrontMotor; + m_rightFrontMotor = rightFrontMotor; + m_leftBackMotor = leftBackMotor; + m_rightBackMotor = rightBackMotor; + m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), false)); + m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false)); + m_driveTrain = driveTrain; + m_gyro = gyro; + } + + @Override + public void periodic() { + m_gyro.updatePigeonDeltas(); + + if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) { + updateSmartDashboard(); + } + } + + /** + * Add your docs here. + */ + public void driveWithInput(double move, double steer) { + m_driveTrain.arcadeDrive(move, steer); + } + + /** + * Add your docs here. + */ + public void tankDriveWithInput(double leftMove, double rightMove) { + m_leftFrontMotor.set(leftMove); + m_rightFrontMotor.set(rightMove); + } + + /** + * Add your docs here. + */ + private void updateSmartDashboard() { + + // Examples of the functionality of RobotGyro + SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon); + SmartDashboard.putNumber("Turn Rate", m_gyro.getRate()); + SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch()); + //SmartDashboard.putData(m_gyro); + } + + + @Override + public String getSubsystemName() { + return "Diff Drive"; + } + + @Override + public void queryStatus() { + // TODO: Add Stuff + } + + @Override + public Status diagnosticStatus() { + Log("Diagnostic info for this has not been inplemented!"); //TODO + return new Status(); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java new file mode 100644 index 0000000..e9e070c --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -0,0 +1,90 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj.AddressableLED; +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.motorcontrol.Spark; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import frc4388.robot.Constants.LEDConstants; +import frc4388.utility.LEDPatterns; + +/** + * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED + * Driver + */ +public class LED extends SubsystemBase { + + static AddressableLED m_led; + static AddressableLEDBuffer m_ledBuffer; + static LED m_self; + /** + * Add your docs here. + */ + + public LED(){ + if(m_self != null) + return; + m_led = new AddressableLED(9); + m_ledBuffer = new AddressableLEDBuffer(10); + m_led.setLength(m_ledBuffer.getLength()); + m_led.setData(m_ledBuffer); + m_led.start(); + System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); + } + public static LED getInstance() { + if(m_self == null) + m_self = new LED(); + return m_self; + } + @Override + public void periodic(){ + //gamermode(); + //SmartDashboard.putNumber("LED", m_currentPattern.getValue()); + return; + } + static int firstcolor = 0; + static void gamermode() { + for(int i = 0; i < m_ledBuffer.getLength(); i++) { + final int hue = (firstcolor + (i * 180 / m_ledBuffer.getLength())) % 180; + setLEDHSV(i, hue, 255, 128); + } + firstcolor +=3; + firstcolor %= 180; + } + /** + * Add your docs here. + */ + public static void updateLED (){ + gamermode(); + // m_LEDController.set(m_currentPattern.getValue()); + } + + /** + * Add your docs here. + */ + public static void setLEDRGB(int lednum, int r, int g, int b){ + m_ledBuffer.setRGB(lednum, r, g, b); + //m_currentPattern = pattern; + // m_LEDController.set(m_currentPattern.getValue()); + } + public static void setLEDHSV(int lednum, int hue, int sat, int val){ + m_ledBuffer.setRGB(lednum, hue, sat, val); + //m_currentPattern = pattern; + // m_LEDController.set(m_currentPattern.getValue()); + } + /** + * Add your docs here. + * @return + */ + public AddressableLEDBuffer getBuffer() { + return m_ledBuffer; + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java new file mode 100644 index 0000000..cafe872 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -0,0 +1,364 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import java.util.logging.Level; + +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.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.SwerveDriveConstants; +import frc4388.robot.Constants.SwerveDriveConstants.Conversions; +import frc4388.utility.RobotGyro; +import frc4388.utility.RobotUnits; +import frc4388.utility.Status; +import frc4388.utility.Subsystem; +import frc4388.utility.Status.Report; +import frc4388.utility.Status.ReportLevel; + +public class SwerveDrive extends Subsystem { + + private SwerveModule leftFront; + private SwerveModule rightFront; + private SwerveModule leftBack; + private SwerveModule rightBack; + + private SwerveModule[] modules; + + private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); + private Translation2d rightFrontLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); + private Translation2d leftBackLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); + private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); + + private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation); + + private RobotGyro gyro; + + private int gear_index; + private boolean stopped = false; + + public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; + public double rotSpeedAdjust = SwerveDriveConstants.MAX_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. */ + public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) { + super(); + this.leftFront = leftFront; + this.rightFront = rightFront; + this.leftBack = leftBack; + this.rightBack = rightBack; + + this.gyro = gyro; + reset_index(); + this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack}; + } + + public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){ + // double ang = Math.atan2(rightStick.getY(), rightStick.getX()); + // rightStick.getAngle() + double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2)); + // System.out.println(ang); + // module.go(ang); + // Rotation2d rot = Rotation2d.fromRadians(ang); + Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY()); + SwerveModuleState state = new SwerveModuleState(speed, rot); + module.setDesiredState(state); + } + + public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { + + double rot_correction = RobotUnits.degreesToRadians(gyro.getRotation2d().getDegrees() - rotTarget) * 0.0; + SmartDashboard.putNumber("Rot_correct", RobotUnits.radiansToDegrees(rot_correction)); + + if (fieldRelative) { + + double rot = 0; + + // ! drift correction + if (rightStick.getNorm() > 0.05) { + rotTarget = gyro.getAngle(); + rot_correction = 0; + // 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. + chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, 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); + stopped = false; + } else if(leftStick.getNorm() > 0.05) { + if (!stopped) { + stopModules(); + stopped = true; + } + + // SmartDashboard.putBoolean("drift correction", true); + // double rot_correction = ((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() * 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(), -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)); + } + + public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { + + // Translation2d rightStick = new Translation2d(-rightX, rightY); + double rightX = rightStick.getX(); + double rightY = rightStick.getY(); + + double rot_correction = 0; + + // double rot_correction = ((rightStick.getAngle().getDegrees() - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED; + + 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) + rot_correction, 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 boolean rotateToTarget(double angle) { + double currentAngle = getGyroAngle(); + double error = angle - currentAngle; + + driveWithInput(new Translation2d(0, 0), new Translation2d(error / Math.abs(error) * 0.3, 0), true); + + if (Math.abs(angle - getGyroAngle()) < 5.0) { + return true; + } + + return false; + } + + public double getGyroAngle() { + return -gyro.getAngle(); + } + + public void add180() { + gyro.reset(gyro.getAngle()+180); + rotTarget = gyro.getAngle(); + + } + + public void resetGyro() { + gyro.reset(); + 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() { + for (SwerveModule module : this.modules) { + module.stop(); + } + } + + public SwerveDriveKinematics getKinematics() { + 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("RotTartget", rotTarget); + } + + private void reset_index() { + gear_index = 0; // however we wish to initialize the gear (What gear does the robot start in?) + } + + public void shiftDown() { + if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index + int i = gear_index - 1; + if (i == -1) i = 0; + setPercentOutput(SwerveDriveConstants.GEARS[i]); + gear_index = i; + } + + public void shiftUp() { + if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index + int i = gear_index + 1; + if (i == SwerveDriveConstants.GEARS.length) i = SwerveDriveConstants.GEARS.length - 1; + setPercentOutput(SwerveDriveConstants.GEARS[i]); + gear_index = i; + } + + public void setPercentOutput(double speed) { + speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * speed; + gear_index = -1; + } + + public void setToSlow() { + this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.SLOW_SPEED; + for(int i=0;i<5;i++){ + Log("SLOW"); + } + } + + public void setToFast() { + this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.FAST_SPEED; + for(int i=0;i<5;i++){ + Log("FAST"); + } + } + + public void setToTurbo() { + this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.TURBO_SPEED; + for(int i=0;i<5;i++){ + Log("TURBO"); + } + } + + public void toggleGear(double angle) { + if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) { + this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; + SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN; + } else { + this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; + SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN; + } + } + + public void shiftUpRot() { + rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED; + } + + public void shiftDownRot() { + rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED; + } + + @Override + public String getSubsystemName() { + return "Swerve Drive Controller"; + } + + @Override + public void queryStatus() { + + SmartDashboard.putNumber("[" + getSubsystemName() + "] Gyro angle", this.gyro.getAngle()); + SmartDashboard.putNumber("[" + getSubsystemName() + "] Shift State", this.speedAdjust); + + // this.leftFront.queryStatus(); + // this.leftBack.queryStatus(); + // this.rightFront.queryStatus(); + // this.rightBack.queryStatus(); + + //TODO: Add more status things + } + + @Override + public Status diagnosticStatus() { + Status status = new Status(); + for (SwerveModule module : modules) { + for (Report moduleDignostic : module.diagnosticStatus().reports) { + status.addReport(moduleDignostic.reportLevel, "[" + module.getSubsystemName() + "] " + moduleDignostic.description); + } + } + + status.diagnoseHardwareCTRE("Swerve Gyro", gyro.getPigeon()); + + return status; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java new file mode 100644 index 0000000..2ee9ca6 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -0,0 +1,280 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import java.util.logging.Level; + +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.Utils; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.OpenLoopRampsConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MagnetHealthValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +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.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.SwerveDriveConstants; +import frc4388.utility.Gains; +import frc4388.utility.Status; +import frc4388.utility.Subsystem; +import frc4388.utility.Status.ReportLevel; + +public class SwerveModule extends Subsystem { + private String name = "Null"; + private TalonFX driveMotor; + private TalonFX angleMotor; + private CANcoder encoder; + // private final StatusSignal cc_pos; + // private final StatusSignal cc_vel; + // 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(String name, TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) { + super(); + this.name = name; + this.driveMotor = driveMotor; + this.angleMotor = angleMotor; + this.encoder = encoder; + + var motorCfg = new TalonFXConfiguration() + .withOpenLoopRamps( + new OpenLoopRampsConfigs() + .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE) + ).withClosedLoopRamps( + new ClosedLoopRampsConfigs() + .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE) + ).withMotorOutput( + new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND) + ).withCurrentLimits( + new CurrentLimitsConfigs() + .withStatorCurrentLimit(100) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(100) + .withSupplyCurrentLimitEnable(true) + ); + + driveMotor.getConfigurator().apply(motorCfg); + + TalonFXConfiguration angleConfig = new TalonFXConfiguration() + .withOpenLoopRamps( + new OpenLoopRampsConfigs() + .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE) + ).withClosedLoopRamps( + new ClosedLoopRampsConfigs() + .withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE) + ).withMotorOutput( + new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND) + ); + + angleConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + + angleConfig.Slot0.kP = swerveGains.kP; + angleConfig.Slot0.kI = swerveGains.kI; + angleConfig.Slot0.kD = swerveGains.kD; + + angleConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID(); + angleConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder; + angleMotor.getConfigurator().apply(angleConfig); + + CANcoderConfiguration canconfig = new CANcoderConfiguration(); + canconfig.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive; + canconfig.MagnetSensor.MagnetOffset = offset; + encoder.getConfigurator().apply(canconfig); + + rotateToAngle(0); + } + + // public void go(double ang){ + // // double curang = this.encoder.getAbsolutePosition().getValue(); + // System.out.println(getAngle().getDegrees()); + // rotateToAngle(ang); + // } + + @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 TalonFX getDriveMotor() { + return this.driveMotor; + } + + /** + * Get the angle motor of the SwerveModule + * @return the angle motor of the SwerveModule + */ + public TalonFX getAngleMotor() { + return this.angleMotor; + } + + /** + * Get the CANcoder of the SwerveModule + * @return the CANcoder of the SwerveModule + */ + public CANcoder getEncoder() { + return this.encoder; + } + + /** + * Get the angle of a SwerveModule as a Rotation2d + * @return the angle of a SwerveModule as a Rotation2d + */ + public Rotation2d getAngle() { + // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees. + // return Rotation2d.fromDegrees(encoder.getAbsolutePosition()); + return Rotation2d.fromRotations(encoder.getPosition().getValue().baseUnitMagnitude()); + } + + public double getAngularVel() { + // return this.angleMotor.getSelectedSensorVelocity(); + return angleMotor.getVelocity().getValueAsDouble(); + } + + public double getDrivePos() { + // return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV; + return driveMotor.getPosition().getValueAsDouble(); + } + + public double getDriveVel() { + // return this.driveMotor.getSelectedSensorVelocity(0); + return driveMotor.getVelocity().getValueAsDouble(); + } + + public void stop() { + driveMotor.set(0); + angleMotor.set(0); + } + + public void rotateToAngle(double angle) { + final PositionVoltage m_request = new PositionVoltage(angle); + angleMotor.setControl(m_request); + } + + /** + * Get state of swerve module + * @return speed in m/s and angle in degrees + */ + public SwerveModuleState getState() { + return new SwerveModuleState( + Units.inchesToMeters(driveMotor.getVelocity().getValue().baseUnitMagnitude() * + SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV * + SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV), + getAngle() + ); + } + + // private SwerveModuleState optimizeState(SwerveModuleState desiredState) { + // Rotation2d curRot = this.getAngle(); + + // } + + /** + * Returns the current position of the SwerveModule + * @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor. + // */ + // public SwerveModulePosition getPosition() { + // return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle()); + // } + + /** + * Set the speed and rotation of the SwerveModule from a SwerveModuleState object + * @param desiredState a SwerveModuleState representing the desired new state of the module + // */ + public void setDesiredState(SwerveModuleState state) { + Rotation2d currentRotation = this.getAngle(); + + state.optimize(currentRotation);//SwerveModuleState.optimize(desiredState, currentRotation); + + // calculate the difference between our current rotational position and our new rotational position + Rotation2d rotationDelta = state.angle.minus(currentRotation); + + double speed = Units.metersToFeet(state.speedMetersPerSecond) / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND; + + rotateToAngle(rotationDelta.getRotations() + currentRotation.getRotations()); + + driveMotor.set(Math.max(Math.min(speed, 1.), -1.)); + } + + public void reset() { + // encoder.setPosition(0); + } + + @Override + public String getSubsystemName() { + return this.name; + } + + @Override + public void queryStatus() { + SmartDashboard.putNumber("[" + getSubsystemName() + "] Drive motor speed", this.driveMotor.get()); + SmartDashboard.putNumber("[" + getSubsystemName() + "] Angle motor angle", this.angleMotor.getRotorPosition().getValueAsDouble()); + //TODO: Add more status things + } + + public boolean motorsAlive() { + return this.driveMotor.isAlive() && this.angleMotor.isAlive(); + } + + @Override + public Status diagnosticStatus() { + Status status = new Status(); + + status.diagnoseHardwareCTRE("Drive", this.driveMotor); + status.diagnoseHardwareCTRE("Angle", this.angleMotor); + status.diagnoseHardwareCTRE("Steer", this.encoder); + + return status; + } + + // 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; + // } +} diff --git a/src/main/java/frc4388/utility/AprilTag.java b/src/main/java/frc4388/utility/AprilTag.java new file mode 100644 index 0000000..c2ad269 --- /dev/null +++ b/src/main/java/frc4388/utility/AprilTag.java @@ -0,0 +1,13 @@ +package frc4388.utility; + +// This is a seperate class in case I want to encode rotation or other +// information about the tag +public class AprilTag { + public final double x, y, z; + + public AprilTag(double _x, double _y, double _z) { + x = _x; + y = _y; + z = _z; + } +} diff --git a/src/main/java/frc4388/utility/CanDevice.java b/src/main/java/frc4388/utility/CanDevice.java new file mode 100644 index 0000000..ec05fdb --- /dev/null +++ b/src/main/java/frc4388/utility/CanDevice.java @@ -0,0 +1,57 @@ +package frc4388.utility; + +import java.util.ArrayList; +import java.util.List; + +import edu.wpi.first.hal.CANData; +import edu.wpi.first.hal.can.CANJNI; +import edu.wpi.first.wpilibj.CAN; +import frc4388.utility.Status.Report; +import frc4388.utility.Status.ReportLevel; + +public class CanDevice { + public static List devices = new ArrayList<>(); + + public String name; + public int id; + + public CanDevice(String name, int id) { + this.name = name; + this.id = id; + + devices.add(this); + } + + + private boolean isAlive() { + return true; //TODO: Link this with Device Finder + } + + public String getName() { + return "CAN ID " + this.id + " ( " + this.name + " ) "; + } + + public void Log(String str){ + System.out.println(getName() + " - " + str); + } + + public Status queryStatus() { + Status s = new Status(); + + s.addReport(ReportLevel.INFO, "TODO"); + + return s; + } + + public Status diagnosticStatus() { + Status s = new Status(); + //TODO + s.addReport(ReportLevel.INFO, "Add CAN magic here"); + boolean isAlive = isAlive(); + s.addReport(isAlive ? ReportLevel.INFO : ReportLevel.ERROR, "Is Alive: " + isAlive); + + return s; + } + + +} diff --git a/src/main/java/frc4388/utility/DataUtils.java b/src/main/java/frc4388/utility/DataUtils.java new file mode 100644 index 0000000..3d998b6 --- /dev/null +++ b/src/main/java/frc4388/utility/DataUtils.java @@ -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(); + } +} diff --git a/src/main/java/frc4388/utility/DeferredBlock.java b/src/main/java/frc4388/utility/DeferredBlock.java new file mode 100644 index 0000000..20d3c57 --- /dev/null +++ b/src/main/java/frc4388/utility/DeferredBlock.java @@ -0,0 +1,23 @@ +package frc4388.utility; + +import java.util.ArrayList; + +public class DeferredBlock { + private static ArrayList m_blocks = new ArrayList<>(); + private static boolean m_hasRun = false; + + public DeferredBlock(Runnable block) { + m_blocks.add(block); + } + + public static void execute() { + if (m_hasRun) return; + + for (Runnable block : m_blocks) { + block.run(); + } + + m_blocks.clear(); // for garbage collection + m_hasRun = true; + } +} diff --git a/src/main/java/frc4388/utility/Gains.java b/src/main/java/frc4388/utility/Gains.java new file mode 100644 index 0000000..7a3a026 --- /dev/null +++ b/src/main/java/frc4388/utility/Gains.java @@ -0,0 +1,83 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.utility; + +/** Add your docs here. */ +public class Gains { + public double kP; + public double kI; + public double kD; + public double kF; + public int kIZone; + public double kPeakOutput; + public double kMaxOutput; + public double kMinOutput; + + /** + * Creates Gains object for PIDs + * @param kP The P value. + * @param kI The I value. + * @param kD The D value. + * @param kF The F value. + * @param kIZone The zone of the I value. + * @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0. + */ + public Gains(double kP, double kI, double kD, double kF, int kIZone, double kPeakOutput) { + this.kP = kP; + this.kI = kI; + this.kD = kD; + this.kF = kF; + this.kIZone = kIZone; + this.kPeakOutput = kPeakOutput; + this.kMaxOutput = kPeakOutput; + this.kMinOutput = -kPeakOutput; + } + + /** + * Creates Gains object for PIDs + * @param kP The P value. + * @param kI The I value. + * @param kD The D value. + * @param kF The F value. + * @param kIZone The zone of the I value. + */ + public Gains(double kP, double kI, double kD, double kF, int kIZone) { + this.kP = kP; + this.kI = kI; + this.kD = kD; + this.kF = kF; + this.kIZone = kIZone; + this.kPeakOutput = 1.0; + this.kMaxOutput = 1.0; + this.kMinOutput = -1.0; + } + + public Gains(double kP, double kI, double kD) { + this.kP = kP; + this.kI = kI; + this.kD = kD; + } + + /** + * Creates Gains object for PIDs + * @param kP The P value. + * @param kI The I value. + * @param kD The D value. + * @param kF The F value. + * @param kIZone The zone of the I value. + * @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0. + * @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0. + */ + public Gains(double kP, double kI, double kD, double kF, int kIZone, double kMaxOutput, double kMinOutput) { + this.kP = kP; + this.kI = kI; + this.kD = kD; + this.kF = kF; + this.kIZone = kIZone; + this.kMaxOutput = kMaxOutput; + this.kMinOutput = kMinOutput; + this.kPeakOutput = (Math.abs(kMinOutput) > Math.abs(kMaxOutput)) ? Math.abs(kMinOutput) : Math.abs(kMaxOutput); + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/LEDPatterns.java b/src/main/java/frc4388/utility/LEDPatterns.java new file mode 100644 index 0000000..6df032c --- /dev/null +++ b/src/main/java/frc4388/utility/LEDPatterns.java @@ -0,0 +1,45 @@ +package frc4388.utility; + +/** + * Add your docs here. + */ +public enum LEDPatterns { + /* PALLETTE PATTERNS */ + RAINBOW_RAINBOW(-0.99f), PARTY_RAINBOW(-0.97f), OCEAN_RAINBOW(-0.95f), LAVA_RAINBOW(-0.93f), FOREST_RAINBOW(-0.91f), + RAINBOW_GLITTER(-0.89f), CONFETTI(-0.87f), RED_SHOT(-0.85f), BLUE_SHOT(-0.83f), WHITE_SHOT(-0.81f), RAINBOW_SINELON(-0.79f), + PARTY_SINELON(-0.77f), OCEAN_SINELON(-0.75f), LAVA_SINELON(-0.73f), FOREST_SINELON(-0.71f), RAINBOW_BPM(-0.69f), + PARTY_BPM(-0.67f), OCEAN_BPM(-0.65f), LAVA_BPM(-0.63f), FOREST_BPM(-0.61f), FIRE_MEDIUM(-0.59f), FIRE_LARGE(-0.57f), + RAINBOW_TWINKLES(-0.55f), PARTY_TWINKLES(-0.53f), OCEAN_TWINKLES(-0.51f), LAVA_TWINKLES(-0.49f), FOREST_TWINKLES(-0.47f), + RAINBOW_WAVES(-0.45f), PARTY_WAVES(-0.43f), OCEAN_WAVES(-0.41f), LAVA_WAVES(-0.39f), FOREST_WAVES(-0.37f), + RED_SCANNER(-0.35f), GRAY_SCANNER(-0.33f), RED_CHASE(-0.31f), BLUE_CHASE(-0.29f), GRAY_CHASE(-0.27f), RED_HEARTBEAT(-0.25f), + BLUE_HEARTBEAT(-0.23f), WHITE_HEARTBEAT(-0.21f), GRAY_HEARBEAT(-0.19f), RED_BREATH(-0.17f), BLUE_BREATH(-0.15f), + GRAY_BREATH(-0.13f), RED_STROBE(-0.11f), BLUE_STROBE(-0.09f), GOLD_STROBE(-0.07f), WHITE_STROBE(-0.05f), + + /* COLOR 1 PATTERNS */ + C1_END_TO_END(-0.03f), C1_SCANNER(-0.01f), C1_CHASE(0.01f), C1_HEARTBEAT_SLOW(0.03f), C1_HEARTBEAT_MEDIUM(0.05f), + C1_HEARTBEAT_FAST(0.07f), C1_BREATH_SLOW(0.09f), C1_BREATH_FAST(0.11f), C1_SHOT(0.13f), C1_STROBE(0.15f), + + /* COLOR 2 PATTERNS */ + C2_END_TO_END(0.17f), C2_SCANNER(0.19f), C2_CHASE(0.21f), C2_HEARTBEAT_SLOW(0.23f), C2_HEARTBEAT_MEDIUM(0.25f), + C2_HEARTBEAT_FAST(0.27f), C2_BREATH_SLOW(0.29f), C2_BREATH_FAST(0.31f), C2_SHOT(0.33f), C2_STROBE(0.35f), + + /* COLOR 1 AND 2 PATTERNS */ + C1C2_SPARKLE(0.37f), C2C1_SPARKLE(0.39f), C1C2_GRADIENT(0.41f), C1C2_BPM(0.43f), C1C2_BLEND(0.45f), C1C2_TWINKLES(0.51f), + C1C2_WAVES(0.53f), C1C2_SINELON(0.55f), + + /* SOLID COLORS */ + SOLID_PINK_HOT(0.57f), SOLID_RED_DARK(0.59f), SOLID_RED(0.61f), SOLID_RED_ORANGE(0.63f), SOLID_ORANGE(0.65f), + SOLID_GOLD(0.67f), SOLID_YELLOW(0.69f), SOLID_GREEN_LAWN(0.71f), SOLID_GREEN_LIME(0.73f), SOLID_GREEN_DARK(0.75f), + SOLID_GREEN(0.77f), SOLID_BLUE_GREEN(0.79f), SOLID_BLUE_AQUA(0.81f), SOLID_BLUE_SKY(0.83f), SOLID_BLUE_DARK(0.85f), + SOLID_BLUE(0.87f), SOLID_BLUE_VIOLET(0.89f), SOLID_VIOLET(0.91f), SOLID_WHITE(0.93f), SOLID_GRAY(0.95f), + SOLID_GRAY_DARK(0.97f), SOLID_BLACK(0.99f); + + /* GETTERS/SETTERS */ + private final float id; + LEDPatterns(float id) { + this.id = id; + } + public float getValue() { + return id; + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java new file mode 100644 index 0000000..3ae503f --- /dev/null +++ b/src/main/java/frc4388/utility/RobotGyro.java @@ -0,0 +1,269 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.utility; + +// import com.ctre.phoenix.sensors.WPI_Pigeon2; +import com.ctre.phoenix6.hardware.Pigeon2; +import com.kauailabs.navx.frc.AHRS; + +// import edu.wpi.first.wpilibj.GyroBase; +// import edu.wpi.first.wpilibj.interfaces.Gyro; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; + +/** + * Gyro class that allows for interchangeable use between a pigeon and a navX + */ +public class RobotGyro { + private RobotTime m_robotTime = RobotTime.getInstance(); + + private Pigeon2 m_pigeon = null; + private AHRS m_navX = null; + public boolean m_isGyroAPigeon; //true if pigeon, false if navX + + private double m_lastPigeonAngle; + private double m_deltaPigeonAngle; + + private double pitchZero = 0; + private double rollZero = 0; + + /** + * Creates a Gyro based on a pigeon + * @param gyro the gyroscope to use for Gyro + */ + public RobotGyro(Pigeon2 gyro) { + m_pigeon = gyro; + m_isGyroAPigeon = true; + } + + /** + * Creates a Gyro based on a navX + * @param gyro the gyroscope to use for Gyro + */ + public RobotGyro(AHRS gyro){ + m_navX = gyro; + m_isGyroAPigeon = false; + } + + /** + * Resets yaw, pitch, and roll. + */ + public void resetZeroValues() { + if (!m_isGyroAPigeon) return; + + // pitchZero = m_pigeon.getPitch(); + // rollZero = m_pigeon.getRoll(); + } + + /** + * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note + * that the getRate() method for a navX will likely be much more accurate than for a pigeon. + */ + public void updatePigeonDeltas() { + double currentPigeonAngle = getAngle(); + m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle; + m_lastPigeonAngle = currentPigeonAngle; + } + + /** + *

NavX: + *

Calibrate the gyro by running for a number of samples and computing the center value. Then use + * the center value as the Accumulator center value for subsequent measurements. It's important to + * make sure that the robot is not moving while the centering calculations are in progress, this + * is typically done when the robot is first turned on while it's sitting at rest before the + * competition starts. + * + *

Pigeon: + *

Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot + * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon + * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to + * make sure that the robot is not moving while the tempurature calculations are in progress, this + * is typically done when the robot is first turned on while it's sitting at rest before the + * competition starts. + */ + public void calibrate() { + return; + // if (m_isGyroAPigeon) { + // m_pigeon.calibrate(); + // } else { + // m_navX.calibrate(); + // } + } + + public void reset() { + resetZeroValues(); + + if (m_isGyroAPigeon) { + m_pigeon.setYaw(0); + } 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(); + } + + } + + /** + * Get Yaw, Pitch, and Roll data. + * + * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data. + * Yaw is within [-368,640, +368,640] degrees. + * Pitch is within [-90,+90] degrees. + * Roll is within [-90,+90] degrees. + */ + private double[] getPigeonAngles() { + //m_pigeon.getAngle(); // This appeared to not do anything? + var rotation = m_pigeon.getRotation3d(); + + return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())}; + } + + public Rotation2d getRotation2d() { + return m_pigeon.getRotation2d(); + } + + public double getAngle() { + if (m_isGyroAPigeon) { + return getPigeonAngles()[2]; + } else { + return m_navX.getAngle(); + } + } + + public double getYaw() { + return this.getAngle(); + } + + /** + * Gets an absolute heading of the robot + * @return heading from -180 to 180 degrees + */ + public double getHeading() { + return getHeading(getAngle()); + } + + /** + * Gets an absolute heading of the robot + * @return heading from -180 to 180 degrees + */ + public double getHeading(double angle) { + return Math.IEEEremainder(angle, 360); + } + + /** + * Returns the current pitch value (in degrees, from -90 to 90) + * reported by the sensor. Pitch is a measure of rotation around + * the Y Axis. + * @return The current pitch value in degrees (-90 to 90). + */ + public double getPitch() { + if (m_isGyroAPigeon) { + return MathUtil.clamp(getPigeonAngles()[1], -90, 90); + } else { + return MathUtil.clamp(m_navX.getPitch(), -90, 90); + } + } + + /** + * Returns the current roll value (in degrees, from -90 to 90) + * reported by the sensor. Roll is a measure of rotation around + * the X Axis. + * @return The current roll value in degrees (-90 to 90). + */ + public double getRoll() { + if (m_isGyroAPigeon) { + return MathUtil.clamp(getPigeonAngles()[2], -90, 90); + } else { + return MathUtil.clamp(m_navX.getRoll(), -90, 90); + } + } + + public double getRate() { + if (m_isGyroAPigeon) { + return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000; + } else { + return m_navX.getRate(); + } + } + + public Pigeon2 getPigeon(){ + return m_pigeon; + } + + public AHRS getNavX(){ + return m_navX; + } + + public void close() throws Exception { + + } +} diff --git a/src/main/java/frc4388/utility/RobotTime.java b/src/main/java/frc4388/utility/RobotTime.java new file mode 100644 index 0000000..694f850 --- /dev/null +++ b/src/main/java/frc4388/utility/RobotTime.java @@ -0,0 +1,79 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.utility; + +/** + *

Keeps track of Robot times like time passed, delta time, etc + *

All times are in milliseconds + */ +public class RobotTime { + private long m_currTime = System.currentTimeMillis(); + public long m_deltaTime = 0; + + private long m_startRobotTime = m_currTime; + public long m_robotTime = 0; + public long m_lastRobotTime = 0; + + private long m_startMatchTime = 0; + public long m_matchTime = 0; + public long m_lastMatchTime = 0; + + public long m_frameNumber = 0; + + /** + * Private constructor prevents other classes from instantiating + */ + private RobotTime(){} + + private static RobotTime instance = null; + + /** + * Gets the instance of Robot Time. If there is no instance running one will be created. + * @return instance of Robot Time + */ + public static RobotTime getInstance() { + if (instance == null) { + instance = new RobotTime(); + } + return instance; + } + + /** + * Call this once per periodic loop. + */ + public void updateTimes() { + m_lastRobotTime = m_robotTime; + m_lastMatchTime = m_matchTime; + + m_currTime = System.currentTimeMillis(); + m_robotTime = m_currTime - m_startRobotTime; + m_deltaTime = m_robotTime - m_lastRobotTime; + m_frameNumber++; + + if (m_startMatchTime != 0) { + m_matchTime = m_currTime - m_startMatchTime; + } + } + + /** + * Call this in both the auto and periodic inits + */ + public void startMatchTime() { + if (m_startMatchTime == 0) { + m_startMatchTime = m_currTime; + } + } + + /** + * Call this in disabled init + */ + public void endMatchTime() { + m_startMatchTime = 0; + m_matchTime = 0; + } +} diff --git a/src/main/java/frc4388/utility/RobotUnits.java b/src/main/java/frc4388/utility/RobotUnits.java new file mode 100644 index 0000000..9e07312 --- /dev/null +++ b/src/main/java/frc4388/utility/RobotUnits.java @@ -0,0 +1,27 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.utility; + +/** Aarav's good units class (better than WPILib) + * @author Aarav Shah */ + +public class RobotUnits { + // constants + + // angle conversions + public static double degreesToRadians(final double degrees) {return degrees * Math.PI / 180;} + + public static double radiansToDegrees(final double radians) {return radians / Math.PI * 180;} + + // falcon conversions + public static double falconTicksToRotations(final double ticks) {return ticks / 2048;} + + public static double falconRotationsToTicks(final double rotations) {return rotations * 2048;} + + // distance conversions + public static double metersToFeet(final double meters) {return meters * 3.28084;} + + public static double feetToMeters(final double feet) {return feet / 3.28084;} +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/Status.java b/src/main/java/frc4388/utility/Status.java new file mode 100644 index 0000000..bf0de19 --- /dev/null +++ b/src/main/java/frc4388/utility/Status.java @@ -0,0 +1,81 @@ +package frc4388.utility; + +import java.util.ArrayList; +import java.util.List; + +import com.ctre.phoenix6.StatusCode; +import com.ctre.phoenix6.controls.EmptyControl; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.Pigeon2; +import com.ctre.phoenix6.hardware.TalonFX; + +public class Status { + public enum ReportLevel { + INFO, + WARNING, + ERROR + } + + public class Report { + public ReportLevel reportLevel; + public String description; + + @Override + public String toString() { + return this.reportLevel.name() + ": " + this.description; + } + } + + public List reports; + + public Status() { + this.reports = new ArrayList<>(); + } + + public void addReport(ReportLevel level, String description) { + Report r = new Report(); + r.reportLevel = level; + r.description = description; + this.reports.add(r); + } + + private String printStatusCode(StatusCode status){ + return status.getName() + " (" + status.value + ")"; + } + + public void diagnoseHardwareCTRE(String deviceName, TalonFX motor) { + if (motor.isAlive()) addReport(ReportLevel.INFO, deviceName + " Motor (TalonFX) Alive?: Alive."); + else addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: Dead!"); + } + + public void diagnoseHardwareCTRE(String deviceName, CANcoder coder) { + // Because the Cancoder has no method to check its alive, we send it a empty control which it should return a zero when it gets the control. + // If its not zero, that means that most likely that it had some communication error, I.e. It actually is powered off or not connected at all. + // TODO: validate that a CANCoder can actually do `EmptyControl`s + StatusCode status = coder.setControl(new EmptyControl()); + if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Cancoder Alive?: Alive. " + printStatusCode(status)); + else addReport(ReportLevel.ERROR, deviceName + " Cancoder Alive?: Dead! " + printStatusCode(status)); + + + + // StatusSignal -> MagnetHealthValue -> int + int coderMagHealth = coder.getMagnetHealth().getValue().value; + if (coderMagHealth == 3) addReport(ReportLevel.INFO, deviceName + " Cancoder Magnet Strength?: Ideal."); // why is 3 the 'good value'? + if (coderMagHealth == 2) addReport(ReportLevel.WARNING, deviceName + " Cancoder Magnet Strength?: Subpar."); + if (coderMagHealth == 1) addReport(ReportLevel.ERROR, deviceName + " Cancoder Magnet Strength?: Too Close or Far!"); + if (coderMagHealth == 0) addReport(ReportLevel.ERROR, deviceName + " Cancoder Magnet Strength?: Unkown!"); + } + + public void diagnoseHardwareCTRE(String deviceName, Pigeon2 pigeon) { + // Because the Pigeon has no method to check its alive, we send it a empty control which it should return a zero when it gets the control. + // If its not zero, that means that most likely that it had some communication error, I.e. It actually is powered off or not connected at all. + // TODO: validate that a Pigeon2 can actually do `EmptyControl`s + StatusCode status = pigeon.setControl(new EmptyControl()); + if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Pigeon2 Alive?: Alive. " + printStatusCode(status)); + else addReport(ReportLevel.ERROR, deviceName + " Pigeon2 Alive?: Dead! " + printStatusCode(status)); + } + + public boolean hasReport() { + return reports.size() == 0; + } +} diff --git a/src/main/java/frc4388/utility/Subsystem.java b/src/main/java/frc4388/utility/Subsystem.java new file mode 100644 index 0000000..961900d --- /dev/null +++ b/src/main/java/frc4388/utility/Subsystem.java @@ -0,0 +1,25 @@ +package frc4388.utility; + +import java.util.ArrayList; +import java.util.List; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public abstract class Subsystem extends SubsystemBase { + public static List subsystems = new ArrayList<>(); + + public Subsystem(){ + subsystems.add(this); + } + + public void Log(String str) { + System.out.println(getSubsystemName() + " - " + str); + } + + // Get name of subsystem, for use in log. + public abstract String getSubsystemName(); + // Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard + public abstract void queryStatus(); + // Proactivly search for any errors in each subsystem + public abstract Status diagnosticStatus(); +} diff --git a/src/main/java/frc4388/utility/UtilityStructs.java b/src/main/java/frc4388/utility/UtilityStructs.java new file mode 100644 index 0000000..935dbbe --- /dev/null +++ b/src/main/java/frc4388/utility/UtilityStructs.java @@ -0,0 +1,26 @@ +package frc4388.utility; + +public class UtilityStructs { + public static class TimedOutput { + public double leftX = 0.0; + public double leftY = 0.0; + public double rightX = 0.0; + public double rightY = 0.0; + + public 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; + } +} diff --git a/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java b/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java new file mode 100644 index 0000000..c0384db --- /dev/null +++ b/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java @@ -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); + } +} diff --git a/src/main/java/frc4388/utility/configurable/ConfigurableString.java b/src/main/java/frc4388/utility/configurable/ConfigurableString.java new file mode 100644 index 0000000..34c0290 --- /dev/null +++ b/src/main/java/frc4388/utility/configurable/ConfigurableString.java @@ -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); + } +} diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java new file mode 100644 index 0000000..4577a2e --- /dev/null +++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java @@ -0,0 +1,27 @@ +package frc4388.utility.controller; + +import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.XboxController; + +public class DeadbandedXboxController extends XboxController { + public DeadbandedXboxController(int port) { super(port); } + + @Override public double getLeftX() { return getLeft().getX(); } + @Override public double getLeftY() { return getLeft().getY(); } + @Override public double getRightX() { return getRight().getX(); } + @Override public double getRightY() { return getRight().getY(); } + + public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); } + public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); } + + public static Translation2d skewToDeadzonedCircle(double x, double y) { + Translation2d translation2d = new Translation2d(x, y); + double magnitude = translation2d.getNorm(); + + if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0); + + return translation2d; + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java new file mode 100644 index 0000000..13aa763 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/IHandController.java @@ -0,0 +1,21 @@ +package frc4388.utility.controller; + +/** + * Add your docs here. + */ +public interface IHandController { + + public double getLeftXAxis(); + + public double getLeftYAxis(); + + public double getRightXAxis(); + + public double getRightYAxis(); + + public double getLeftTriggerAxis(); + + public double getRightTriggerAxis(); + + public int getDpadAngle(); +} diff --git a/src/main/java/frc4388/utility/controller/VirtualController.java b/src/main/java/frc4388/utility/controller/VirtualController.java new file mode 100644 index 0000000..85adb64 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/VirtualController.java @@ -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?"); + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java new file mode 100644 index 0000000..8b8f0f8 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -0,0 +1,218 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj.Joystick; + +/** + * This is a wrapper for the WPILib Joystick class that represents an XBox + * controller. + * @author frc1675 + */ +public class XboxController implements IHandController +{ + public static final int LEFT_X_AXIS = 0; + public static final int LEFT_Y_AXIS = 1; + public static final int LEFT_TRIGGER_AXIS = 2; + public static final int RIGHT_TRIGGER_AXIS = 3; + public static final int RIGHT_X_AXIS = 4; + public static final int RIGHT_Y_AXIS = 5; + public static final int LEFT_RIGHT_DPAD_AXIS = 6; + public static final int TOP_BOTTOM_DPAD_AXIS = 6; + + public static final int A_BUTTON = 1; + public static final int B_BUTTON = 2; + public static final int X_BUTTON = 3; + public static final int Y_BUTTON = 4; + public static final int LEFT_BUMPER_BUTTON = 5; + public static final int RIGHT_BUMPER_BUTTON = 6; + public static final int BACK_BUTTON = 7; + public static final int START_BUTTON = 8; + + public static final int LEFT_JOYSTICK_BUTTON = 9; + public static final int RIGHT_JOYSTICK_BUTTON = 10; + + private static final double LEFT_DPAD_TOLERANCE = -0.9; + private static final double RIGHT_DPAD_TOLERANCE = 0.9; + private static final double BOTTOM_DPAD_TOLERANCE = -0.9; + private static final double TOP_DPAD_TOLERANCE = 0.9; + + private static final double LEFT_TRIGGER_TOLERANCE = 0.5; + private static final double RIGHT_TRIGGER_TOLERANCE = 0.5; + + private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9; + private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9; + private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9; + private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9; + + private static final double LEFT_AXIS_UP_TOLERANCE = -0.9; + private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9; + private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9; + private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9; + + private static final double DEADZONE = 0.1; + + private Joystick m_stick; + + /** + * Add your docs here. + */ + public XboxController(int portNumber){ + m_stick = new Joystick(portNumber); + } + + /** + * Add your docs here. + */ + public Joystick getJoyStick() { + return m_stick; + } + + /** + * Checks if the input falls within the deadzone. + * @param input from an axis on the controller + * @return true if input falls in deadzone, false if input falls outside deadzone + */ + private boolean inDeadZone(double input){ + return (Math.abs(input) < DEADZONE); + } + + /** + * Updates an input to have a deadzone around the 0 position + * @param input from an axis on the controller + * @return updated input + */ + private double getAxisWithDeadZoneCheck(double input){ + if(inDeadZone(input)){ + return 0.0; + } else { + return input; + } + } + + public boolean getAButton(){ + return m_stick.getRawButton(A_BUTTON); + } + + public boolean getXButton(){ + return m_stick.getRawButton(X_BUTTON); + } + + public boolean getBButton(){ + return m_stick.getRawButton(B_BUTTON); + } + + public boolean getYButton(){ + return m_stick.getRawButton(Y_BUTTON); + } + + public boolean getBackButton(){ + return m_stick.getRawButton(BACK_BUTTON); + } + + public boolean getStartButton(){ + return m_stick.getRawButton(START_BUTTON); + } + + public boolean getLeftBumperButton(){ + return m_stick.getRawButton(LEFT_BUMPER_BUTTON); + } + + public boolean getRightBumperButton(){ + return m_stick.getRawButton(RIGHT_BUMPER_BUTTON); + } + + public boolean getLeftJoystickButton(){ + return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON); + } + + public boolean getRightJoystickButton(){ + return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON); + } + + public double getLeftXAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS)); + } + + public double getLeftYAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS)); + } + + public double getRightXAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS)); + } + + public double getRightYAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS)); + } + + public double getLeftTriggerAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS)); + } + + public double getRightTriggerAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS)); + } + + /** + * Get the angle input from the dpad. + * @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc. + */ + public int getDpadAngle() { + return m_stick.getPOV(0); + } + + public boolean getDPadLeft(){ + return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE); + } + + public boolean getDPadRight(){ + return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE); + } + + public boolean getDPadTop(){ + return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE); + } + + public boolean getDPadBottom(){ + return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE); + } + + public boolean getLeftTrigger(){ + return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE); + } + + public boolean getRightTrigger(){ + return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE); + } + + public boolean getRightAxisUpTrigger(){ + return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE); + } + + public boolean getRightAxisDownTrigger(){ + return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE); + } + + public boolean getRightAxisLeftTrigger(){ + return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE); + } + + public boolean getRightAxisRightTrigger(){ + return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE); + } + + public boolean getLeftAxisUpTrigger(){ + return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE); + } + + public boolean getLeftAxisDownTrigger(){ + return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE); + } + + public boolean getLeftAxisLeftTrigger(){ + return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE); + } + + public boolean getLeftAxisRightTrigger(){ + return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE); + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java new file mode 100644 index 0000000..0a56841 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java @@ -0,0 +1,68 @@ +package frc4388.utility.controller; + +//import edu.wpi.first.wpilibj2.command.button.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 Trigger { + public static final int RIGHT_TRIGGER = 0; + public static final int LEFT_TRIGGER = 1; + public static final int RIGHT_AXIS_UP_TRIGGER = 2; + public static final int RIGHT_AXIS_DOWN_TRIGGER = 3; + public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4; + public static final int RIGHT_AXIS_LEFT_TRIGGER = 5; + public static final int LEFT_AXIS_UP_TRIGGER = 6; + public static final int LEFT_AXIS_DOWN_TRIGGER = 7; + public static final int LEFT_AXIS_RIGHT_TRIGGER = 8; + public static final int LEFT_AXIS_LEFT_TRIGGER = 9; + + private XboxController m_controller; + private int m_trigger; + + /** + * Creates a Trigger-Button mapped to a specific Xbox controller and trigger + */ + public XboxTriggerButton(XboxController controller, int trigger) { + m_controller = controller; + m_trigger = trigger; + } + + /** {@inheritDoc} */ + // @Override + public boolean get() { + if (m_trigger == RIGHT_TRIGGER) { + return m_controller.getRightTrigger(); + } + else if (m_trigger == LEFT_TRIGGER) { + return m_controller.getLeftTrigger(); + } + else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) { + return m_controller.getRightAxisUpTrigger(); + } + else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) { + return m_controller.getRightAxisDownTrigger(); + } + else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) { + return m_controller.getRightAxisRightTrigger(); + } + else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) { + return m_controller.getRightAxisLeftTrigger(); + } + else if (m_trigger == LEFT_AXIS_UP_TRIGGER) { + return m_controller.getLeftAxisUpTrigger(); + } + else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) { + return m_controller.getLeftAxisDownTrigger(); + } + else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) { + return m_controller.getLeftAxisRightTrigger(); + } + else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) { + return m_controller.getLeftAxisLeftTrigger(); + } + return false; + } +} diff --git a/src/test/java/frc4388/mocks/MockPigeonIMU.java.old b/src/test/java/frc4388/mocks/MockPigeonIMU.java.old new file mode 100644 index 0000000..ecddde7 --- /dev/null +++ b/src/test/java/frc4388/mocks/MockPigeonIMU.java.old @@ -0,0 +1,54 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.mocks; + +import com.ctre.phoenix.ErrorCode; +import com.ctre.phoenix.sensors.PigeonIMU; + +/** + * Add your docs here. + */ +public class MockPigeonIMU extends PigeonIMU { + public int m_deviceNumber; + public double currentYaw; + public double currentPitch; + public double currentRoll; + + public MockPigeonIMU(int deviceNumber) { + super(deviceNumber); + m_deviceNumber = deviceNumber; + } + + @Override + public ErrorCode setYaw(double angleDeg) { + currentYaw = angleDeg; + return ErrorCode.OK; + } + + /** + * @param currentPitch the Pitch to set + */ + public void setCurrentPitch(double currentPitch) { + this.currentPitch = currentPitch; + } + + /** + * @param currentRoll the Roll to set + */ + public void setCurrentRoll(double currentRoll) { + this.currentRoll = currentRoll; + } + + @Override + public ErrorCode getYawPitchRoll(double[] ypr_deg) { + ypr_deg[0] = currentYaw; + ypr_deg[1] = currentPitch; + ypr_deg[2] = currentRoll; + return ErrorCode.OK; + } +} diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old new file mode 100644 index 0000000..8fcbf53 --- /dev/null +++ b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old @@ -0,0 +1,59 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.subsystems; + +import static org.junit.Assert.assertEquals; +import static org.mockito.Mockito.mock; + +import org.junit.Test; + +import edu.wpi.first.wpilibj.*; +import frc4388.robot.Constants.LEDConstants; +import frc4388.utility.LEDPatterns; + +/** + * Add your docs here. + */ +public class LEDSubsystemTest { + @Test + public void testConstructor() { + // Arrange + Spark ledController = mock(Spark.class); + + // Act + LED led = new LED(ledController); + + // Assert + assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001); + } + + @Test + public void testPatterns() { + // Arrange + Spark ledController = mock(Spark.class); + LED led = new LED(ledController); + + // Act + led.setPattern(LEDPatterns.RAINBOW_RAINBOW); + + // Assert + assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001); + + // Act + led.setPattern(LEDPatterns.BLUE_BREATH); + + // Assert + assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001); + + // Act + led.setPattern(LEDPatterns.SOLID_BLACK); + + // Assert + assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001); + } +} diff --git a/src/test/java/frc4388/utility/RobotGyroUtilityTest.old b/src/test/java/frc4388/utility/RobotGyroUtilityTest.old new file mode 100644 index 0000000..8c0b1e5 --- /dev/null +++ b/src/test/java/frc4388/utility/RobotGyroUtilityTest.old @@ -0,0 +1,184 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.utility; + +import static org.junit.Assert.*; +import static org.mockito.Mockito.*; + +import com.kauailabs.navx.frc.AHRS; + +import org.junit.*; + +import frc4388.mocks.MockPigeonIMU; +import frc4388.robot.Constants.DriveConstants; + +/** + * Add your docs here. + */ +public class RobotGyroUtilityTest { + // TODO UNTESTED: most functions for NavX + + private RobotGyro gyroPigeon; + private RobotGyro gyroNavX; + + @Test + public void testConstructor() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + AHRS navX = mock(AHRS.class); + gyroPigeon = new RobotGyro(pigeon); + gyroNavX = new RobotGyro(navX); + + // Assert + assertEquals(true, gyroPigeon.m_isGyroAPigeon); + assertEquals(pigeon, gyroPigeon.getPigeon()); + assertEquals(null, gyroPigeon.getNavX()); + assertEquals(false, gyroNavX.m_isGyroAPigeon); + assertEquals(navX, gyroNavX.getNavX()); + assertEquals(null, gyroNavX.getPigeon()); + } + + @Test + public void testHeadingPigeon() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + gyroPigeon = new RobotGyro(pigeon); + + // Act & Assert + assertEquals(-90, gyroPigeon.getHeading(270), 0.0001); + assertEquals(-45, gyroPigeon.getHeading(315), 0.0001); + assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001); + assertEquals(30, gyroPigeon.getHeading(30), 0.0001); + assertEquals(0, gyroPigeon.getHeading(0), 0.0001); + assertEquals(180, gyroPigeon.getHeading(180), 0.0001); + assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001); + assertEquals(97, gyroPigeon.getHeading(1537), 0.0001); + assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001); + } + + @Test + public void testYawPitchRollPigeon() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + gyroPigeon = new RobotGyro(pigeon); + + // Assert + assertEquals(0, gyroPigeon.getAngle(), 0.0001); + + // Act + pigeon.setYaw(40); + + // Assert + assertEquals(40, gyroPigeon.getAngle(), 0.0001); + + // Act + gyroPigeon.reset(); + + // Assert + assertEquals(0, gyroPigeon.getAngle(), 0.0001); + + // Act + pigeon.setYaw(-1457); + pigeon.setCurrentPitch(100); + pigeon.setCurrentRoll(100); + + // Assert + assertEquals(-1457, gyroPigeon.getAngle(), 0.0001); + assertEquals(90, gyroPigeon.getPitch(), 0.0001); + assertEquals(90, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(45); + pigeon.setCurrentRoll(45); + + // Assert + assertEquals(45, gyroPigeon.getPitch(), 0.0001); + assertEquals(45, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(0); + pigeon.setCurrentRoll(0); + + // Assert + assertEquals(0, gyroPigeon.getPitch(), 0.0001); + assertEquals(0, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(-60); + pigeon.setCurrentRoll(-60); + + // Assert + assertEquals(-60, gyroPigeon.getPitch(), 0.0001); + assertEquals(-60, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(-90); + pigeon.setCurrentRoll(-90); + + // Assert + assertEquals(-90, gyroPigeon.getPitch(), 0.0001); + assertEquals(-90, gyroPigeon.getRoll(), 0.0001); + + // Act + pigeon.setCurrentPitch(-100); + pigeon.setCurrentRoll(-100); + + // Assert + assertEquals(-90, gyroPigeon.getPitch(), 0.0001); + assertEquals(-90, gyroPigeon.getRoll(), 0.0001); + } + + @Test + public void testRatesPigeon() { + // Arrange + MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); + gyroPigeon = new RobotGyro(pigeon); + RobotTime robotTime = RobotTime.getInstance(); + gyroPigeon.updatePigeonDeltas(); + + // Act + robotTime.m_deltaTime = 5; + pigeon.setYaw(0); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(0, gyroPigeon.getRate(), 1); + + // Act + robotTime.m_deltaTime = 5; + pigeon.setYaw(90); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(18000, gyroPigeon.getRate(), 0.001); + + // Act + robotTime.m_deltaTime = 5; + pigeon.setYaw(90); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(0, gyroPigeon.getRate(), 0.001); + + // Act + robotTime.m_deltaTime = 3; + pigeon.setYaw(-30); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(-40000, gyroPigeon.getRate(), 0.001); + + // Act + robotTime.m_deltaTime = 6; + pigeon.setYaw(690); + gyroPigeon.updatePigeonDeltas(); + + // Assert + assertEquals(120000, gyroPigeon.getRate(), 0.001); + } +} diff --git a/src/test/java/frc4388/utility/RobotTimeUtilityTest.old b/src/test/java/frc4388/utility/RobotTimeUtilityTest.old new file mode 100644 index 0000000..2c31a34 --- /dev/null +++ b/src/test/java/frc4388/utility/RobotTimeUtilityTest.old @@ -0,0 +1,104 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.utility; + +import static org.junit.Assert.*; + +import org.junit.*; + +/** + * Add your docs here. + */ +public class RobotTimeUtilityTest { + RobotTime robotTime = RobotTime.getInstance(); + + @Test + public void testUpdateTimes() { + // Arrange + long lastTime; + robotTime.m_deltaTime = 0; + robotTime.m_robotTime = 0; + robotTime.m_lastRobotTime = 0; + robotTime.m_frameNumber = 0; + robotTime.endMatchTime(); + robotTime.m_lastMatchTime = 0; + + // Assert + assertEquals(0, robotTime.m_deltaTime); + assertEquals(0, robotTime.m_robotTime); + assertEquals(0, robotTime.m_lastRobotTime); + assertEquals(0, robotTime.m_frameNumber); + lastTime = robotTime.m_robotTime; + + // Act + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(true, robotTime.m_deltaTime > 0); + assertEquals(true, robotTime.m_robotTime > 0); + assertEquals(lastTime, robotTime.m_lastRobotTime); + assertEquals(1, robotTime.m_frameNumber); + lastTime = robotTime.m_robotTime; + + // Act + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(true, robotTime.m_deltaTime > 0); + assertEquals(true, robotTime.m_robotTime > 0); + assertEquals(lastTime, robotTime.m_lastRobotTime); + assertEquals(2, robotTime.m_frameNumber); + } + + @Test + public void testMatchTime() { + // Arrange + long lastTime; + + // Assert + assertEquals(0, robotTime.m_matchTime); + assertEquals(0, robotTime.m_lastMatchTime); + lastTime = robotTime.m_matchTime; + + // Act + robotTime.startMatchTime(); + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(true, robotTime.m_matchTime > 0); + assertEquals(lastTime, robotTime.m_lastMatchTime); + lastTime = robotTime.m_matchTime; + + // Act + wait(1); + robotTime.updateTimes(); + robotTime.endMatchTime(); + + // Assert + assertEquals(0, robotTime.m_matchTime); + assertEquals(lastTime, robotTime.m_lastMatchTime); + lastTime = robotTime.m_matchTime; + + // Act + wait(1); + robotTime.updateTimes(); + + // Assert + assertEquals(0, robotTime.m_matchTime); + assertEquals(lastTime, robotTime.m_lastMatchTime); + } + + private void wait(int millis) { + try { + Thread.sleep(millis); + } catch (Exception e) {} + } +} diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json new file mode 100644 index 0000000..ecf8fa0 --- /dev/null +++ b/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2025", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} diff --git a/vendordeps/Phoenix6-25.1.0.json b/vendordeps/Phoenix6-25.1.0.json new file mode 100644 index 0000000..473f6a8 --- /dev/null +++ b/vendordeps/Phoenix6-25.1.0.json @@ -0,0 +1,389 @@ +{ + "fileName": "Phoenix6-25.1.0.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.1.0", + "frcYear": "2025", + "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-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "25.1.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + 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