Team4388/2025RidgeScape
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Work on implementing adv

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This commit is contained in:
Michael Mikovsky
2025-07-15 09:33:40 -06:00
parent 9fd98bce24
commit aaef829ad2
19 changed files with 83 additions and 89 deletions
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simgui-ds.json
+5
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@@ -1,4 +1,9 @@
{
"System Joysticks": {
"window": {
"enabled": false
}
},
"keyboardJoysticks": [
{
"axisConfig": [
src/main/java/frc4388/robot/Robot.java
+10 -9
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@@ -15,13 +15,14 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.constants.BuildConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.utility.DeferredBlock;
import frc4388.utility.Trim;
import frc4388.utility.compute.RobotTime;
import frc4388.utility.compute.Trim;
import frc4388.utility.status.FaultReporter;
//import frc4388.robot.subsystems.LED;
@@ -52,8 +53,8 @@ public class Robot extends LoggedRobot {
m_robotContainer = new RobotContainer();
// Create a shuffleboard update thread, that will periodically update the values on shuffleboard
FaultReporter.startThread();
// // Create a shuffleboard update thread, that will periodically update the values on shuffleboard
// FaultReporter.startThread();
}
/**
@@ -205,13 +206,13 @@ public class Robot extends LoggedRobot {
// }
// @Override
// public void simulationPeriodic() {
// m_robotContainer.m_robotSwerveDrive.updateSim(RobotController.getBatteryVoltage());
// visionSim.update(m_robotContainer.m_robotSwerveDrive.getPose2d());
@Override
public void simulationPeriodic() {
m_robotContainer.m_robotSwerveDrive.updateSim(RobotController.getBatteryVoltage());
// visionSim.update(m_robotContainer.m_robotSwerveDrive.getPose2d());
// // m_robotContainer.m_robotSwerveDrive.
// }
// m_robotContainer.m_robotSwerveDrive.
}
src/main/java/frc4388/robot/RobotContainer.java
+11 -3
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@@ -15,6 +15,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.utility.controller.XboxController;
@@ -67,7 +68,7 @@ import frc4388.utility.compute.ReefPositionHelper.Side;
* This class is where the bulk of the robot should be declared. Since
* Command-based is a "declarative" paradigm, very little robot logic should
* actually be handled in the {@link Robot} periodic methods (other than the
* scheduler calls). Instead, the structure of the robot (including subsystems,
* scheduler calls). Instead, the structure of the robot (2including subsystems,
* commands, and button mappings) should be declared here.
*/
public class RobotContainer {
@@ -892,8 +893,15 @@ public class RobotContainer {
public void makeAutoChooser() {
autoChooser = new SendableChooser<String>();
File dir = new File("/home/lvuser/deploy/pathplanner/autos/");
// File dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
File dir;
if(RobotBase.isReal()) {
dir = new File("/home/lvuser/deploy/pathplanner/autos/");
} else {
// dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
dir = new File("/home/astatin3/Documents/GitHub/2025RidgeScape/src/main/deploy/pathplanner/autos");
}
String[] autos = dir.list();
if(autos == null) return;
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 166;
public static final String GIT_SHA = "c183c08a3d92ff8561bef96dad52b8dd64d94f14";
public static final String GIT_DATE = "2025-07-11 17:58:22 MDT";
public static final int GIT_REVISION = 168;
public static final String GIT_SHA = "9fd98bce241ee2aef0855f3ce8bb0b37aee723c2";
public static final String GIT_DATE = "2025-07-13 19:41:05 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-07-13 19:23:17 MDT";
public static final long BUILD_UNIX_TIME = 1752456197462L;
public static final String BUILD_DATE = "2025-07-14 01:44:15 MDT";
public static final long BUILD_UNIX_TIME = 1752479055707L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
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@@ -20,7 +20,7 @@ import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.RobotBase;
import frc4388.utility.Trim;
import frc4388.utility.compute.Trim;
import frc4388.utility.status.CanDevice;
import frc4388.utility.structs.Gains;
import frc4388.utility.structs.LEDPatterns;
src/main/java/frc4388/robot/subsystems/DiffDrive.java
+4 -4
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@@ -94,10 +94,10 @@ public class DiffDrive extends SubsystemBase implements Queryable {
return "Diff Drive";
}
@Override
public void queryStatus() {
// TODO: Add Stuff
}
// @Override
// public void queryStatus() {
// // TODO: Add Stuff
// }
@Override
public Status diagnosticStatus() {
src/main/java/frc4388/robot/subsystems/Elevator.java
+2 -2
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@@ -378,8 +378,8 @@ public class Elevator extends SubsystemBase implements Queryable {
return "Elevator";
}
@Override
public void queryStatus() {}
// @Override
// public void queryStatus() {}
@Override
public Status diagnosticStatus() {
src/main/java/frc4388/robot/subsystems/LED.java
+4 -4
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@@ -53,10 +53,10 @@ public class LED extends SubsystemBase implements Queryable {
return "LEDs";
}
@Override
public void queryStatus() {
SmartDashboard.putString("LED status", mode.name());
}
// @Override
// public void queryStatus() {
// SmartDashboard.putString("LED status", mode.name());
// }
@Override
public Status diagnosticStatus() {
src/main/java/frc4388/robot/subsystems/Lidar.java
+8 -5
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@@ -1,5 +1,7 @@
package frc4388.robot.subsystems;
import org.littletonrobotics.junction.AutoLogOutput;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
@@ -53,6 +55,7 @@ public class Lidar extends SubsystemBase implements Queryable {
distance = (LidarPWM.getPeriod() * LiDARConstants.SECONDS_TO_MICROS) / LiDARConstants.LIDAR_MICROS_TO_CM;
}
@AutoLogOutput
public double getDistance(){
return distance;
}
@@ -71,11 +74,11 @@ public class Lidar extends SubsystemBase implements Queryable {
return "Lidar " + name;
}
@Override
public void queryStatus() {
sbDistance.setDouble(distance);
sbWithinDistance.setBoolean(withinDistance());
}
// @Override
// public void queryStatus() {
// sbDistance.setDouble(distance);
// sbWithinDistance.setBoolean(withinDistance());
// }
@Override
public Status diagnosticStatus() {
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -6
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@@ -467,13 +467,13 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
.withWidget(BuiltInWidgets.kNumberBar)
.getEntry();
@Override
public void queryStatus() {
sbGyro.setDouble(getGyroAngle());
sbShiftState.setDouble(this.speedAdjust);
// @Override
// public void queryStatus() {
// sbGyro.setDouble(getGyroAngle());
// sbShiftState.setDouble(this.speedAdjust);
// TODO: Add more status things
}
// // TODO: Add more status things
// }
@Override
public Status diagnosticStatus() {
src/main/java/frc4388/robot/subsystems/Vision.java
+6 -6
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@@ -309,12 +309,12 @@ public class Vision extends SubsystemBase implements Queryable {
// .getEntry();
@Override
public void queryStatus() {
sbTagDetected.setBoolean(isTagDetected);
sbTagProcessed.setBoolean(isTagProcessed);
// field.setRobotPose(getPose2d());
}
// @Override
// public void queryStatus() {
// sbTagDetected.setBoolean(isTagDetected);
// sbTagProcessed.setBoolean(isTagProcessed);
// // field.setRobotPose(getPose2d());
// }
@Override
public Status diagnosticStatus() {
src/main/java/frc4388/utility/Trim.java → src/main/java/frc4388/utility/compute/Trim.java
+1 -2
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@@ -2,7 +2,7 @@
// 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;
package frc4388.utility.compute;
import java.io.FileInputStream;
import java.io.FileOutputStream;
@@ -11,7 +11,6 @@ import java.util.ArrayList;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import frc4388.utility.compute.DataUtils;
/**
* Reboot persistant Trims.
src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+1
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@@ -1,3 +1,4 @@
package frc4388.utility.controller;
import static frc4388.robot.constants.Constants.OIConstants.LEFT_AXIS_DEADBAND;
src/main/java/frc4388/utility/status/FaultCANCoder.java
-6
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@@ -23,12 +23,6 @@ public class FaultCANCoder implements Queryable {
return name;
}
@Override
public void queryStatus() {
// TODO Auto-generated method stub
// throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
}
@Override
public Status diagnosticStatus() {
Status s = new Status();
src/main/java/frc4388/utility/status/FaultPhotonCamera.java
-3
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@@ -22,9 +22,6 @@ public class FaultPhotonCamera implements Queryable {
return name;
}
@Override
public void queryStatus() {}
@Override
public Status diagnosticStatus() {
Status s = new Status();
src/main/java/frc4388/utility/status/FaultPidgeon2.java
-6
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@@ -23,12 +23,6 @@ public class FaultPidgeon2 implements Queryable {
return name;
}
@Override
public void queryStatus() {
// TODO Auto-generated method stub
// throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
}
@Override
public Status diagnosticStatus() {
Status s = new Status();
src/main/java/frc4388/utility/status/FaultReporter.java
+17 -17
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@@ -32,25 +32,25 @@ public class FaultReporter {
private static List<Queryable> queryables = new ArrayList<>();
public static void startThread() {
new Thread() {
public void run() {
try{
while(!this.isInterrupted() && this.isAlive()){
Thread.sleep(500);
for(int i=0;i<queryables.size(); i++){
queryables.get(i).queryStatus();
}
// public static void startThread() {
// new Thread() {
// public void run() {
// try{
// while(!this.isInterrupted() && this.isAlive()){
// Thread.sleep(500);
// for(int i=0;i<queryables.size(); i++){
// queryables.get(i).queryStatus();
// }
// System.out.println("Updated statuses!");
// // System.out.println("Updated statuses!");
}
}catch(Exception e){
e.printStackTrace();
}
}
}.start();
}
// }
// }catch(Exception e){
// e.printStackTrace();
// }
// }
// }.start();
// }
public static void register(Queryable q) {
queryables.add(q);
src/main/java/frc4388/utility/status/FaultTalonFX.java
-6
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@@ -23,12 +23,6 @@ public class FaultTalonFX implements Queryable {
return name;
}
@Override
public void queryStatus() {
// TODO Auto-generated method stub
// throw new UnsupportedOperationException("Unimplemented method 'queryStatus'");
}
@Override
public Status diagnosticStatus() {
Status s = new Status();
src/main/java/frc4388/utility/status/Queryable.java
-2
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@@ -3,8 +3,6 @@ package frc4388.utility.status;
public interface Queryable {
// Get name of subsystem, for use in log.
String getName();
// Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
void queryStatus();
// Proactivly search for any errors in each subsystem
Status diagnosticStatus();
}