mirror of
https://github.com/Team4388/2026KPopRobotHunters.git
synced 2026-06-08 16:28:05 -06:00
updated to 2026
removed 2025
This commit is contained in:
C4llSqin
@@ -1,2 +0,0 @@
|
||||
# Auto detect text files and perform LF normalization
|
||||
* text=auto
|
||||
Vendored
+21
-27
@@ -1,27 +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": "java",
|
||||
"name": "Main",
|
||||
"request": "launch",
|
||||
"mainClass": "frc4388.robot.Main",
|
||||
"projectName": "2025RidgeScape"
|
||||
},
|
||||
{
|
||||
"type": "wpilib",
|
||||
"name": "WPILib Desktop Debug",
|
||||
"request": "launch",
|
||||
"desktop": true
|
||||
},
|
||||
{
|
||||
"type": "wpilib",
|
||||
"name": "WPILib roboRIO Debug",
|
||||
"request": "launch",
|
||||
"desktop": false
|
||||
}
|
||||
]
|
||||
}
|
||||
{
|
||||
// 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,
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
Vendored
+61
-62
@@ -1,62 +1,61 @@
|
||||
{
|
||||
"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.*",
|
||||
],
|
||||
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable",
|
||||
"wpilib.autoStartRioLog": false
|
||||
}
|
||||
{
|
||||
"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.*",
|
||||
],
|
||||
"java.dependency.enableDependencyCheckup": false
|
||||
}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2025",
|
||||
"projectYear": "2026beta",
|
||||
"teamNumber": 4388
|
||||
}
|
||||
@@ -1,2 +0,0 @@
|
||||
# Robot-Essentials
|
||||
Basic code for any Ridgebotics robot project
|
||||
+24
-24
@@ -1,24 +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.
|
||||
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.
|
||||
|
||||
+125
-124
@@ -1,124 +1,125 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2025.3.2"
|
||||
id "com.peterabeles.gversion" version "1.10"
|
||||
}
|
||||
|
||||
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'
|
||||
|
||||
def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
|
||||
annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
|
||||
}
|
||||
|
||||
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'
|
||||
}
|
||||
|
||||
task(replayWatch, type: JavaExec) {
|
||||
mainClass = "org.littletonrobotics.junction.ReplayWatch"
|
||||
classpath = sourceSets.main.runtimeClasspath
|
||||
}
|
||||
|
||||
// Create version file
|
||||
project.compileJava.dependsOn(createVersionFile)
|
||||
gversion {
|
||||
srcDir = "src/main/java/"
|
||||
classPackage = "frc4388.robot.constants"
|
||||
className = "BuildConstants"
|
||||
dateFormat = "yyyy-MM-dd HH:mm:ss z"
|
||||
timeZone = "America/Denver"
|
||||
indent = " "
|
||||
}
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
|
||||
id "com.peterabeles.gversion" version "1.10"
|
||||
}
|
||||
|
||||
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 all targets including JNI, which will drastically impact
|
||||
// performance.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
|
||||
// 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'
|
||||
|
||||
def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
|
||||
annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
|
||||
}
|
||||
|
||||
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'
|
||||
}
|
||||
|
||||
task(replayWatch, type: JavaExec) {
|
||||
mainClass = "org.littletonrobotics.junction.ReplayWatch"
|
||||
classpath = sourceSets.main.runtimeClasspath
|
||||
}
|
||||
|
||||
// Create version file
|
||||
project.compileJava.dependsOn(createVersionFile)
|
||||
gversion {
|
||||
srcDir = "src/main/java/"
|
||||
classPackage = "frc4388.robot.constants"
|
||||
className = "BuildConstants"
|
||||
dateFormat = "yyyy-MM-dd HH:mm:ss z"
|
||||
timeZone = "America/Denver"
|
||||
indent = " "
|
||||
}
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
[]
|
||||
+30
-30
@@ -1,30 +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");
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2026'
|
||||
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");
|
||||
|
||||
-112
@@ -1,112 +0,0 @@
|
||||
{
|
||||
"System Joysticks": {
|
||||
"window": {
|
||||
"enabled": false
|
||||
}
|
||||
},
|
||||
"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
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{
|
||||
"guid": "030000005e040000ea0200000b050000",
|
||||
"useGamepad": true
|
||||
},
|
||||
{
|
||||
"useGamepad": true
|
||||
},
|
||||
{},
|
||||
{},
|
||||
{},
|
||||
{
|
||||
"useGamepad": true
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -37,12 +37,12 @@ import edu.wpi.first.wpilibj2.command.ConditionalCommand;
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
import frc4388.robot.commands.MoveForTimeCommand;
|
||||
import frc4388.robot.commands.MoveUntilSuply;
|
||||
import frc4388.robot.commands.alignment.DriveToReef;
|
||||
// import frc4388.robot.commands.alignment.DriveToReef;
|
||||
import frc4388.robot.commands.alignment.DriveUntilLiDAR;
|
||||
import frc4388.robot.commands.alignment.LidarAlign;
|
||||
import frc4388.robot.commands.wait.waitElevatorRefrence;
|
||||
import frc4388.robot.commands.wait.waitEndefectorRefrence;
|
||||
import frc4388.robot.commands.wait.waitFeedCoral;
|
||||
// import frc4388.robot.commands.wait.waitElevatorRefrence;
|
||||
// import frc4388.robot.commands.wait.waitEndefectorRefrence;
|
||||
// import frc4388.robot.commands.wait.waitFeedCoral;
|
||||
import frc4388.robot.commands.wait.waitSupplier;
|
||||
import frc4388.robot.constants.Constants;
|
||||
import frc4388.robot.constants.Constants.AutoConstants;
|
||||
@@ -55,15 +55,15 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
|
||||
|
||||
// Subsystems
|
||||
import frc4388.robot.subsystems.LED;
|
||||
import frc4388.robot.subsystems.elevator.Elevator;
|
||||
import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
|
||||
// import frc4388.robot.subsystems.elevator.Elevator;
|
||||
// import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
|
||||
import frc4388.robot.subsystems.lidar.LiDAR;
|
||||
import frc4388.robot.subsystems.swerve.SwerveDrive;
|
||||
import frc4388.robot.subsystems.vision.Vision;
|
||||
// Utilites
|
||||
import frc4388.utility.DeferredBlock;
|
||||
import frc4388.utility.compute.TimesNegativeOne;
|
||||
import frc4388.utility.compute.ReefPositionHelper.Side;
|
||||
// import frc4388.utility.compute.ReefPositionHelper.Side;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since
|
||||
@@ -79,13 +79,13 @@ public class RobotContainer {
|
||||
|
||||
/* Subsystems */
|
||||
public final LED m_robotLED = new LED();
|
||||
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
|
||||
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
|
||||
public final Vision m_vision = new Vision();
|
||||
// public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
|
||||
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
|
||||
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
|
||||
|
||||
public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
|
||||
public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
|
||||
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
|
||||
// public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
|
||||
|
||||
|
||||
/* Controllers */
|
||||
|
||||
@@ -17,12 +17,12 @@ import com.ctre.phoenix6.hardware.CANcoder;
|
||||
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import frc4388.robot.constants.Constants.ElevatorConstants;
|
||||
//import frc4388.robot.constants.Constants.ElevatorConstants;
|
||||
import frc4388.robot.constants.Constants.LiDARConstants;
|
||||
import frc4388.robot.constants.Constants.SimConstants;
|
||||
import frc4388.robot.constants.Constants.VisionConstants;
|
||||
import frc4388.robot.subsystems.elevator.ElevatorIO;
|
||||
import frc4388.robot.subsystems.elevator.ElevatorReal;
|
||||
// import frc4388.robot.subsystems.elevator.ElevatorIO;
|
||||
// import frc4388.robot.subsystems.elevator.ElevatorReal;
|
||||
import frc4388.robot.subsystems.lidar.LiDAR;
|
||||
import frc4388.robot.subsystems.lidar.LidarIO;
|
||||
import frc4388.robot.subsystems.lidar.LidarReal;
|
||||
@@ -44,13 +44,13 @@ public class RobotMap {
|
||||
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
|
||||
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
|
||||
public final VisionIO leftCamera;
|
||||
public final VisionIO rightCamera;
|
||||
// public final VisionIO leftCamera;
|
||||
// public final VisionIO rightCamera;
|
||||
|
||||
// public final LiDAR lidar = new
|
||||
|
||||
public final LidarIO reefLidar;
|
||||
public final LidarIO reverseLidar;
|
||||
// public final LidarIO reefLidar;
|
||||
// public final LidarIO reverseLidar;
|
||||
|
||||
|
||||
/* LED Subsystem */
|
||||
@@ -59,25 +59,25 @@ public class RobotMap {
|
||||
/* Swreve Drive Subsystem */
|
||||
public final SwerveIO swerveDrivetrain;
|
||||
|
||||
/* Elevator Subsystem */
|
||||
public final ElevatorIO elevatorIO;
|
||||
// /* Elevator Subsystem */
|
||||
// public final ElevatorIO elevatorIO;
|
||||
|
||||
public RobotMap(SimConstants.Mode mode) {
|
||||
switch (mode) {
|
||||
case REAL:
|
||||
// Configure cameras
|
||||
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
|
||||
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
|
||||
// // Configure cameras
|
||||
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
|
||||
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
|
||||
|
||||
leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
|
||||
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
|
||||
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
|
||||
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
|
||||
|
||||
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
|
||||
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
|
||||
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
|
||||
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
|
||||
|
||||
// Configure LiDAR
|
||||
reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
|
||||
reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
|
||||
// // Configure LiDAR
|
||||
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
|
||||
// reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
|
||||
|
||||
// Configure swerve drive train
|
||||
SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
|
||||
@@ -90,23 +90,23 @@ public class RobotMap {
|
||||
|
||||
// Configure elevator
|
||||
|
||||
TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
|
||||
TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
|
||||
// TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
|
||||
// TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
|
||||
|
||||
|
||||
DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
|
||||
DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
|
||||
DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
|
||||
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
|
||||
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
|
||||
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
|
||||
|
||||
elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
|
||||
// elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
|
||||
|
||||
|
||||
|
||||
// Fault
|
||||
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
|
||||
|
||||
FaultTalonFX.addDevice(elevator, "Elevator");
|
||||
FaultTalonFX.addDevice(endeffector, "Endeffector");
|
||||
// FaultTalonFX.addDevice(elevator, "Elevator");
|
||||
// FaultTalonFX.addDevice(endeffector, "Endeffector");
|
||||
|
||||
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
|
||||
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
|
||||
@@ -125,12 +125,12 @@ public class RobotMap {
|
||||
// case SIM:
|
||||
// break;
|
||||
default:
|
||||
leftCamera = new VisionIO() {};
|
||||
rightCamera = new VisionIO() {};
|
||||
reefLidar = new LidarIO() {};
|
||||
reverseLidar = new LidarIO() {};
|
||||
// leftCamera = new VisionIO() {};
|
||||
// rightCamera = new VisionIO() {};
|
||||
// reefLidar = new LidarIO() {};
|
||||
// reverseLidar = new LidarIO() {};
|
||||
swerveDrivetrain = new SwerveIO() {};
|
||||
elevatorIO = new ElevatorIO() {};
|
||||
// elevatorIO = new ElevatorIO() {};
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
package frc4388.robot.commands.autos;
|
||||
package frc4388.robot.commands.Autos;
|
||||
// package frc4388.robot.commands.Autos;
|
||||
|
||||
// import java.io.File;
|
||||
|
||||
@@ -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.robot.commands.swerve;
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import frc4388.robot.commands.PID;
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
package frc4388.robot.commands.swerve;
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileInputStream;
|
||||
import java.util.ArrayList;
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
package frc4388.robot.commands.swerve;
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileOutputStream;
|
||||
import java.util.ArrayList;
|
||||
|
||||
@@ -1,188 +0,0 @@
|
||||
package frc4388.robot.commands.alignment;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.constants.Constants.AutoConstants;
|
||||
import frc4388.robot.subsystems.swerve.SwerveDrive;
|
||||
import frc4388.robot.subsystems.vision.Vision;
|
||||
import frc4388.utility.compute.ReefPositionHelper;
|
||||
import frc4388.utility.compute.TimesNegativeOne;
|
||||
import frc4388.utility.compute.ReefPositionHelper.Side;
|
||||
import frc4388.utility.structs.Gains;
|
||||
|
||||
public class DriveToReef extends Command {
|
||||
|
||||
|
||||
// private Translation2d translation2d= new Translation2d(14.579471999999997,0.24587199999999998);
|
||||
// private Translation2d translation2d= new Translation2d(16.579342-0.15,5.547867999999999);
|
||||
|
||||
private PID xPID = new PID(AutoConstants.XY_GAINS, 0);
|
||||
private PID yPID = new PID(AutoConstants.XY_GAINS, 0);
|
||||
// private PID rotPID = new PID(AutoConstants.ROT_GAINS, 0);
|
||||
private Pose2d targetpos;
|
||||
|
||||
SwerveDrive swerveDrive;
|
||||
Vision vision;
|
||||
double distance;
|
||||
Side side;
|
||||
boolean waitVelocityZero;
|
||||
|
||||
/**
|
||||
* Command to drive robot to position.
|
||||
* @param SwerveDrive m_robotSwerveDrive
|
||||
*/
|
||||
|
||||
public DriveToReef(SwerveDrive swerveDrive, Vision vision, double distance, Side side, boolean waitVelocityZero) {
|
||||
this.swerveDrive = swerveDrive;
|
||||
this.vision = vision;
|
||||
this.distance = distance;
|
||||
this.side = side;
|
||||
this.waitVelocityZero = waitVelocityZero && false;
|
||||
addRequirements(swerveDrive);
|
||||
}
|
||||
|
||||
|
||||
public static double tagRelativeXError = -1;
|
||||
private static void setTagRelativeXError(double val){
|
||||
tagRelativeXError = val;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
xPID.initialize();
|
||||
yPID.initialize();
|
||||
this.targetpos = ReefPositionHelper.getNearestPosition(
|
||||
this.vision.getPose2d(),
|
||||
side,
|
||||
Units.inchesToMeters(AutoConstants.X_OFFSET_TRIM.get()),
|
||||
distance + Units.inchesToMeters(AutoConstants.Y_OFFSET_TRIM.get())
|
||||
);
|
||||
}
|
||||
|
||||
double xerr;
|
||||
double yerr;
|
||||
double roterr;
|
||||
|
||||
double xoutput;
|
||||
double youtput;
|
||||
double rotoutput;
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
xerr = TimesNegativeOne.invert(targetpos.getX() - vision.getPose2d().getX(), TimesNegativeOne.XAxis);
|
||||
yerr = TimesNegativeOne.invert(targetpos.getY() - vision.getPose2d().getY(), !TimesNegativeOne.YAxis);
|
||||
// xerr = targetpos.getX() - vision.getPose2d().getX();
|
||||
// yerr = targetpos.getX() - vision.getPose2d().getY();
|
||||
|
||||
// roterr = TimesNegativeOne.invert(targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees(), TimesNegativeOne.isRed);
|
||||
|
||||
roterr = ((targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees()));
|
||||
|
||||
if(roterr > 180){
|
||||
roterr -= 360;
|
||||
}else if(roterr < -180){
|
||||
roterr += 360;
|
||||
}
|
||||
|
||||
// SmartDashboard.putNumber("Rotational PID target", targetpos.getRotation().getDegrees());
|
||||
// SmartDashboard.putNumber("Rotational PID position", vision.getPose2d().getRotation().getDegrees());
|
||||
// SmartDashboard.putNumber("Rotational PID error", roterr);
|
||||
|
||||
SmartDashboard.putNumber("PID X Error", xerr);
|
||||
SmartDashboard.putNumber("PID Y Error", yerr);
|
||||
SmartDashboard.putNumber("PID Rot Error", roterr);
|
||||
|
||||
xoutput = xPID.update(xerr);
|
||||
youtput = yPID.update(yerr);
|
||||
// rotoutput = rotPID.update(roterr);
|
||||
|
||||
xoutput *= Math.abs(xerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
|
||||
youtput *= Math.abs(yerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
|
||||
// rotoutput *= Math.abs(roterr) < AutoConstants.ROT_TOLERANCE ? 0 : 1;
|
||||
|
||||
|
||||
|
||||
Translation2d leftStick = new Translation2d(
|
||||
Math.max(Math.min(-youtput, 1), -1),
|
||||
Math.max(Math.min(-xoutput, 1), -1)
|
||||
// 0,0
|
||||
);
|
||||
|
||||
// Translation2d rightStick = new Translation2d(
|
||||
// Math.max(Math.min(rotoutput, 1), -1),
|
||||
// 0
|
||||
// );
|
||||
|
||||
setTagRelativeXError(
|
||||
new Translation2d(xerr, yerr).getAngle()
|
||||
.rotateBy(targetpos.getRotation())
|
||||
.getCos());
|
||||
|
||||
swerveDrive.driveRelativeAngle(leftStick, targetpos.getRotation());
|
||||
// swerveDrive.driveWithInputOrientation(leftStick, rightStick, true);
|
||||
}
|
||||
|
||||
@Override
|
||||
public final boolean isFinished() {
|
||||
boolean finished = (
|
||||
(Math.abs(xerr) < AutoConstants.XY_TOLERANCE || Math.abs(xoutput) <= AutoConstants.MIN_XY_PID_OUTPUT) &&
|
||||
(Math.abs(yerr) < AutoConstants.XY_TOLERANCE || Math.abs(youtput) <= AutoConstants.MIN_XY_PID_OUTPUT) &&
|
||||
(Math.abs(roterr) < AutoConstants.ROT_TOLERANCE) &&
|
||||
(!waitVelocityZero || swerveDrive.lastOdomSpeed < AutoConstants.VELOCITY_THRESHHOLD)
|
||||
);
|
||||
// System.out.println(finished);
|
||||
|
||||
if(finished)
|
||||
swerveDrive.softStop();
|
||||
|
||||
return finished;
|
||||
// this statement is a boolean in and of itself
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private class PID {
|
||||
protected Gains gains;
|
||||
private double output = 0;
|
||||
|
||||
|
||||
/** Creates a new PelvicInflammatoryDisease. */
|
||||
public PID(Gains gains, double tolerance) {
|
||||
this.gains = gains;
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
public final void initialize() {
|
||||
output = 0;
|
||||
}
|
||||
|
||||
private double prevError, cumError = 0;
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
public double update(double error) {
|
||||
cumError += error * .02; // 20 ms
|
||||
double delta = error - prevError;
|
||||
|
||||
output = error * gains.kP;
|
||||
output += cumError * gains.kI;
|
||||
output += delta * gains.kD;
|
||||
output += gains.kF;
|
||||
|
||||
return output;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -41,7 +41,7 @@ public class LidarAlign extends Command {
|
||||
this.currentFinderTick = 0;
|
||||
this.speed = 0.4; // TODO: find good speed for this
|
||||
this.foundReef = false;
|
||||
this.headedRight = (DriveToReef.tagRelativeXError < 0);
|
||||
//this.headedRight = (DriveToReef.tagRelativeXError < 0);
|
||||
this.additionalDistance = 0;
|
||||
this.bounces = 0;
|
||||
}
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
// 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.wait;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.elevator.Elevator;
|
||||
|
||||
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
|
||||
public class waitElevatorRefrence extends Command {
|
||||
/** Creates a new waitElevatorRefrence. */
|
||||
private Elevator elevator;
|
||||
public waitElevatorRefrence(Elevator elevator) {
|
||||
this.elevator = elevator;
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return elevator.elevatorAtReference();
|
||||
}
|
||||
}
|
||||
@@ -1,36 +0,0 @@
|
||||
// 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.wait;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.elevator.Elevator;
|
||||
|
||||
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
|
||||
public class waitEndefectorRefrence extends Command {
|
||||
/** Creates a new waitElevatorRefrence. */
|
||||
private Elevator elevator;
|
||||
public waitEndefectorRefrence(Elevator elevator) {
|
||||
this.elevator = elevator;
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return elevator.endeffectorAtReference();
|
||||
}
|
||||
}
|
||||
@@ -1,36 +0,0 @@
|
||||
// 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.wait;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.elevator.Elevator;
|
||||
|
||||
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
|
||||
public class waitFeedCoral extends Command {
|
||||
/** Creates a new waitElevatorRefrence. */
|
||||
private Elevator elevator;
|
||||
public waitFeedCoral(Elevator elevator) {
|
||||
this.elevator = elevator;
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return elevator.hasCoral();
|
||||
}
|
||||
}
|
||||
@@ -5,15 +5,15 @@ package frc4388.robot.constants;
|
||||
*/
|
||||
public final class BuildConstants {
|
||||
public static final String MAVEN_GROUP = "";
|
||||
public static final String MAVEN_NAME = "2025RidgeScape";
|
||||
public static final String MAVEN_NAME = "2026KPopRobotHunters";
|
||||
public static final String VERSION = "unspecified";
|
||||
public static final int GIT_REVISION = 173;
|
||||
public static final String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
|
||||
public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
|
||||
public static final String GIT_BRANCH = "advantagekit";
|
||||
public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
|
||||
public static final long BUILD_UNIX_TIME = 1752774931371L;
|
||||
public static final int DIRTY = 1;
|
||||
public static final int GIT_REVISION = -1;
|
||||
public static final String GIT_SHA = "UNKNOWN";
|
||||
public static final String GIT_DATE = "UNKNOWN";
|
||||
public static final String GIT_BRANCH = "UNKNOWN";
|
||||
public static final String BUILD_DATE = "2026-01-08 19:31:25 MST";
|
||||
public static final long BUILD_UNIX_TIME = 1767925885671L;
|
||||
public static final int DIRTY = 129;
|
||||
|
||||
private BuildConstants(){}
|
||||
}
|
||||
|
||||
@@ -69,6 +69,9 @@ public final class Constants {
|
||||
public static final double MIN_ROT_PID_OUTPUT = 0.0;
|
||||
|
||||
public static final double VELOCITY_THRESHHOLD = 0.01;
|
||||
|
||||
|
||||
public static final double STOP_VELOCITY = 0.;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -20,8 +20,9 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
|
||||
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
|
||||
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.units.measure.Distance;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
//import edu.wpi.first.units.measure.measure.Distance;
|
||||
import frc4388.utility.status.CanDevice;
|
||||
import frc4388.utility.structs.Gains;
|
||||
|
||||
|
||||
@@ -1,106 +0,0 @@
|
||||
package frc4388.utility.compute;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import frc4388.robot.constants.Constants.AutoConstants;
|
||||
import frc4388.robot.constants.Constants.FieldConstants;
|
||||
|
||||
public class ReefPositionHelper {
|
||||
public enum Side {
|
||||
LEFT,
|
||||
RIGHT,
|
||||
CENTER,
|
||||
FAR_LEFT
|
||||
}
|
||||
|
||||
public static final Pose2d[] RED_TAGS = {
|
||||
FieldConstants.kTagLayout.getTagPose(6).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(7).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(8).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(9).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(10).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(11).get().toPose2d()
|
||||
};
|
||||
|
||||
public static final Pose2d[] BLUE_TAGS = {
|
||||
FieldConstants.kTagLayout.getTagPose(17).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(18).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(19).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(20).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(21).get().toPose2d(),
|
||||
FieldConstants.kTagLayout.getTagPose(22).get().toPose2d()
|
||||
};
|
||||
|
||||
public static double distanceTo(Pose2d first, Pose2d second){
|
||||
return Math.sqrt(Math.pow(first.getX() - second.getX(),2) + Math.pow(first.getY() - second.getY(),2));
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Function to loop through a list of tag locations to figure out closest one
|
||||
*/
|
||||
public static Pose2d getNearestTag(Pose2d[] locations, Pose2d position){
|
||||
if(locations.length <= 0) return new Pose2d();
|
||||
|
||||
Pose2d minPos = locations[0];
|
||||
double minDistance = distanceTo(position,minPos);
|
||||
|
||||
for(int i = 1; i < locations.length; i++){
|
||||
double dist = distanceTo(locations[i],position);
|
||||
if(dist < minDistance){
|
||||
minPos = locations[i];
|
||||
minDistance = dist;
|
||||
}
|
||||
}
|
||||
|
||||
System.out.println(minPos.getRotation().getDegrees());
|
||||
|
||||
return minPos;
|
||||
}
|
||||
|
||||
/*
|
||||
* Function to find closest tag location based on side
|
||||
*/
|
||||
public static Pose2d getNearestTag(Pose2d position) {
|
||||
|
||||
if(TimesNegativeOne.isRed)
|
||||
return getNearestTag(RED_TAGS, position);
|
||||
else
|
||||
return getNearestTag(BLUE_TAGS, position);
|
||||
}
|
||||
|
||||
public static Pose2d getNearestPosition(Pose2d position, Side side, double xtrim, double ydistance) {
|
||||
return offset(getNearestTag(position),
|
||||
getSide(side) + xtrim,
|
||||
ydistance);
|
||||
}
|
||||
|
||||
public static double getSide(Side side){
|
||||
switch(side) {
|
||||
case LEFT:
|
||||
return -(AutoConstants.X_SCORING_POSITION_OFFSET);
|
||||
case FAR_LEFT:
|
||||
return -(AutoConstants.X_SCORING_POSITION_OFFSET+Units.inchesToMeters(8));
|
||||
case RIGHT:
|
||||
return (AutoConstants.X_SCORING_POSITION_OFFSET);
|
||||
case CENTER:
|
||||
return 0;
|
||||
}
|
||||
assert false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
public static Pose2d offset(Pose2d oldPose, double xoffset, double yoffset){
|
||||
Translation2d oldTranslation = oldPose.getTranslation();
|
||||
|
||||
double rot = oldPose.getRotation().getRadians();
|
||||
|
||||
return new Pose2d(new Translation2d(
|
||||
oldTranslation.getX() + Math.cos(rot + Math.PI/2) * xoffset + Math.cos(rot) * yoffset,
|
||||
oldTranslation.getY() + Math.sin(rot + Math.PI/2) * xoffset + Math.sin(rot) * yoffset
|
||||
), oldPose.getRotation().rotateBy(Rotation2d.k180deg));
|
||||
}
|
||||
}
|
||||
@@ -1,9 +1,9 @@
|
||||
{
|
||||
"fileName": "AdvantageKit.json",
|
||||
"name": "AdvantageKit",
|
||||
"version": "4.1.2",
|
||||
"version": "26.0.0-beta-1",
|
||||
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
|
||||
"frcYear": "2025",
|
||||
"frcYear": "2026beta",
|
||||
"mavenUrls": [
|
||||
"https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
|
||||
],
|
||||
@@ -12,14 +12,14 @@
|
||||
{
|
||||
"groupId": "org.littletonrobotics.akit",
|
||||
"artifactId": "akit-java",
|
||||
"version": "4.1.2"
|
||||
"version": "26.0.0-beta-1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "org.littletonrobotics.akit",
|
||||
"artifactId": "akit-wpilibio",
|
||||
"version": "4.1.2",
|
||||
"version": "26.0.0-beta-1",
|
||||
"skipInvalidPlatforms": false,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
"name": "NavX",
|
||||
"version": "2024.1.0",
|
||||
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
||||
"frcYear": "2025",
|
||||
"frcYear": "2026beta",
|
||||
"mavenUrls": [
|
||||
"https://dev.studica.com/maven/release/2024/"
|
||||
],
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
"name": "PathplannerLib",
|
||||
"version": "2025.2.7",
|
||||
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
|
||||
"frcYear": "2025",
|
||||
"frcYear": "2026beta",
|
||||
"mavenUrls": [
|
||||
"https://3015rangerrobotics.github.io/pathplannerlib/repo"
|
||||
],
|
||||
|
||||
@@ -0,0 +1,171 @@
|
||||
{
|
||||
"fileName": "Phoenix5-5.36.0-beta-1.json",
|
||||
"name": "CTRE-Phoenix (v5)",
|
||||
"version": "5.36.0-beta-1",
|
||||
"frcYear": "2026beta",
|
||||
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
|
||||
"mavenUrls": [
|
||||
"https://maven.ctr-electronics.com/release/"
|
||||
],
|
||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json",
|
||||
"requires": [
|
||||
{
|
||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||
"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
|
||||
"offlineFileName": "Phoenix6-frc2026-beta-latest.json",
|
||||
"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json"
|
||||
}
|
||||
],
|
||||
"conflictsWith": [
|
||||
{
|
||||
"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
|
||||
"errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
|
||||
"offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json"
|
||||
},
|
||||
{
|
||||
"uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
|
||||
"errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
|
||||
"offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json"
|
||||
}
|
||||
],
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-java",
|
||||
"version": "5.36.0-beta-1"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "5.36.0-beta-1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.36.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.36.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "5.36.0-beta-1",
|
||||
"libName": "CTRE_Phoenix_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "5.36.0-beta-1",
|
||||
"libName": "CTRE_Phoenix",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.36.0-beta-1",
|
||||
"libName": "CTRE_PhoenixCCI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "5.36.0-beta-1",
|
||||
"libName": "CTRE_Phoenix_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "api-cpp-sim",
|
||||
"version": "5.36.0-beta-1",
|
||||
"libName": "CTRE_PhoenixSim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.36.0-beta-1",
|
||||
"libName": "CTRE_PhoenixCCISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,32 +1,32 @@
|
||||
{
|
||||
"fileName": "Phoenix6-frc2025-latest.json",
|
||||
"fileName": "Phoenix6-26.0.0-beta-1.json",
|
||||
"name": "CTRE-Phoenix (v6)",
|
||||
"version": "25.4.0",
|
||||
"frcYear": "2025",
|
||||
"version": "26.0.0-beta-1",
|
||||
"frcYear": "2026beta",
|
||||
"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",
|
||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-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"
|
||||
"offlineFileName": "Phoenix6-replay-frc2026-latest.json"
|
||||
}
|
||||
],
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "25.4.0"
|
||||
"version": "26.0.0-beta-1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -40,7 +40,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -54,7 +54,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "api-cpp-sim",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -68,7 +68,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -82,7 +82,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -96,7 +96,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -110,21 +110,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "25.4.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -138,7 +124,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -152,7 +138,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFXS",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -166,7 +152,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -180,7 +166,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -194,7 +180,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANrange",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -208,7 +194,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdi",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -222,7 +208,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdle",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -238,7 +224,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_Phoenix6_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -254,7 +240,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_PhoenixTools",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -270,7 +256,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_Phoenix6_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -286,7 +272,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_PhoenixTools_Sim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -302,7 +288,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimTalonSRX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -318,7 +304,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimVictorSPX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -334,7 +320,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimPigeonIMU",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -347,26 +333,10 @@
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "25.4.0",
|
||||
"libName": "CTRE_SimCANCoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxarm64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -382,7 +352,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFXS",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProTalonFXS",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -398,7 +368,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProCANcoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -414,7 +384,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProPigeon2",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -430,7 +400,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANrange",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProCANrange",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -446,7 +416,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdi",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProCANdi",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -462,7 +432,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdle",
|
||||
"version": "25.4.0",
|
||||
"version": "26.0.0-beta-1",
|
||||
"libName": "CTRE_SimProCANdle",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -3,7 +3,7 @@
|
||||
"name": "WPILib-New-Commands",
|
||||
"version": "1.0.0",
|
||||
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
||||
"frcYear": "2025",
|
||||
"frcYear": "2026beta",
|
||||
"mavenUrls": [],
|
||||
"jsonUrl": "",
|
||||
"javaDependencies": [
|
||||
@@ -25,6 +25,7 @@
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxsystemcore",
|
||||
"linuxathena",
|
||||
"linuxarm32",
|
||||
"linuxarm64",
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
{
|
||||
"fileName": "photonlib.json",
|
||||
"name": "photonlib",
|
||||
"version": "v2025.3.1",
|
||||
"version": "v2026.0.1-beta",
|
||||
"uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
|
||||
"frcYear": "2025",
|
||||
"frcYear": "2026beta",
|
||||
"mavenUrls": [
|
||||
"https://maven.photonvision.org/repository/internal",
|
||||
"https://maven.photonvision.org/repository/snapshots"
|
||||
@@ -13,7 +13,7 @@
|
||||
{
|
||||
"groupId": "org.photonvision",
|
||||
"artifactId": "photontargeting-cpp",
|
||||
"version": "v2025.3.1",
|
||||
"version": "v2026.0.1-beta",
|
||||
"skipInvalidPlatforms": true,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
@@ -28,7 +28,7 @@
|
||||
{
|
||||
"groupId": "org.photonvision",
|
||||
"artifactId": "photonlib-cpp",
|
||||
"version": "v2025.3.1",
|
||||
"version": "v2026.0.1-beta",
|
||||
"libName": "photonlib",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -43,7 +43,7 @@
|
||||
{
|
||||
"groupId": "org.photonvision",
|
||||
"artifactId": "photontargeting-cpp",
|
||||
"version": "v2025.3.1",
|
||||
"version": "v2026.0.1-beta",
|
||||
"libName": "photontargeting",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@@ -60,12 +60,12 @@
|
||||
{
|
||||
"groupId": "org.photonvision",
|
||||
"artifactId": "photonlib-java",
|
||||
"version": "v2025.3.1"
|
||||
"version": "v2026.0.1-beta"
|
||||
},
|
||||
{
|
||||
"groupId": "org.photonvision",
|
||||
"artifactId": "photontargeting-java",
|
||||
"version": "v2025.3.1"
|
||||
"version": "v2026.0.1-beta"
|
||||
}
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user