commit ae469b50660280790429048784d4edd1a9c449fd Author: Keenan D. Buckley Date: Thu Jan 9 23:55:46 2020 +0000 Initial commit 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..9eaf0d0 --- /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 1.8 + uses: actions/setup-java@v1 + with: + java-version: 1.12 + - 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..983678a --- /dev/null +++ b/.gitignore @@ -0,0 +1,161 @@ +# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode + +### 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 +.classpath +.project +.settings/ +bin/ +imgui.ini + + +# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /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..5200b5c --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,15 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true + } +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..a5920a4 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2020", + "teamNumber": 4388 +} \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..30b2d1a --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2019 HFocus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..9020b7f --- /dev/null +++ b/README.md @@ -0,0 +1,2 @@ +# Robot-Essentials + Basic code for any Ridgebotics robot project diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..6ae9dcf --- /dev/null +++ b/build.gradle @@ -0,0 +1,68 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2020.1.2" +} + +sourceCompatibility = JavaVersion.VERSION_11 +targetCompatibility = JavaVersion.VERSION_11 + +def ROBOT_MAIN_CLASS = "frc4388.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project EmbeddedTools. +deploy { + targets { + roboRIO("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 = frc.getTeamNumber() + } + } + artifacts { + frcJavaArtifact('frcJava') { + targets << "roborio" + // Debug can be overridden by command line, for use with VSCode + debug = frc.getDebugOrDefault(false) + } + // Built in artifact to deploy arbitrary files to the roboRIO. + fileTreeArtifact('frcStaticFileDeploy') { + // The directory below is the local directory to deploy + files = fileTree(dir: 'src/main/deploy') + // Deploy to RoboRIO target, into /home/lvuser/deploy + targets << "roborio" + directory = '/home/lvuser/deploy' + } + } +} + +// 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 4. +dependencies { + implementation wpi.deps.wpilib() + nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio) + nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) + + + implementation wpi.deps.vendor.java() + nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio) + nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) + + testImplementation 'junit:junit:4.12' + + // Enable simulation gui support. Must check the box in vscode to enable support + // upon debugging + simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) +} + +// 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) } } + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..cc4fdc2 Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..d050f17 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,5 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..2fe81a7 --- /dev/null +++ b/gradlew @@ -0,0 +1,183 @@ +#!/usr/bin/env sh + +# +# Copyright 2015 the original author or 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. +# + +############################################################################## +## +## Gradle start up script for UN*X +## +############################################################################## + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn () { + echo "$*" +} + +die () { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; + NONSTOP* ) + nonstop=true + ;; +esac + +CLASSPATH=$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: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin or MSYS, switch paths to Windows format before running java +if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + JAVACMD=`cygpath --unix "$JAVACMD"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=`expr $i + 1` + done + case $i in + 0) set -- ;; + 1) set -- "$args0" ;; + 2) set -- "$args0" "$args1" ;; + 3) set -- "$args0" "$args1" "$args2" ;; + 4) set -- "$args0" "$args1" "$args2" "$args3" ;; + 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " +} +APP_ARGS=`save "$@"` + +# Collect all arguments for the java command, following the shell quoting and substitution rules +eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..9618d8d --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,100 @@ +@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 + +@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=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@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%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:init +@rem Get command-line arguments, handling Windows variants + +if not "%OS%" == "Windows_NT" goto win9xME_args + +:win9xME_args +@rem Slurp the command line arguments. +set CMD_LINE_ARGS= +set _SKIP=2 + +:win9xME_args_slurp +if "x%~1" == "x" goto execute + +set CMD_LINE_ARGS=%* + +: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 %CMD_LINE_ARGS% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="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! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..81f96ab --- /dev/null +++ b/settings.gradle @@ -0,0 +1,27 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2020' + 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 + } + } +} 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..933908d --- /dev/null +++ b/src/main/java/frc4388/robot/Constants.java @@ -0,0 +1,38 @@ +/*----------------------------------------------------------------------------*/ +/* 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 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 class DriveConstants { + public static final int DRIVE_LEFT_FRONT_CAN_ID = 2; + public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4; + public static final int DRIVE_LEFT_BACK_CAN_ID = 3; + public static final int DRIVE_RIGHT_BACK_CAN_ID = 5; + } + + public static final class LEDConstants { + public static final int LED_SPARK_ID = 0; + + public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; + } + + public static final class OIConstants { + public static final int XBOX_DRIVER_ID = 0; + public static final int XBOX_OPERATOR_ID = 1; + } +} diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java new file mode 100644 index 0000000..ad2d494 --- /dev/null +++ b/src/main/java/frc4388/robot/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java new file mode 100644 index 0000000..7735364 --- /dev/null +++ b/src/main/java/frc4388/robot/Robot.java @@ -0,0 +1,119 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * 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 RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be + * used for any initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * This function is called every robot packet, no matter the mode. Use + * this for items like diagnostics that you want ran during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + // 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() { + } + + @Override + public void disabledPeriodic() { + } + + /** + * 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(); + } + } + + /** + * 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(); + } + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() { + } +} diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java new file mode 100644 index 0000000..5421acf --- /dev/null +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -0,0 +1,112 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import frc4388.robot.Constants.*; +import frc4388.robot.subsystems.Drive; +import frc4388.robot.subsystems.LED; +import frc4388.utility.LEDPatterns; +import frc4388.utility.controller.IHandController; +import frc4388.utility.controller.XboxController; + +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a "declarative" paradigm, very little robot logic should + * actually be handled in the {@link Robot} periodic methods (other than the + * scheduler calls). Instead, the structure of the robot (including subsystems, + * commands, and button mappings) should be declared here. + */ +public class RobotContainer { + /* Subsystems */ + private final Drive m_robotDrive = new Drive(); + private final LED m_robotLED = new LED(); + + /* Controllers */ + private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); + private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + configureButtonBindings(); + + /* Default Commands */ + // drives the robot with a two-axis input from the driver controller + m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput( + getDriverController().getLeftYAxis(), + getDriverController().getRightXAxis()))); + // continually sends updates to the Blinkin LED controller to keep the lights on + m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED())); + } + + /** + * Use this method to define your button->command mappings. Buttons can be created by + * instantiating a {@link GenericHID} or one of its subclasses ({@link + * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a + * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configureButtonBindings() { + /* Driver Buttons */ + // test command to spin the robot while pressing A on the driver controller + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whileHeld(() -> m_robotDrive.driveWithInput(0, 1)); + + /* Operator Buttons */ + // activates "Lit Mode" + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // no auto + return new InstantCommand(); + } + + /** + * Add your docs here. + */ + public IHandController getDriverController() { + return m_driverXbox; + } + + /** + * Add your docs here. + */ + public IHandController getOperatorController() + { + return m_operatorXbox; + } + + /** + * Add your docs here. + */ + public Joystick getOperatorJoystick() + { + return m_operatorXbox.getJoyStick(); + } + + /** + * Add your docs here. + */ + public Joystick getDriverJoystick() + { + return m_driverXbox.getJoyStick(); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java new file mode 100644 index 0000000..af19272 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -0,0 +1,66 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.InvertType; +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; + +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import frc4388.robot.Constants.DriveConstants; + +/** + * Add your docs here. + */ +public class Drive extends SubsystemBase { + // Put methods for controlling this subsystem + // here. Call these from Commands. + + public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID); + public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID); + public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID); + public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID); + + public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor); + + /** + * Add your docs here. + */ + public Drive(){ + /* factory default values */ + m_leftFrontMotor.configFactoryDefault(); + m_rightFrontMotor.configFactoryDefault(); + m_leftBackMotor.configFactoryDefault(); + m_rightBackMotor.configFactoryDefault(); + + /* set back motors as followers */ + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); + + /* set neutral mode */ + m_leftFrontMotor.setNeutralMode(NeutralMode.Brake); + m_rightFrontMotor.setNeutralMode(NeutralMode.Brake); + m_leftFrontMotor.setNeutralMode(NeutralMode.Brake); + m_rightFrontMotor.setNeutralMode(NeutralMode.Brake); + + /* flip input so forward becomes back, etc */ + m_leftFrontMotor.setInverted(false); + m_rightFrontMotor.setInverted(false); + m_leftBackMotor.setInverted(InvertType.FollowMaster); + m_rightBackMotor.setInverted(InvertType.FollowMaster); + } + + /** + * Add your docs here. + */ + public void driveWithInput(double move, double steer){ + m_driveTrain.arcadeDrive(move, steer); + } +} 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..a68c124 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -0,0 +1,55 @@ +/*----------------------------------------------------------------------------*/ +/* 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.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 { + + public static float currentLED; + public static Spark LEDController; + + /** + * Add your docs here. + */ + public LED(){ + LEDController = new Spark(LEDConstants.LED_SPARK_ID); + setPattern(LEDConstants.DEFAULT_PATTERN); + LEDController.set(currentLED); + System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); + } + + /** + * Add your docs here. + */ + public void updateLED(){ + LEDController.set(currentLED); + } + + /** + * Add your docs here. + */ + public void setPattern(LEDPatterns pattern){ + currentLED = pattern.getValue(); + LEDController.set(currentLED); + } + + @Override + public void periodic(){ + SmartDashboard.putNumber("LED", currentLED); + } +} \ 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/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java new file mode 100644 index 0000000..13aa763 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/IHandController.java @@ -0,0 +1,21 @@ +package frc4388.utility.controller; + +/** + * Add your docs here. + */ +public interface IHandController { + + public double getLeftXAxis(); + + public double getLeftYAxis(); + + public double getRightXAxis(); + + public double getRightYAxis(); + + public double getLeftTriggerAxis(); + + public double getRightTriggerAxis(); + + public int getDpadAngle(); +} diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java new file mode 100644 index 0000000..8b8f0f8 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -0,0 +1,218 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj.Joystick; + +/** + * This is a wrapper for the WPILib Joystick class that represents an XBox + * controller. + * @author frc1675 + */ +public class XboxController implements IHandController +{ + public static final int LEFT_X_AXIS = 0; + public static final int LEFT_Y_AXIS = 1; + public static final int LEFT_TRIGGER_AXIS = 2; + public static final int RIGHT_TRIGGER_AXIS = 3; + public static final int RIGHT_X_AXIS = 4; + public static final int RIGHT_Y_AXIS = 5; + public static final int LEFT_RIGHT_DPAD_AXIS = 6; + public static final int TOP_BOTTOM_DPAD_AXIS = 6; + + public static final int A_BUTTON = 1; + public static final int B_BUTTON = 2; + public static final int X_BUTTON = 3; + public static final int Y_BUTTON = 4; + public static final int LEFT_BUMPER_BUTTON = 5; + public static final int RIGHT_BUMPER_BUTTON = 6; + public static final int BACK_BUTTON = 7; + public static final int START_BUTTON = 8; + + public static final int LEFT_JOYSTICK_BUTTON = 9; + public static final int RIGHT_JOYSTICK_BUTTON = 10; + + private static final double LEFT_DPAD_TOLERANCE = -0.9; + private static final double RIGHT_DPAD_TOLERANCE = 0.9; + private static final double BOTTOM_DPAD_TOLERANCE = -0.9; + private static final double TOP_DPAD_TOLERANCE = 0.9; + + private static final double LEFT_TRIGGER_TOLERANCE = 0.5; + private static final double RIGHT_TRIGGER_TOLERANCE = 0.5; + + private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9; + private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9; + private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9; + private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9; + + private static final double LEFT_AXIS_UP_TOLERANCE = -0.9; + private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9; + private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9; + private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9; + + private static final double DEADZONE = 0.1; + + private Joystick m_stick; + + /** + * Add your docs here. + */ + public XboxController(int portNumber){ + m_stick = new Joystick(portNumber); + } + + /** + * Add your docs here. + */ + public Joystick getJoyStick() { + return m_stick; + } + + /** + * Checks if the input falls within the deadzone. + * @param input from an axis on the controller + * @return true if input falls in deadzone, false if input falls outside deadzone + */ + private boolean inDeadZone(double input){ + return (Math.abs(input) < DEADZONE); + } + + /** + * Updates an input to have a deadzone around the 0 position + * @param input from an axis on the controller + * @return updated input + */ + private double getAxisWithDeadZoneCheck(double input){ + if(inDeadZone(input)){ + return 0.0; + } else { + return input; + } + } + + public boolean getAButton(){ + return m_stick.getRawButton(A_BUTTON); + } + + public boolean getXButton(){ + return m_stick.getRawButton(X_BUTTON); + } + + public boolean getBButton(){ + return m_stick.getRawButton(B_BUTTON); + } + + public boolean getYButton(){ + return m_stick.getRawButton(Y_BUTTON); + } + + public boolean getBackButton(){ + return m_stick.getRawButton(BACK_BUTTON); + } + + public boolean getStartButton(){ + return m_stick.getRawButton(START_BUTTON); + } + + public boolean getLeftBumperButton(){ + return m_stick.getRawButton(LEFT_BUMPER_BUTTON); + } + + public boolean getRightBumperButton(){ + return m_stick.getRawButton(RIGHT_BUMPER_BUTTON); + } + + public boolean getLeftJoystickButton(){ + return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON); + } + + public boolean getRightJoystickButton(){ + return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON); + } + + public double getLeftXAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS)); + } + + public double getLeftYAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS)); + } + + public double getRightXAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS)); + } + + public double getRightYAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS)); + } + + public double getLeftTriggerAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS)); + } + + public double getRightTriggerAxis(){ + return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS)); + } + + /** + * Get the angle input from the dpad. + * @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc. + */ + public int getDpadAngle() { + return m_stick.getPOV(0); + } + + public boolean getDPadLeft(){ + return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE); + } + + public boolean getDPadRight(){ + return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE); + } + + public boolean getDPadTop(){ + return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE); + } + + public boolean getDPadBottom(){ + return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE); + } + + public boolean getLeftTrigger(){ + return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE); + } + + public boolean getRightTrigger(){ + return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE); + } + + public boolean getRightAxisUpTrigger(){ + return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE); + } + + public boolean getRightAxisDownTrigger(){ + return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE); + } + + public boolean getRightAxisLeftTrigger(){ + return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE); + } + + public boolean getRightAxisRightTrigger(){ + return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE); + } + + public boolean getLeftAxisUpTrigger(){ + return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE); + } + + public boolean getLeftAxisDownTrigger(){ + return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE); + } + + public boolean getLeftAxisLeftTrigger(){ + return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE); + } + + public boolean getLeftAxisRightTrigger(){ + return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE); + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java new file mode 100644 index 0000000..26372c2 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java @@ -0,0 +1,69 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj2.command.button.Button; +import frc4388.utility.controller.XboxController; + +/** + * Mapping for the Xbox controller triggers to allow triggers to be defined as + * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger + * exceeds a tolerance defined in {@link XboxController}. + */ +public class XboxTriggerButton extends Button { + public static final int RIGHT_TRIGGER = 0; + public static final int LEFT_TRIGGER = 1; + public static final int RIGHT_AXIS_UP_TRIGGER = 2; + public static final int RIGHT_AXIS_DOWN_TRIGGER = 3; + public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4; + public static final int RIGHT_AXIS_LEFT_TRIGGER = 5; + public static final int LEFT_AXIS_UP_TRIGGER = 6; + public static final int LEFT_AXIS_DOWN_TRIGGER = 7; + public static final int LEFT_AXIS_RIGHT_TRIGGER = 8; + public static final int LEFT_AXIS_LEFT_TRIGGER = 9; + + private XboxController m_controller; + private int m_trigger; + + /** + * Creates a Trigger-Button mapped to a specific Xbox controller and trigger + */ + public XboxTriggerButton(XboxController controller, int trigger) { + m_controller = controller; + m_trigger = trigger; + } + + /** {@inheritDoc} */ + @Override + public boolean get() { + if (m_trigger == RIGHT_TRIGGER) { + return m_controller.getRightTrigger(); + } + else if (m_trigger == LEFT_TRIGGER) { + return m_controller.getLeftTrigger(); + } + else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) { + return m_controller.getRightAxisUpTrigger(); + } + else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) { + return m_controller.getRightAxisDownTrigger(); + } + else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) { + return m_controller.getRightAxisRightTrigger(); + } + else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) { + return m_controller.getRightAxisLeftTrigger(); + } + else if (m_trigger == LEFT_AXIS_UP_TRIGGER) { + return m_controller.getLeftAxisUpTrigger(); + } + else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) { + return m_controller.getLeftAxisDownTrigger(); + } + else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) { + return m_controller.getLeftAxisRightTrigger(); + } + else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) { + return m_controller.getLeftAxisLeftTrigger(); + } + return false; + } +} diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json new file mode 100644 index 0000000..f8d42a4 --- /dev/null +++ b/vendordeps/Phoenix.json @@ -0,0 +1,180 @@ +{ + "fileName": "Phoenix.json", + "name": "CTRE-Phoenix", + "version": "5.17.3", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "http://devsite.ctr-electronics.com/maven/release/" + ], + "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json", + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.17.3" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.17.3" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "diagnostics", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "canutils", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "platform-stub", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "core", + "version": "5.17.3", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.17.3", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.17.3", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.17.3", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "diagnostics", + "version": "5.17.3", + "libName": "CTRE_PhoenixDiagnostics", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "canutils", + "version": "5.17.3", + "libName": "CTRE_PhoenixCanutils", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "platform-stub", + "version": "5.17.3", + "libName": "CTRE_PhoenixPlatform", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "core", + "version": "5.17.3", + "libName": "CTRE_PhoenixCore", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..83de291 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,37 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "2020.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxaarch64bionic", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxx86-64" + ] + } + ] +} \ No newline at end of file