mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-08 16:28:01 -06:00
Initial commit
This commit is contained in:
Keenan D. Buckley
@@ -0,0 +1,2 @@
|
||||
# Auto detect text files and perform LF normalization
|
||||
* text=auto
|
||||
@@ -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
|
||||
+161
@@ -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
|
||||
Vendored
+21
@@ -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,
|
||||
}
|
||||
]
|
||||
}
|
||||
Vendored
+15
@@ -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
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2020",
|
||||
"teamNumber": 4388
|
||||
}
|
||||
@@ -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.
|
||||
@@ -0,0 +1,2 @@
|
||||
# Robot-Essentials
|
||||
Basic code for any Ridgebotics robot project
|
||||
@@ -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)
|
||||
}
|
||||
Vendored
BIN
Binary file not shown.
+5
@@ -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
|
||||
@@ -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 "$JAVACMD" "$@"
|
||||
Vendored
+100
@@ -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
|
||||
@@ -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
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
@@ -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.
|
||||
*
|
||||
* <p>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;
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
*
|
||||
* <p>If you change your main robot class, change the parameter type.
|
||||
*/
|
||||
public static void main(String... args) {
|
||||
RobotBase.startRobot(Robot::new);
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
*
|
||||
* <p>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() {
|
||||
}
|
||||
}
|
||||
@@ -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();
|
||||
}
|
||||
}
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
@@ -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;
|
||||
}
|
||||
}
|
||||
@@ -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();
|
||||
}
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
@@ -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;
|
||||
}
|
||||
}
|
||||
@@ -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"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -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"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user