From 41f6be4992c532cf392fe81d52a0da51c887d1cd Mon Sep 17 00:00:00 2001 From: Michael Mikovsky Date: Sun, 2 Nov 2025 22:00:59 -0700 Subject: [PATCH] Robot Position in Shuffle Board --- build.gradle | 9 +++++++-- .../java/frc4388/robot/constants/BuildConstants.java | 10 +++++----- .../frc4388/robot/subsystems/swerve/SwerveDrive.java | 5 +++++ .../frc4388/utility/configurable/TunableNumber.java | 4 +--- 4 files changed, 18 insertions(+), 10 deletions(-) diff --git a/build.gradle b/build.gradle index e8723ce..5ec1a1b 100644 --- a/build.gradle +++ b/build.gradle @@ -74,8 +74,13 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" + def akitJsonFile = new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json") + if (akitJsonFile.exists() && akitJsonFile.text) { + def akitJson = new groovy.json.JsonSlurper().parseText(akitJsonFile.text) + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" + } else { + throw new GradleException("AdvantageKit.json file is missing or empty. Please ensure it exists in the vendordeps directory.") + } } test { diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index 9a1988f..cd0ae42 100644 --- a/src/main/java/frc4388/robot/constants/BuildConstants.java +++ b/src/main/java/frc4388/robot/constants/BuildConstants.java @@ -7,12 +7,12 @@ public final class BuildConstants { public static final String MAVEN_GROUP = ""; public static final String MAVEN_NAME = "Robot-Essentials"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 123; - public static final String GIT_SHA = "56841636f984f1a691134b4f1ae8862353846b54"; - public static final String GIT_DATE = "2025-10-30 16:40:04 MDT"; + public static final int GIT_REVISION = 124; + public static final String GIT_SHA = "a4aea4b8588206095ceec4c922c5eb972c3317b6"; + public static final String GIT_DATE = "2025-10-30 17:48:36 MDT"; public static final String GIT_BRANCH = "Confiruagble-Contants"; - public static final String BUILD_DATE = "2025-10-30 17:42:04 MDT"; - public static final long BUILD_UNIX_TIME = 1761867724046L; + public static final String BUILD_DATE = "2025-11-02 21:59:57 MST"; + public static final long BUILD_UNIX_TIME = 1762145997591L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java index bbc61e4..2407127 100644 --- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java @@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.constants.Constants.AutoConstants; import frc4388.robot.subsystems.vision.Vision; import frc4388.utility.compute.TimesNegativeOne; +import frc4388.utility.configurable.TunableNumber; import frc4388.utility.status.Status; import frc4388.utility.status.FaultReporter; import frc4388.utility.status.Queryable; @@ -55,6 +56,9 @@ public class SwerveDrive extends SubsystemBase implements Queryable { public Rotation2d orientRotTarget = new Rotation2d(); public ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); + private final TunableNumber xPosition = new TunableNumber("Robot Position", "X", 0.0); + private final TunableNumber yPosition = new TunableNumber("Robot Position", "Y", 0.0); + /** Creates a new SwerveDrive. */ public SwerveDrive(SwerveIO swerveDriveTrain, Vision vision) { // public SwerveDrive(SwerveDrivetrain @@ -361,6 +365,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable { io.addVisionMeasurement(vision.getPosesToAdd()); } + // if(e.isPresent()) } diff --git a/src/main/java/frc4388/utility/configurable/TunableNumber.java b/src/main/java/frc4388/utility/configurable/TunableNumber.java index de5339d..f54e94d 100644 --- a/src/main/java/frc4388/utility/configurable/TunableNumber.java +++ b/src/main/java/frc4388/utility/configurable/TunableNumber.java @@ -1,8 +1,6 @@ package frc4388.utility.configurable; -import frc4388.robot.constants.Constants; import edu.wpi.first.networktables.GenericEntry; import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; -import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; @@ -17,7 +15,7 @@ public class TunableNumber { this.tab = Shuffleboard.getTab(tabName); this.defaultValue = defaultValue; this.entry = tab.add(name, defaultValue) - .withWidget(BuiltInWidgets.kTextView) + .withWidget(BuiltInWidgets.kTextView) // Use a text box for editing .getEntry(); }