mirror of
https://github.com/Team4388/Robot-Essentials.git
synced 2026-06-09 00:38:01 -06:00
Merge pull request #44 from Team4388/formalise
Formalize errors, update to 2025
This commit is contained in:
C4llSqin
+9
-2
@@ -169,6 +169,8 @@ out/
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|||||||
.fleet
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.fleet
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||||||
|
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||||||
# Simulation GUI and other tools window save file
|
# Simulation GUI and other tools window save file
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||||||
|
networktables.json
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||||||
|
simgui.json
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||||||
*-window.json
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*-window.json
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||||||
|
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||||||
# Simulation data log directory
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# Simulation data log directory
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||||||
@@ -176,5 +178,10 @@ logs/
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|||||||
|
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||||||
# Folder that has CTRE Phoenix Sim device config storage
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# Folder that has CTRE Phoenix Sim device config storage
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||||||
ctre_sim/
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ctre_sim/
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||||||
simgui.json
|
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||||||
simgui-ds.json
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# clangd
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||||||
|
/.cache
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||||||
|
compile_commands.json
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||||||
|
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||||||
|
# Eclipse generated file for annotation processors
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||||||
|
.factorypath
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||||||
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|||||||
Generated
-3
@@ -1,3 +0,0 @@
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|||||||
# Default ignored files
|
|
||||||
/shelf/
|
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||||||
/workspace.xml
|
|
||||||
Generated
-17
@@ -1,17 +0,0 @@
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|||||||
<?xml version="1.0" encoding="UTF-8"?>
|
|
||||||
<project version="4">
|
|
||||||
<component name="GradleSettings">
|
|
||||||
<option name="linkedExternalProjectsSettings">
|
|
||||||
<GradleProjectSettings>
|
|
||||||
<option name="distributionType" value="DEFAULT_WRAPPED" />
|
|
||||||
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
|
||||||
<option name="gradleJvm" value="temurin-11" />
|
|
||||||
<option name="modules">
|
|
||||||
<set>
|
|
||||||
<option value="$PROJECT_DIR$" />
|
|
||||||
</set>
|
|
||||||
</option>
|
|
||||||
</GradleProjectSettings>
|
|
||||||
</option>
|
|
||||||
</component>
|
|
||||||
</project>
|
|
||||||
Generated
-4
@@ -1,4 +0,0 @@
|
|||||||
<?xml version="1.0" encoding="UTF-8"?>
|
|
||||||
<project version="4">
|
|
||||||
<component name="ExternalStorageConfigurationManager" enabled="true" />
|
|
||||||
</project>
|
|
||||||
Generated
-6
@@ -1,6 +0,0 @@
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|||||||
<?xml version="1.0" encoding="UTF-8"?>
|
|
||||||
<project version="4">
|
|
||||||
<component name="VcsDirectoryMappings">
|
|
||||||
<mapping directory="" vcs="Git" />
|
|
||||||
</component>
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|
||||||
</project>
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||||||
@@ -1,40 +0,0 @@
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/*----------------------------------------------------------------------------*/
|
|
||||||
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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|
||||||
/* 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. */
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||||||
/*----------------------------------------------------------------------------*/
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|
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package frc4388.robot.commands;
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import edu.wpi.first.wpilibj2.command.*;
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import frc4388.robot.subsystems.*;
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|
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import org.junit.*;
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|
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|
|
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import static org.mockito.Mockito.mock;
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import static org.mockito.Mockito.verify;
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|
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|
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public class CommandTest {
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|
||||||
private CommandScheduler scheduler = null;
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|
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|
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||||||
@Before
|
|
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public void setup() {
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|
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scheduler = CommandScheduler.getInstance();
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|
||||||
}
|
|
||||||
|
|
||||||
// TODO: Update this to use an actual command. Won't work with inline commands for some reason
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|
||||||
|
|
||||||
@Test
|
|
||||||
public void testExample() {
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|
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// Arrange
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|
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Drive drive = mock(Drive.class);
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|
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RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
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|
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|
|
||||||
// Act
|
|
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scheduler.schedule(command);
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scheduler.run();
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|
||||||
|
|
||||||
// Assert
|
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verify(drive).driveWithInput(0, 0);
|
|
||||||
}
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|
||||||
}
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|
||||||
@@ -1,59 +0,0 @@
|
|||||||
/*----------------------------------------------------------------------------*/
|
|
||||||
/* 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. */
|
|
||||||
/*----------------------------------------------------------------------------*/
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|
||||||
|
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||||||
package frc4388.robot.subsystems;
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|
||||||
|
|
||||||
import static org.junit.Assert.*;
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|
||||||
import static org.mockito.Mockito.*;
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|
||||||
|
|
||||||
import org.junit.*;
|
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj.Spark;
|
|
||||||
import frc4388.robot.Constants.LEDConstants;
|
|
||||||
import frc4388.utility.LEDPatterns;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Based off the LEDSubsystemTest class
|
|
||||||
*/
|
|
||||||
public class SubsystemTest {
|
|
||||||
@Test
|
|
||||||
public void testConstructor() {
|
|
||||||
// Arrange
|
|
||||||
Spark ledController = mock(Spark.class);
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|
||||||
|
|
||||||
// Act
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|
||||||
LED led = new LED(ledController);
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|
||||||
|
|
||||||
// Assert
|
|
||||||
assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
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|
||||||
}
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|
||||||
|
|
||||||
@Test
|
|
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public void testPatterns() {
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|
||||||
// Arrange
|
|
||||||
Spark ledController = mock(Spark.class);
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|
||||||
LED led = new LED(ledController);
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|
||||||
|
|
||||||
// Act
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|
||||||
led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
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|
||||||
|
|
||||||
// Assert
|
|
||||||
assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
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|
||||||
|
|
||||||
// Act
|
|
||||||
led.setPattern(LEDPatterns.BLUE_BREATH);
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|
||||||
|
|
||||||
// Assert
|
|
||||||
assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
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|
||||||
|
|
||||||
// Act
|
|
||||||
led.setPattern(LEDPatterns.SOLID_BLACK);
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|
||||||
|
|
||||||
// Assert
|
|
||||||
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
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|
||||||
}
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|
||||||
}
|
|
||||||
@@ -1,61 +0,0 @@
|
|||||||
/*----------------------------------------------------------------------------*/
|
|
||||||
/* 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.utility;
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|
||||||
|
|
||||||
import static org.junit.Assert.*;
|
|
||||||
import static org.mockito.Mockito.*;
|
|
||||||
|
|
||||||
import com.kauailabs.navx.frc.AHRS;
|
|
||||||
|
|
||||||
import org.junit.*;
|
|
||||||
|
|
||||||
import frc4388.mocks.MockPigeonIMU;
|
|
||||||
import frc4388.robot.Constants.DriveConstants;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Based on the RobotGyroUtilityTest class
|
|
||||||
*/
|
|
||||||
public class UtilityTest {
|
|
||||||
private RobotGyro gyroPigeon;
|
|
||||||
private RobotGyro gyroNavX;
|
|
||||||
|
|
||||||
@Test
|
|
||||||
public void testConstructor() {
|
|
||||||
// Arrange
|
|
||||||
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
|
|
||||||
AHRS navX = mock(AHRS.class);
|
|
||||||
gyroPigeon = new RobotGyro(pigeon);
|
|
||||||
gyroNavX = new RobotGyro(navX);
|
|
||||||
|
|
||||||
// Assert
|
|
||||||
assertEquals(true, gyroPigeon.m_isGyroAPigeon);
|
|
||||||
assertEquals(pigeon, gyroPigeon.getPigeon());
|
|
||||||
assertEquals(null, gyroPigeon.getNavX());
|
|
||||||
assertEquals(false, gyroNavX.m_isGyroAPigeon);
|
|
||||||
assertEquals(navX, gyroNavX.getNavX());
|
|
||||||
assertEquals(null, gyroNavX.getPigeon());
|
|
||||||
}
|
|
||||||
|
|
||||||
@Test
|
|
||||||
public void testHeadingPigeon() {
|
|
||||||
// Arrange
|
|
||||||
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
|
|
||||||
gyroPigeon = new RobotGyro(pigeon);
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|
||||||
|
|
||||||
// Act & Assert
|
|
||||||
assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
|
|
||||||
assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
|
|
||||||
assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
|
|
||||||
assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
|
|
||||||
assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
|
|
||||||
assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
|
|
||||||
assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
|
|
||||||
assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
|
|
||||||
assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Vendored
+32
-1
@@ -25,5 +25,36 @@
|
|||||||
}
|
}
|
||||||
},
|
},
|
||||||
],
|
],
|
||||||
"java.test.defaultConfig": "WPIlibUnitTests"
|
"java.test.defaultConfig": "WPIlibUnitTests",
|
||||||
|
"java.import.gradle.annotationProcessing.enabled": false,
|
||||||
|
"java.completion.favoriteStaticMembers": [
|
||||||
|
"org.junit.Assert.*",
|
||||||
|
"org.junit.Assume.*",
|
||||||
|
"org.junit.jupiter.api.Assertions.*",
|
||||||
|
"org.junit.jupiter.api.Assumptions.*",
|
||||||
|
"org.junit.jupiter.api.DynamicContainer.*",
|
||||||
|
"org.junit.jupiter.api.DynamicTest.*",
|
||||||
|
"org.mockito.Mockito.*",
|
||||||
|
"org.mockito.ArgumentMatchers.*",
|
||||||
|
"org.mockito.Answers.*",
|
||||||
|
"edu.wpi.first.units.Units.*"
|
||||||
|
],
|
||||||
|
"java.completion.filteredTypes": [
|
||||||
|
"java.awt.*",
|
||||||
|
"com.sun.*",
|
||||||
|
"sun.*",
|
||||||
|
"jdk.*",
|
||||||
|
"org.graalvm.*",
|
||||||
|
"io.micrometer.shaded.*",
|
||||||
|
"java.beans.*",
|
||||||
|
"java.util.Base64.*",
|
||||||
|
"java.util.Timer",
|
||||||
|
"java.sql.*",
|
||||||
|
"javax.swing.*",
|
||||||
|
"javax.management.*",
|
||||||
|
"javax.smartcardio.*",
|
||||||
|
"edu.wpi.first.math.proto.*",
|
||||||
|
"edu.wpi.first.math.**.proto.*",
|
||||||
|
"edu.wpi.first.math.**.struct.*",
|
||||||
|
]
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
{
|
{
|
||||||
"enableCppIntellisense": false,
|
"enableCppIntellisense": false,
|
||||||
"currentLanguage": "java",
|
"currentLanguage": "java",
|
||||||
"projectYear": "2024",
|
"projectYear": "2025",
|
||||||
"teamNumber": 4388
|
"teamNumber": 4388
|
||||||
}
|
}
|
||||||
@@ -1,24 +0,0 @@
|
|||||||
Copyright (c) 2009-2024 FIRST
|
|
||||||
All rights reserved.
|
|
||||||
|
|
||||||
Redistribution and use in source and binary forms, with or without
|
|
||||||
modification, are permitted provided that the following conditions are met:
|
|
||||||
* Redistributions of source code must retain the above copyright
|
|
||||||
notice, this list of conditions and the following disclaimer.
|
|
||||||
* Redistributions in binary form must reproduce the above copyright
|
|
||||||
notice, this list of conditions and the following disclaimer in the
|
|
||||||
documentation and/or other materials provided with the distribution.
|
|
||||||
* Neither the name of the FIRST nor the
|
|
||||||
names of its contributors may be used to endorse or promote products
|
|
||||||
derived from this software without specific prior written permission.
|
|
||||||
|
|
||||||
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
|
|
||||||
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
|
|
||||||
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
|
|
||||||
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
+1
-1
@@ -1,4 +1,4 @@
|
|||||||
Copyright (c) 2009-2023 FIRST and other WPILib contributors
|
Copyright (c) 2009-2024 FIRST and other WPILib contributors
|
||||||
All rights reserved.
|
All rights reserved.
|
||||||
|
|
||||||
Redistribution and use in source and binary forms, with or without
|
Redistribution and use in source and binary forms, with or without
|
||||||
|
|||||||
+10
-7
@@ -1,6 +1,6 @@
|
|||||||
plugins {
|
plugins {
|
||||||
id "java"
|
id "java"
|
||||||
id "edu.wpi.first.GradleRIO" version "2024.3.2"
|
id "edu.wpi.first.GradleRIO" version "2025.1.1"
|
||||||
}
|
}
|
||||||
|
|
||||||
java {
|
java {
|
||||||
@@ -33,6 +33,8 @@ deploy {
|
|||||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||||
files = project.fileTree('src/main/deploy')
|
files = project.fileTree('src/main/deploy')
|
||||||
directory = '/home/lvuser/deploy'
|
directory = '/home/lvuser/deploy'
|
||||||
|
deleteOldFiles = false // Change to true to delete files on roboRIO that no
|
||||||
|
// longer exist in deploy directory of this project
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -50,6 +52,7 @@ def includeDesktopSupport = false
|
|||||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||||
// Also defines JUnit 5.
|
// Also defines JUnit 5.
|
||||||
dependencies {
|
dependencies {
|
||||||
|
annotationProcessor wpi.java.deps.wpilibAnnotations()
|
||||||
implementation wpi.java.deps.wpilib()
|
implementation wpi.java.deps.wpilib()
|
||||||
implementation wpi.java.vendor.java()
|
implementation wpi.java.vendor.java()
|
||||||
|
|
||||||
@@ -67,14 +70,14 @@ dependencies {
|
|||||||
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
|
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
|
||||||
simulationRelease wpi.sim.enableRelease()
|
simulationRelease wpi.sim.enableRelease()
|
||||||
|
|
||||||
//testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
|
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
|
||||||
//testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
|
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
|
||||||
}
|
}
|
||||||
|
|
||||||
// test {
|
test {
|
||||||
// useJUnitPlatform()
|
useJUnitPlatform()
|
||||||
// systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
|
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
|
||||||
//}
|
}
|
||||||
|
|
||||||
// Simulation configuration (e.g. environment variables).
|
// Simulation configuration (e.g. environment variables).
|
||||||
wpi.sim.addGui().defaultEnabled = true
|
wpi.sim.addGui().defaultEnabled = true
|
||||||
|
|||||||
Vendored
BIN
Binary file not shown.
+1
-1
@@ -1,6 +1,6 @@
|
|||||||
distributionBase=GRADLE_USER_HOME
|
distributionBase=GRADLE_USER_HOME
|
||||||
distributionPath=permwrapper/dists
|
distributionPath=permwrapper/dists
|
||||||
distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
|
distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
|
||||||
networkTimeout=10000
|
networkTimeout=10000
|
||||||
validateDistributionUrl=true
|
validateDistributionUrl=true
|
||||||
zipStoreBase=GRADLE_USER_HOME
|
zipStoreBase=GRADLE_USER_HOME
|
||||||
|
|||||||
@@ -15,6 +15,8 @@
|
|||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
#
|
#
|
||||||
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
#
|
||||||
|
|
||||||
##############################################################################
|
##############################################################################
|
||||||
#
|
#
|
||||||
@@ -55,7 +57,7 @@
|
|||||||
# Darwin, MinGW, and NonStop.
|
# Darwin, MinGW, and NonStop.
|
||||||
#
|
#
|
||||||
# (3) This script is generated from the Groovy template
|
# (3) This script is generated from the Groovy template
|
||||||
# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
|
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
|
||||||
# within the Gradle project.
|
# within the Gradle project.
|
||||||
#
|
#
|
||||||
# You can find Gradle at https://github.com/gradle/gradle/.
|
# You can find Gradle at https://github.com/gradle/gradle/.
|
||||||
@@ -84,7 +86,8 @@ done
|
|||||||
# shellcheck disable=SC2034
|
# shellcheck disable=SC2034
|
||||||
APP_BASE_NAME=${0##*/}
|
APP_BASE_NAME=${0##*/}
|
||||||
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
|
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
|
||||||
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
|
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
|
||||||
|
' "$PWD" ) || exit
|
||||||
|
|
||||||
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
||||||
MAX_FD=maximum
|
MAX_FD=maximum
|
||||||
|
|||||||
Vendored
+12
-10
@@ -13,6 +13,8 @@
|
|||||||
@rem See the License for the specific language governing permissions and
|
@rem See the License for the specific language governing permissions and
|
||||||
@rem limitations under the License.
|
@rem limitations under the License.
|
||||||
@rem
|
@rem
|
||||||
|
@rem SPDX-License-Identifier: Apache-2.0
|
||||||
|
@rem
|
||||||
|
|
||||||
@if "%DEBUG%"=="" @echo off
|
@if "%DEBUG%"=="" @echo off
|
||||||
@rem ##########################################################################
|
@rem ##########################################################################
|
||||||
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
|
|||||||
%JAVA_EXE% -version >NUL 2>&1
|
%JAVA_EXE% -version >NUL 2>&1
|
||||||
if %ERRORLEVEL% equ 0 goto execute
|
if %ERRORLEVEL% equ 0 goto execute
|
||||||
|
|
||||||
echo.
|
echo. 1>&2
|
||||||
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
|
||||||
echo.
|
echo. 1>&2
|
||||||
echo Please set the JAVA_HOME variable in your environment to match the
|
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
|
||||||
echo location of your Java installation.
|
echo location of your Java installation. 1>&2
|
||||||
|
|
||||||
goto fail
|
goto fail
|
||||||
|
|
||||||
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
|
|||||||
|
|
||||||
if exist "%JAVA_EXE%" goto execute
|
if exist "%JAVA_EXE%" goto execute
|
||||||
|
|
||||||
echo.
|
echo. 1>&2
|
||||||
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
|
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
|
||||||
echo.
|
echo. 1>&2
|
||||||
echo Please set the JAVA_HOME variable in your environment to match the
|
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
|
||||||
echo location of your Java installation.
|
echo location of your Java installation. 1>&2
|
||||||
|
|
||||||
goto fail
|
goto fail
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -4,7 +4,7 @@ pluginManagement {
|
|||||||
repositories {
|
repositories {
|
||||||
mavenLocal()
|
mavenLocal()
|
||||||
gradlePluginPortal()
|
gradlePluginPortal()
|
||||||
String frcYear = '2024'
|
String frcYear = '2025'
|
||||||
File frcHome
|
File frcHome
|
||||||
if (OperatingSystem.current().isWindows()) {
|
if (OperatingSystem.current().isWindows()) {
|
||||||
String publicFolder = System.getenv('PUBLIC')
|
String publicFolder = System.getenv('PUBLIC')
|
||||||
|
|||||||
@@ -0,0 +1,92 @@
|
|||||||
|
{
|
||||||
|
"keyboardJoysticks": [
|
||||||
|
{
|
||||||
|
"axisConfig": [
|
||||||
|
{
|
||||||
|
"decKey": 65,
|
||||||
|
"incKey": 68
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"decKey": 87,
|
||||||
|
"incKey": 83
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"decKey": 69,
|
||||||
|
"decayRate": 0.0,
|
||||||
|
"incKey": 82,
|
||||||
|
"keyRate": 0.009999999776482582
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"axisCount": 3,
|
||||||
|
"buttonCount": 4,
|
||||||
|
"buttonKeys": [
|
||||||
|
90,
|
||||||
|
88,
|
||||||
|
67,
|
||||||
|
86
|
||||||
|
],
|
||||||
|
"povConfig": [
|
||||||
|
{
|
||||||
|
"key0": 328,
|
||||||
|
"key135": 323,
|
||||||
|
"key180": 322,
|
||||||
|
"key225": 321,
|
||||||
|
"key270": 324,
|
||||||
|
"key315": 327,
|
||||||
|
"key45": 329,
|
||||||
|
"key90": 326
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"povCount": 1
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"axisConfig": [
|
||||||
|
{
|
||||||
|
"decKey": 74,
|
||||||
|
"incKey": 76
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"decKey": 73,
|
||||||
|
"incKey": 75
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"axisCount": 2,
|
||||||
|
"buttonCount": 4,
|
||||||
|
"buttonKeys": [
|
||||||
|
77,
|
||||||
|
44,
|
||||||
|
46,
|
||||||
|
47
|
||||||
|
],
|
||||||
|
"povCount": 0
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"axisConfig": [
|
||||||
|
{
|
||||||
|
"decKey": 263,
|
||||||
|
"incKey": 262
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"decKey": 265,
|
||||||
|
"incKey": 264
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"axisCount": 2,
|
||||||
|
"buttonCount": 6,
|
||||||
|
"buttonKeys": [
|
||||||
|
260,
|
||||||
|
268,
|
||||||
|
266,
|
||||||
|
261,
|
||||||
|
269,
|
||||||
|
267
|
||||||
|
],
|
||||||
|
"povCount": 0
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"axisCount": 0,
|
||||||
|
"buttonCount": 0,
|
||||||
|
"povCount": 0
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
@@ -7,7 +7,11 @@
|
|||||||
|
|
||||||
package frc4388.robot;
|
package frc4388.robot;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
|
||||||
import edu.wpi.first.math.trajectory.TrapezoidProfile;
|
import edu.wpi.first.math.trajectory.TrapezoidProfile;
|
||||||
|
import frc4388.utility.CanDevice;
|
||||||
import frc4388.utility.Gains;
|
import frc4388.utility.Gains;
|
||||||
import frc4388.utility.LEDPatterns;
|
import frc4388.utility.LEDPatterns;
|
||||||
|
|
||||||
@@ -20,6 +24,8 @@ import frc4388.utility.LEDPatterns;
|
|||||||
* constants are needed, to reduce verbosity.
|
* constants are needed, to reduce verbosity.
|
||||||
*/
|
*/
|
||||||
public final class Constants {
|
public final class Constants {
|
||||||
|
public static final String CANBUS_NAME = "rio";
|
||||||
|
|
||||||
public static final class SwerveDriveConstants {
|
public static final class SwerveDriveConstants {
|
||||||
|
|
||||||
public static final double MAX_ROT_SPEED = 3.5;
|
public static final double MAX_ROT_SPEED = 3.5;
|
||||||
@@ -29,8 +35,6 @@ public final class Constants {
|
|||||||
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
|
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
|
||||||
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
|
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
|
||||||
|
|
||||||
public static final String CANBUS_NAME = "IDK";
|
|
||||||
|
|
||||||
public static final double CORRECTION_MIN = 10;
|
public static final double CORRECTION_MIN = 10;
|
||||||
public static final double CORRECTION_MAX = 50;
|
public static final double CORRECTION_MAX = 50;
|
||||||
|
|
||||||
@@ -40,6 +44,8 @@ public final class Constants {
|
|||||||
public static final double FAST_SPEED = 0.5;
|
public static final double FAST_SPEED = 0.5;
|
||||||
public static final double TURBO_SPEED = 1.0;
|
public static final double TURBO_SPEED = 1.0;
|
||||||
|
|
||||||
|
// public static List<CanDevice> CAN_DEVICES = new ArrayList<>();
|
||||||
|
|
||||||
public static final class DefaultSwerveRotOffsets {
|
public static final class DefaultSwerveRotOffsets {
|
||||||
public static final double FRONT_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
public static final double FRONT_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
||||||
public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
||||||
@@ -48,23 +54,24 @@ public final class Constants {
|
|||||||
}
|
}
|
||||||
|
|
||||||
public static final class IDs {
|
public static final class IDs {
|
||||||
public static final int RIGHT_FRONT_WHEEL_ID = 2;
|
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 2);
|
||||||
public static final int RIGHT_FRONT_STEER_ID = 3;
|
public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 3);
|
||||||
public static final int RIGHT_FRONT_ENCODER_ID = 10;
|
public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 10);
|
||||||
|
|
||||||
public static final int LEFT_FRONT_WHEEL_ID = 4;
|
public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 4);
|
||||||
public static final int LEFT_FRONT_STEER_ID = 5;
|
public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 5);
|
||||||
public static final int LEFT_FRONT_ENCODER_ID = 11;
|
public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 11);
|
||||||
|
|
||||||
public static final int LEFT_BACK_WHEEL_ID = 6;
|
public static final CanDevice LEFT_BACK_WHEEL = new CanDevice("LEFT_BACK_WHEEL", 6);
|
||||||
public static final int LEFT_BACK_STEER_ID = 7;
|
public static final CanDevice LEFT_BACK_STEER = new CanDevice("LEFT_BACK_STEER", 7);
|
||||||
public static final int LEFT_BACK_ENCODER_ID = 12;
|
public static final CanDevice LEFT_BACK_ENCODER = new CanDevice("LEFT_BACK_ENCODER", 12);
|
||||||
|
|
||||||
public static final int RIGHT_BACK_WHEEL_ID = 8;
|
public static final CanDevice RIGHT_BACK_WHEEL = new CanDevice("RIGHT_BACK_WHEEL", 8);
|
||||||
public static final int RIGHT_BACK_STEER_ID = 9;
|
public static final CanDevice RIGHT_BACK_STEER = new CanDevice("RIGHT_BACK_STEER", 9);
|
||||||
public static final int RIGHT_BACK_ENCODER_ID = 13;
|
public static final CanDevice RIGHT_BACK_ENCODER = new CanDevice("RIGHT_BACK_ENCODER", 13);
|
||||||
|
|
||||||
public static final int DRIVE_PIGEON_ID = 14;
|
public static final CanDevice DRIVE_PIGEON = new CanDevice("DRIVE_PIGEON", 4);
|
||||||
|
public static final CanDevice e = new CanDevice("NONEXISTANT_CAN", 50);
|
||||||
}
|
}
|
||||||
|
|
||||||
public static final class PIDConstants {
|
public static final class PIDConstants {
|
||||||
|
|||||||
@@ -7,11 +7,26 @@
|
|||||||
|
|
||||||
package frc4388.robot;
|
package frc4388.robot;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.Base64;
|
||||||
|
import java.util.List;
|
||||||
|
import java.util.logging.Level;
|
||||||
|
|
||||||
|
import com.ctre.phoenix6.CANBus;
|
||||||
|
import com.ctre.phoenix6.CANBus.CANBusStatus;
|
||||||
|
|
||||||
|
import edu.wpi.first.util.sendable.Sendable;
|
||||||
import edu.wpi.first.wpilibj.TimedRobot;
|
import edu.wpi.first.wpilibj.TimedRobot;
|
||||||
|
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
import edu.wpi.first.wpilibj2.command.CommandScheduler;
|
import edu.wpi.first.wpilibj2.command.CommandScheduler;
|
||||||
|
import frc4388.utility.CanDevice;
|
||||||
import frc4388.utility.DeferredBlock;
|
import frc4388.utility.DeferredBlock;
|
||||||
import frc4388.utility.RobotTime;
|
import frc4388.utility.RobotTime;
|
||||||
|
import frc4388.utility.Status;
|
||||||
|
import frc4388.utility.Subsystem;
|
||||||
|
import frc4388.utility.Status.Report;
|
||||||
|
import frc4388.utility.Status.ReportLevel;
|
||||||
//import frc4388.robot.subsystems.LED;
|
//import frc4388.robot.subsystems.LED;
|
||||||
/**
|
/**
|
||||||
* The VM is configured to automatically run this class, and to call the
|
* The VM is configured to automatically run this class, and to call the
|
||||||
@@ -36,6 +51,26 @@ public class Robot extends TimedRobot {
|
|||||||
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
|
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
|
||||||
// autonomous chooser on the dashboard.
|
// autonomous chooser on the dashboard.
|
||||||
m_robotContainer = new RobotContainer();
|
m_robotContainer = new RobotContainer();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
new Thread() {
|
||||||
|
public void run() {
|
||||||
|
try{
|
||||||
|
while(!this.isInterrupted() && this.isAlive()){
|
||||||
|
Thread.sleep(500);
|
||||||
|
for(int i=0;i<Subsystem.subsystems.size(); i++){
|
||||||
|
Subsystem.subsystems.get(i).queryStatus();
|
||||||
|
}
|
||||||
|
|
||||||
|
System.out.println("Updated statuses!");
|
||||||
|
|
||||||
|
}
|
||||||
|
}catch(Exception e){
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}.start();
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@@ -125,10 +160,72 @@ public class Robot extends TimedRobot {
|
|||||||
// m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
|
// m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
|
||||||
* This function is called periodically during test mode.
|
|
||||||
*/
|
|
||||||
@Override
|
@Override
|
||||||
public void testPeriodic() {
|
public void testInit() {
|
||||||
|
|
||||||
|
List<String> errors = new ArrayList<>();
|
||||||
|
|
||||||
|
// Subsystems header
|
||||||
|
System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWluKWl+KWliDilpfilpbilpfiloTiloTilpYgIOKWl+KWhOKWhOKWluKWl+KWliAg4paX4paW4paX4paE4paE4paW4paX4paE4paE4paE4paW4paX4paE4paE4paE4paW4paX4paWICDilpfilpYg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMICAgIOKWneKWmuKWnuKWmOKWkOKWjCAgICAg4paIICDilpDilowgICDilpDilpvilprilp7ilpzilozilpDilowgICAKIOKWneKWgOKWmuKWluKWkOKWjCDilpDilozilpDilpviloDilprilpYg4pad4paA4paa4paWICDilpDilowgIOKWneKWgOKWmuKWliAg4paIICDilpDilpviloDiloDilpjilpDilowgIOKWkOKWjCDilp3iloDilprilpYK4paX4paE4paE4pae4paY4pad4paa4paE4pae4paY4paQ4paZ4paE4pae4paY4paX4paE4paE4pae4paYICDilpDilowg4paX4paE4paE4pae4paYICDiloggIOKWkOKWmeKWhOKWhOKWluKWkOKWjCAg4paQ4paM4paX4paE4paE4pae4paY")));
|
||||||
|
|
||||||
|
for(int i=0;i< Subsystem.subsystems.size();i++){
|
||||||
|
|
||||||
|
Subsystem subsystem = Subsystem.subsystems.get(i);
|
||||||
|
System.out.println("** Subsystem diagnostic report for " + subsystem.getName() + ":");
|
||||||
|
Status status = subsystem.diagnosticStatus();
|
||||||
|
|
||||||
|
for(int a=0;a<status.reports.size();a++){
|
||||||
|
Report r = status.reports.get(a);
|
||||||
|
if(r.reportLevel == ReportLevel.ERROR)
|
||||||
|
errors.add(subsystem.getName() + " - " + r.toString());
|
||||||
|
subsystem.Log(r.toString());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// CAN header
|
||||||
|
System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
|
||||||
|
|
||||||
|
CANBus canBus = new CANBus(Constants.CANBUS_NAME);
|
||||||
|
|
||||||
|
CANBusStatus canInfo = canBus.getStatus();
|
||||||
|
|
||||||
|
System.out.println("CANInfo BusOffCount - " + canInfo.BusOffCount);
|
||||||
|
System.out.println("CANInfo BusUtilization - " + canInfo.BusUtilization);
|
||||||
|
System.out.println("CANInfo RX Errors count - " + canInfo.REC);
|
||||||
|
System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
|
||||||
|
System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
|
||||||
|
// Broken turniary operator
|
||||||
|
ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
|
||||||
|
String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
|
||||||
|
if(canReportLevel == ReportLevel.ERROR) {
|
||||||
|
errors.add(canStatus);
|
||||||
|
}
|
||||||
|
System.out.println(canStatus);
|
||||||
|
|
||||||
|
for(int i=0;i<CanDevice.devices.size();i++){
|
||||||
|
|
||||||
|
CanDevice device = CanDevice.devices.get(i);
|
||||||
|
System.out.println("** CAN diagnostic report for " + device.name + ":");
|
||||||
|
Status status = device.diagnosticStatus();
|
||||||
|
|
||||||
|
for(int a=0;a<status.reports.size();a++){
|
||||||
|
Report r = status.reports.get(a);
|
||||||
|
if(r.reportLevel == ReportLevel.ERROR)
|
||||||
|
errors.add(device.getName() + " - " + r.toString());
|
||||||
|
device.Log(r.toString());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// System.out.println("Found CAN devices: " + new DeviceFinder().Find());
|
||||||
|
|
||||||
|
if(errors.size() > 0) {
|
||||||
|
// Errors header
|
||||||
|
System.out.println(new String(Base64.getDecoder().decode("4paX4paE4paE4paE4paW4paX4paE4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilpDilowgICAK4paQ4pab4paA4paA4paY4paQ4pab4paA4paa4paW4paQ4pab4paA4paa4paW4paQ4paMIOKWkOKWjOKWkOKWm+KWgOKWmuKWliDilp3iloDilprilpYK4paQ4paZ4paE4paE4paW4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilp3ilpriloTilp7ilpjilpDilowg4paQ4paM4paX4paE4paE4pae4paY")));
|
||||||
|
for(int i=0;i<errors.size(); i++){
|
||||||
|
System.out.println(errors.get(i));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -9,6 +9,10 @@ package frc4388.robot;
|
|||||||
|
|
||||||
// Drive Systems
|
// Drive Systems
|
||||||
import edu.wpi.first.wpilibj.DriverStation;
|
import edu.wpi.first.wpilibj.DriverStation;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
|
||||||
import edu.wpi.first.cameraserver.CameraServer;
|
import edu.wpi.first.cameraserver.CameraServer;
|
||||||
import edu.wpi.first.wpilibj.GenericHID;
|
import edu.wpi.first.wpilibj.GenericHID;
|
||||||
import frc4388.utility.controller.XboxController;
|
import frc4388.utility.controller.XboxController;
|
||||||
@@ -33,6 +37,7 @@ import frc4388.robot.subsystems.SwerveDrive;
|
|||||||
|
|
||||||
// Utilites
|
// Utilites
|
||||||
import frc4388.utility.DeferredBlock;
|
import frc4388.utility.DeferredBlock;
|
||||||
|
import frc4388.utility.Subsystem;
|
||||||
import frc4388.utility.configurable.ConfigurableString;
|
import frc4388.utility.configurable.ConfigurableString;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@@ -65,6 +70,8 @@ public class RobotContainer {
|
|||||||
private final VirtualController m_virtualDriver = new VirtualController(0);
|
private final VirtualController m_virtualDriver = new VirtualController(0);
|
||||||
private final VirtualController m_virtualOperator = new VirtualController(1);
|
private final VirtualController m_virtualOperator = new VirtualController(1);
|
||||||
|
|
||||||
|
// public List<Subsystem> subsystems = new ArrayList<>();
|
||||||
|
|
||||||
// ! Teleop Commands
|
// ! Teleop Commands
|
||||||
|
|
||||||
// ! /* Autos */
|
// ! /* Autos */
|
||||||
@@ -96,6 +103,12 @@ public class RobotContainer {
|
|||||||
.withName("SwerveDrive DefaultCommand"));
|
.withName("SwerveDrive DefaultCommand"));
|
||||||
m_robotSwerveDrive.setToSlow();
|
m_robotSwerveDrive.setToSlow();
|
||||||
|
|
||||||
|
// this.subsystems.add(m_robotSwerveDrive);
|
||||||
|
// this.subsystems.add(m_robotMap.leftFront);
|
||||||
|
// this.subsystems.add(m_robotMap.rightFront);
|
||||||
|
// this.subsystems.add(m_robotMap.rightBack);
|
||||||
|
// this.subsystems.add(m_robotMap.leftBack);
|
||||||
|
|
||||||
// ! Swerve Drive One Module Test
|
// ! Swerve Drive One Module Test
|
||||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||||
// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
|
// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
|
||||||
|
|||||||
@@ -22,7 +22,7 @@ import frc4388.utility.RobotGyro;
|
|||||||
* testing and modularization.
|
* testing and modularization.
|
||||||
*/
|
*/
|
||||||
public class RobotMap {
|
public class RobotMap {
|
||||||
private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON_ID);
|
private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
|
||||||
public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||||
|
|
||||||
public SwerveModule leftFront;
|
public SwerveModule leftFront;
|
||||||
@@ -38,28 +38,28 @@ public class RobotMap {
|
|||||||
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
||||||
|
|
||||||
/* Swreve Drive Subsystem */
|
/* Swreve Drive Subsystem */
|
||||||
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
|
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id);
|
||||||
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
|
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id);
|
||||||
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
|
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.id);
|
||||||
|
|
||||||
|
|
||||||
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
|
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL.id);
|
||||||
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
|
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER.id);
|
||||||
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
|
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER.id);
|
||||||
|
|
||||||
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
|
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id);
|
||||||
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
|
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id);
|
||||||
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
|
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id);
|
||||||
|
|
||||||
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
|
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id);
|
||||||
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
|
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id);
|
||||||
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
|
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id);
|
||||||
|
|
||||||
void configureDriveMotorControllers() {
|
void configureDriveMotorControllers() {
|
||||||
// initialize SwerveModules
|
// initialize SwerveModules
|
||||||
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||||
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||||
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
||||||
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,98 +0,0 @@
|
|||||||
package frc4388.robot.commands.Autos;
|
|
||||||
|
|
||||||
import java.io.File;
|
|
||||||
import java.util.ArrayList;
|
|
||||||
import java.util.HashMap;
|
|
||||||
|
|
||||||
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.smartdashboard.SendableChooser;
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
|
||||||
import frc4388.robot.commands.Swerve.JoystickPlayback;
|
|
||||||
import frc4388.robot.subsystems.SwerveDrive;
|
|
||||||
|
|
||||||
public class PlaybackChooser {
|
|
||||||
private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
|
|
||||||
private SendableChooser<Command> m_playback = null;
|
|
||||||
private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
|
|
||||||
private final HashMap<String, Command> m_commandPool = new HashMap<>();
|
|
||||||
|
|
||||||
private final File m_dir = new File("/home/lvuser/autos/");
|
|
||||||
private int m_cmdNum = 0;
|
|
||||||
private final SwerveDrive m_swerve;
|
|
||||||
|
|
||||||
// commands
|
|
||||||
private Command m_noAuto = new InstantCommand();
|
|
||||||
|
|
||||||
public PlaybackChooser(SwerveDrive swerve, Object... pool) {
|
|
||||||
m_swerve = swerve;
|
|
||||||
}
|
|
||||||
|
|
||||||
public PlaybackChooser addOption(String name, Command option) {
|
|
||||||
m_commandPool.put(name, option);
|
|
||||||
return this;
|
|
||||||
}
|
|
||||||
|
|
||||||
public PlaybackChooser buildDisplay() {
|
|
||||||
for (int i = 0; i < 10; i++) {
|
|
||||||
appendCommand();
|
|
||||||
}
|
|
||||||
m_playback = m_choosers.get(0);
|
|
||||||
nextChooser();
|
|
||||||
|
|
||||||
// ! This does not work, why?
|
|
||||||
Shuffleboard.getTab("Auto Chooser")
|
|
||||||
.add("Add Sequence", new InstantCommand(() -> nextChooser()))
|
|
||||||
.withPosition(4, 0);
|
|
||||||
return this;
|
|
||||||
}
|
|
||||||
|
|
||||||
// This will be bound to a button for the time being
|
|
||||||
public void appendCommand() {
|
|
||||||
var chooser = new SendableChooser<Command>();
|
|
||||||
chooser.setDefaultOption("No Auto", m_noAuto);
|
|
||||||
|
|
||||||
m_choosers.add(chooser);
|
|
||||||
ComplexWidget widget = Shuffleboard.getTab("Auto Chooser")
|
|
||||||
.add("Command: " + m_choosers.size(), chooser)
|
|
||||||
.withSize(4, 1)
|
|
||||||
.withPosition(0, m_choosers.size() - 1)
|
|
||||||
.withWidget(BuiltInWidgets.kSplitButtonChooser);
|
|
||||||
|
|
||||||
m_widgets.add(widget);
|
|
||||||
}
|
|
||||||
|
|
||||||
public void nextChooser() {
|
|
||||||
SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
|
|
||||||
|
|
||||||
String[] dirs = m_dir.list();
|
|
||||||
|
|
||||||
if(dirs != null){ // Fix funny error
|
|
||||||
for (String auto : dirs) {
|
|
||||||
chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
for (var cmd_name : m_commandPool.keySet()) {
|
|
||||||
chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public Command getCommand() {
|
|
||||||
Command command = m_playback.getSelected();
|
|
||||||
command = command == null ? m_noAuto : command.asProxy();
|
|
||||||
|
|
||||||
Command[] commands = new Command[m_cmdNum - 1];
|
|
||||||
for (int i = 0; i < m_cmdNum - 1; i++) {
|
|
||||||
Command command2 = m_choosers.get(i + 1).getSelected();
|
|
||||||
command2 = command2 == null ? m_noAuto : command2.asProxy();
|
|
||||||
|
|
||||||
commands[i] = command2.asProxy();
|
|
||||||
}
|
|
||||||
|
|
||||||
return command.andThen(commands);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,145 +0,0 @@
|
|||||||
// Copyright (c) FIRST and other WPILib contributors.
|
|
||||||
// Open Source Software; you can modify and/or share it under the terms of
|
|
||||||
// the WPILib BSD license file in the root directory of this project.
|
|
||||||
|
|
||||||
package frc4388.robot.commands.Swerve;
|
|
||||||
|
|
||||||
import java.io.File;
|
|
||||||
import java.io.FileNotFoundException;
|
|
||||||
import java.util.ArrayList;
|
|
||||||
import java.util.Scanner;
|
|
||||||
import edu.wpi.first.math.geometry.Translation2d;
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc4388.robot.subsystems.SwerveDrive;
|
|
||||||
import frc4388.utility.UtilityStructs.TimedOutput;
|
|
||||||
|
|
||||||
public class JoystickPlayback extends Command {
|
|
||||||
private final SwerveDrive swerve;
|
|
||||||
private String filename;
|
|
||||||
private int mult = 1;
|
|
||||||
private Scanner input;
|
|
||||||
private final ArrayList<TimedOutput> outputs = new ArrayList<>();
|
|
||||||
private int counter = 0;
|
|
||||||
private long startTime = 0;
|
|
||||||
private long playbackTime = 0;
|
|
||||||
private int lastIndex;
|
|
||||||
private boolean m_finished = false; // ! find a better way
|
|
||||||
|
|
||||||
/** Creates a new JoystickPlayback. */
|
|
||||||
public JoystickPlayback(SwerveDrive swerve, String filename, int mult) {
|
|
||||||
this.swerve = swerve;
|
|
||||||
this.filename = filename;
|
|
||||||
this.mult = mult;
|
|
||||||
|
|
||||||
addRequirements(this.swerve);
|
|
||||||
}
|
|
||||||
|
|
||||||
/** Creates a new JoystickPlayback. */
|
|
||||||
public JoystickPlayback(SwerveDrive swerve, String filename) {
|
|
||||||
this(swerve, filename, 1);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called when the command is initially scheduled.
|
|
||||||
@Override
|
|
||||||
public void initialize() {
|
|
||||||
outputs.clear();
|
|
||||||
m_finished = false;
|
|
||||||
|
|
||||||
startTime = System.currentTimeMillis();
|
|
||||||
playbackTime = 0;
|
|
||||||
lastIndex = 0;
|
|
||||||
try {
|
|
||||||
input = new Scanner(new File("/home/lvuser/autos/" + filename));
|
|
||||||
|
|
||||||
String line = "";
|
|
||||||
while (input.hasNextLine()) {
|
|
||||||
line = input.nextLine();
|
|
||||||
|
|
||||||
if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
String[] values = line.split(",");
|
|
||||||
System.out.println("values: " + values[0] + " " + values[1] + " " + values[2] + " " + values[3]);
|
|
||||||
|
|
||||||
var out = new TimedOutput();
|
|
||||||
out.leftX = Double.parseDouble(values[0]) * mult;
|
|
||||||
out.leftY = Double.parseDouble(values[1]);
|
|
||||||
out.rightX = Double.parseDouble(values[2]);
|
|
||||||
out.rightY = Double.parseDouble(values[3]);
|
|
||||||
|
|
||||||
out.timedOffset = Long.parseLong(values[4]);
|
|
||||||
|
|
||||||
outputs.add(out);
|
|
||||||
}
|
|
||||||
|
|
||||||
input.close();
|
|
||||||
} catch (FileNotFoundException e) {
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called every time the scheduler runs while the command is scheduled.
|
|
||||||
@Override
|
|
||||||
public void execute() {
|
|
||||||
if (counter == 0) {
|
|
||||||
startTime = System.currentTimeMillis();
|
|
||||||
playbackTime = 0;
|
|
||||||
} else {
|
|
||||||
playbackTime = System.currentTimeMillis() - startTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
// skip to reasonable time frame
|
|
||||||
// too tired to write comment: ask daniel thomas; it goes to the thing until it's bigger than the other thing
|
|
||||||
{
|
|
||||||
int i = lastIndex == 0 ? 1 : lastIndex;
|
|
||||||
while (i < outputs.size() && outputs.get(i).timedOffset < playbackTime) {
|
|
||||||
i++;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (i >= outputs.size()) {
|
|
||||||
m_finished = true; // ! kind of a hack
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
lastIndex = i;
|
|
||||||
}
|
|
||||||
|
|
||||||
TimedOutput lastOut = outputs.get(lastIndex - 1);
|
|
||||||
TimedOutput out = outputs.get(lastIndex);
|
|
||||||
|
|
||||||
double deltaTime = out.timedOffset - lastOut.timedOffset;
|
|
||||||
double playbackDelta = playbackTime - lastOut.timedOffset;
|
|
||||||
|
|
||||||
double lerpLX = lastOut.leftX + (out.leftX - lastOut.leftX) * (playbackDelta / deltaTime);
|
|
||||||
double lerpLY = lastOut.leftY + (out.leftY - lastOut.leftY) * (playbackDelta / deltaTime);
|
|
||||||
double lerpRX = lastOut.rightX + (out.rightX - lastOut.rightX) * (playbackDelta / deltaTime);
|
|
||||||
double lerpRY = lastOut.rightY + (out.rightY - lastOut.rightY) * (playbackDelta / deltaTime);
|
|
||||||
|
|
||||||
// this.swerve.driveWithInput(new Translation2d(out.leftX, out.leftY),
|
|
||||||
// new Translation2d(out.rightX, out.rightY),
|
|
||||||
// true);
|
|
||||||
|
|
||||||
// this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
|
|
||||||
// new Translation2d(lerpRX, lerpRY),
|
|
||||||
// true);
|
|
||||||
|
|
||||||
this.swerve.playbackDriveWithInput( new Translation2d(lerpLX, lerpLY),
|
|
||||||
new Translation2d(lerpRX, lerpRY),
|
|
||||||
true);
|
|
||||||
|
|
||||||
counter++;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
input.close();
|
|
||||||
swerve.stopModules();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return m_finished;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,97 +0,0 @@
|
|||||||
// Copyright (c) FIRST and other WPILib contributors.
|
|
||||||
// Open Source Software; you can modify and/or share it under the terms of
|
|
||||||
// the WPILib BSD license file in the root directory of this project.
|
|
||||||
|
|
||||||
package frc4388.robot.commands.Swerve;
|
|
||||||
|
|
||||||
import java.io.File;
|
|
||||||
import java.io.IOException;
|
|
||||||
import java.io.PrintWriter;
|
|
||||||
import java.util.ArrayList;
|
|
||||||
import java.util.function.Supplier;
|
|
||||||
|
|
||||||
import edu.wpi.first.math.geometry.Translation2d;
|
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
|
||||||
import frc4388.robot.subsystems.SwerveDrive;
|
|
||||||
import frc4388.utility.UtilityStructs.TimedOutput;
|
|
||||||
|
|
||||||
public class JoystickRecorder extends Command {
|
|
||||||
public final SwerveDrive swerve;
|
|
||||||
|
|
||||||
public final Supplier<Double> leftX;
|
|
||||||
public final Supplier<Double> leftY;
|
|
||||||
public final Supplier<Double> rightX;
|
|
||||||
public final Supplier<Double> rightY;
|
|
||||||
private String filename;
|
|
||||||
public final ArrayList<TimedOutput> outputs = new ArrayList<>();
|
|
||||||
private long startTime = -1;
|
|
||||||
|
|
||||||
|
|
||||||
/** Creates a new JoystickRecorder. */
|
|
||||||
public JoystickRecorder(SwerveDrive swerve, Supplier<Double> leftX, Supplier<Double> leftY,
|
|
||||||
Supplier<Double> rightX, Supplier<Double> rightY,
|
|
||||||
String filename)
|
|
||||||
{
|
|
||||||
this.swerve = swerve;
|
|
||||||
this.leftX = leftX;
|
|
||||||
this.leftY = leftY;
|
|
||||||
this.rightX = rightX;
|
|
||||||
this.rightY = rightY;
|
|
||||||
this.filename = filename;
|
|
||||||
|
|
||||||
addRequirements(this.swerve);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called when the command is initially scheduled.
|
|
||||||
@Override
|
|
||||||
public void initialize() {
|
|
||||||
outputs.clear();
|
|
||||||
|
|
||||||
this.startTime = System.currentTimeMillis();
|
|
||||||
|
|
||||||
outputs.add(new TimedOutput());
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called every time the scheduler runs while the command is scheduled.
|
|
||||||
@Override
|
|
||||||
public void execute() {
|
|
||||||
var inputs = new TimedOutput();
|
|
||||||
inputs.leftX = leftX.get();
|
|
||||||
inputs.leftY = leftY.get();
|
|
||||||
inputs.rightX = rightX.get();
|
|
||||||
inputs.rightY = rightY.get();
|
|
||||||
inputs.timedOffset = System.currentTimeMillis() - startTime;
|
|
||||||
|
|
||||||
outputs.add(inputs);
|
|
||||||
|
|
||||||
swerve.playbackDriveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
|
|
||||||
new Translation2d(inputs.rightX, inputs.rightY),
|
|
||||||
true);
|
|
||||||
|
|
||||||
//System.out.println("RECORDING");
|
|
||||||
}
|
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
|
||||||
@Override
|
|
||||||
public void end(boolean interrupted) {
|
|
||||||
File output = new File("/home/lvuser/autos/" + filename);
|
|
||||||
|
|
||||||
try (PrintWriter writer = new PrintWriter(output)) {
|
|
||||||
for (var input : outputs) {
|
|
||||||
writer.println( input.leftX + "," + input.leftY + "," +
|
|
||||||
input.rightX + "," + input.rightY + "," +
|
|
||||||
input.timedOffset);
|
|
||||||
}
|
|
||||||
|
|
||||||
writer.close();
|
|
||||||
} catch (IOException e) {
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Returns true when the command should end.
|
|
||||||
@Override
|
|
||||||
public boolean isFinished() {
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,36 +0,0 @@
|
|||||||
package frc4388.robot.subsystems;
|
|
||||||
|
|
||||||
//import edu.wpi.first.apriltag.AprilTag;
|
|
||||||
//import edu.wpi.first.math.geometry.Pose3d;
|
|
||||||
//import edu.wpi.first.math.geometry.Rotation3d;
|
|
||||||
//import edu.wpi.first.networktables.NetworkTable;
|
|
||||||
//import edu.wpi.first.networktables.NetworkTableEntry;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
|
|
||||||
public class Apriltags {
|
|
||||||
public static class Tag {
|
|
||||||
public boolean visible = true;
|
|
||||||
public double x, y, z = 0;
|
|
||||||
public double ry, rp, rr = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
public Tag getTagPosRot() {
|
|
||||||
final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
|
|
||||||
|
|
||||||
final Tag tag = new Tag();
|
|
||||||
tag.visible = isAprilTag();
|
|
||||||
tag.x = tagTable.getEntry("TagPosX").getDouble(0);
|
|
||||||
tag.y = tagTable.getEntry("TagPosY").getDouble(0);
|
|
||||||
tag.z = tagTable.getEntry("TagPosZ").getDouble(0);
|
|
||||||
tag.ry = tagTable.getEntry("TagRotY").getDouble(0);
|
|
||||||
tag.rp = tagTable.getEntry("TagRotP").getDouble(0);
|
|
||||||
tag.rr = tagTable.getEntry("TagRotR").getDouble(0);
|
|
||||||
|
|
||||||
return tag;
|
|
||||||
}
|
|
||||||
|
|
||||||
public boolean isAprilTag() {
|
|
||||||
final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
|
|
||||||
return tagTable.getEntry("IsTag").getBoolean(false);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -7,6 +7,8 @@
|
|||||||
|
|
||||||
package frc4388.robot.subsystems;
|
package frc4388.robot.subsystems;
|
||||||
|
|
||||||
|
import java.util.logging.Level;
|
||||||
|
|
||||||
import com.ctre.phoenix6.controls.Follower;
|
import com.ctre.phoenix6.controls.Follower;
|
||||||
import com.ctre.phoenix6.hardware.TalonFX;
|
import com.ctre.phoenix6.hardware.TalonFX;
|
||||||
|
|
||||||
@@ -17,11 +19,14 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
|||||||
import frc4388.robot.Constants.DriveConstants;
|
import frc4388.robot.Constants.DriveConstants;
|
||||||
import frc4388.utility.RobotGyro;
|
import frc4388.utility.RobotGyro;
|
||||||
import frc4388.utility.RobotTime;
|
import frc4388.utility.RobotTime;
|
||||||
|
import frc4388.utility.Status;
|
||||||
|
import frc4388.utility.Subsystem;
|
||||||
|
import frc4388.utility.Status.ReportLevel;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Add your docs here.
|
* Add your docs here.
|
||||||
*/
|
*/
|
||||||
public class DiffDrive extends SubsystemBase {
|
public class DiffDrive extends Subsystem {
|
||||||
// Put methods for controlling this subsystem
|
// Put methods for controlling this subsystem
|
||||||
// here. Call these from Commands.
|
// here. Call these from Commands.
|
||||||
|
|
||||||
@@ -40,6 +45,8 @@ public class DiffDrive extends SubsystemBase {
|
|||||||
public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
|
public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
|
||||||
TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
|
TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
|
||||||
|
|
||||||
|
super();
|
||||||
|
|
||||||
m_leftFrontMotor = leftFrontMotor;
|
m_leftFrontMotor = leftFrontMotor;
|
||||||
m_rightFrontMotor = rightFrontMotor;
|
m_rightFrontMotor = rightFrontMotor;
|
||||||
m_leftBackMotor = leftBackMotor;
|
m_leftBackMotor = leftBackMotor;
|
||||||
@@ -85,4 +92,21 @@ public class DiffDrive extends SubsystemBase {
|
|||||||
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
|
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
|
||||||
//SmartDashboard.putData(m_gyro);
|
//SmartDashboard.putData(m_gyro);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public String getSubsystemName() {
|
||||||
|
return "Diff Drive";
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void queryStatus() {
|
||||||
|
// TODO: Add Stuff
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public Status diagnosticStatus() {
|
||||||
|
Log("Diagnostic info for this has not been inplemented!"); //TODO
|
||||||
|
return new Status();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -4,6 +4,8 @@
|
|||||||
|
|
||||||
package frc4388.robot.subsystems;
|
package frc4388.robot.subsystems;
|
||||||
|
|
||||||
|
import java.util.logging.Level;
|
||||||
|
|
||||||
import edu.wpi.first.math.geometry.Rotation2d;
|
import edu.wpi.first.math.geometry.Rotation2d;
|
||||||
import edu.wpi.first.math.geometry.Translation2d;
|
import edu.wpi.first.math.geometry.Translation2d;
|
||||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||||
@@ -17,8 +19,12 @@ import frc4388.robot.Constants.SwerveDriveConstants;
|
|||||||
import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
|
import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
|
||||||
import frc4388.utility.RobotGyro;
|
import frc4388.utility.RobotGyro;
|
||||||
import frc4388.utility.RobotUnits;
|
import frc4388.utility.RobotUnits;
|
||||||
|
import frc4388.utility.Status;
|
||||||
|
import frc4388.utility.Subsystem;
|
||||||
|
import frc4388.utility.Status.Report;
|
||||||
|
import frc4388.utility.Status.ReportLevel;
|
||||||
|
|
||||||
public class SwerveDrive extends SubsystemBase {
|
public class SwerveDrive extends Subsystem {
|
||||||
|
|
||||||
private SwerveModule leftFront;
|
private SwerveModule leftFront;
|
||||||
private SwerveModule rightFront;
|
private SwerveModule rightFront;
|
||||||
@@ -49,6 +55,7 @@ public class SwerveDrive extends SubsystemBase {
|
|||||||
|
|
||||||
/** Creates a new SwerveDrive. */
|
/** Creates a new SwerveDrive. */
|
||||||
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
|
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
|
||||||
|
super();
|
||||||
this.leftFront = leftFront;
|
this.leftFront = leftFront;
|
||||||
this.rightFront = rightFront;
|
this.rightFront = rightFront;
|
||||||
this.leftBack = leftBack;
|
this.leftBack = leftBack;
|
||||||
@@ -285,29 +292,23 @@ public class SwerveDrive extends SubsystemBase {
|
|||||||
|
|
||||||
public void setToSlow() {
|
public void setToSlow() {
|
||||||
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.SLOW_SPEED;
|
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.SLOW_SPEED;
|
||||||
System.out.println("SLOW");
|
for(int i=0;i<5;i++){
|
||||||
System.out.println("SLOW");
|
Log("SLOW");
|
||||||
System.out.println("SLOW");
|
}
|
||||||
System.out.println("SLOW");
|
|
||||||
System.out.println("SLOW");
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void setToFast() {
|
public void setToFast() {
|
||||||
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.FAST_SPEED;
|
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.FAST_SPEED;
|
||||||
System.out.println("FAST");
|
for(int i=0;i<5;i++){
|
||||||
System.out.println("FAST");
|
Log("FAST");
|
||||||
System.out.println("FAST");
|
}
|
||||||
System.out.println("FAST");
|
|
||||||
System.out.println("FAST");
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void setToTurbo() {
|
public void setToTurbo() {
|
||||||
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.TURBO_SPEED;
|
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.TURBO_SPEED;
|
||||||
System.out.println("TURBO");
|
for(int i=0;i<5;i++){
|
||||||
System.out.println("TURBO");
|
Log("TURBO");
|
||||||
System.out.println("TURBO");
|
}
|
||||||
System.out.println("TURBO");
|
|
||||||
System.out.println("TURBO");
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void toggleGear(double angle) {
|
public void toggleGear(double angle) {
|
||||||
@@ -328,6 +329,36 @@ public class SwerveDrive extends SubsystemBase {
|
|||||||
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public String getSubsystemName() {
|
||||||
|
return "Swerve Drive Controller";
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void queryStatus() {
|
||||||
|
|
||||||
|
SmartDashboard.putNumber("[" + getSubsystemName() + "] Gyro angle", this.gyro.getAngle());
|
||||||
|
SmartDashboard.putNumber("[" + getSubsystemName() + "] Shift State", this.speedAdjust);
|
||||||
|
|
||||||
|
// this.leftFront.queryStatus();
|
||||||
|
// this.leftBack.queryStatus();
|
||||||
|
// this.rightFront.queryStatus();
|
||||||
|
// this.rightBack.queryStatus();
|
||||||
|
|
||||||
|
//TODO: Add more status things
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public Status diagnosticStatus() {
|
||||||
|
Status status = new Status();
|
||||||
|
for (SwerveModule module : modules) {
|
||||||
|
for (Report moduleDignostic : module.diagnosticStatus().reports) {
|
||||||
|
status.addReport(moduleDignostic.reportLevel, "[" + module.getSubsystemName() + "] " + moduleDignostic.description);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
status.diagnoseHardwareCTRE("Swerve Gyro", gyro.getPigeon());
|
||||||
|
|
||||||
|
return status;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -4,6 +4,8 @@
|
|||||||
|
|
||||||
package frc4388.robot.subsystems;
|
package frc4388.robot.subsystems;
|
||||||
|
|
||||||
|
import java.util.logging.Level;
|
||||||
|
|
||||||
import com.ctre.phoenix6.StatusSignal;
|
import com.ctre.phoenix6.StatusSignal;
|
||||||
import com.ctre.phoenix6.Utils;
|
import com.ctre.phoenix6.Utils;
|
||||||
import com.ctre.phoenix6.configs.CANcoderConfiguration;
|
import com.ctre.phoenix6.configs.CANcoderConfiguration;
|
||||||
@@ -14,12 +16,14 @@ import com.ctre.phoenix6.configs.MotorOutputConfigs;
|
|||||||
import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
|
import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
|
||||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||||
|
import com.ctre.phoenix6.controls.ControlRequest;
|
||||||
import com.ctre.phoenix6.controls.DutyCycleOut;
|
import com.ctre.phoenix6.controls.DutyCycleOut;
|
||||||
import com.ctre.phoenix6.controls.Follower;
|
import com.ctre.phoenix6.controls.Follower;
|
||||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||||
import com.ctre.phoenix6.hardware.TalonFX;
|
import com.ctre.phoenix6.hardware.TalonFX;
|
||||||
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
|
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
|
||||||
import com.ctre.phoenix6.signals.InvertedValue;
|
import com.ctre.phoenix6.signals.InvertedValue;
|
||||||
|
import com.ctre.phoenix6.signals.MagnetHealthValue;
|
||||||
import com.ctre.phoenix6.signals.NeutralModeValue;
|
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||||
import com.ctre.phoenix6.signals.SensorDirectionValue;
|
import com.ctre.phoenix6.signals.SensorDirectionValue;
|
||||||
import com.ctre.phoenix6.hardware.CANcoder;
|
import com.ctre.phoenix6.hardware.CANcoder;
|
||||||
@@ -29,12 +33,17 @@ import edu.wpi.first.math.geometry.Rotation2d;
|
|||||||
import edu.wpi.first.math.kinematics.SwerveModulePosition;
|
import edu.wpi.first.math.kinematics.SwerveModulePosition;
|
||||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||||
import edu.wpi.first.math.util.Units;
|
import edu.wpi.first.math.util.Units;
|
||||||
|
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||||
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||||
import frc4388.utility.Gains;
|
import frc4388.utility.Gains;
|
||||||
|
import frc4388.utility.Status;
|
||||||
|
import frc4388.utility.Subsystem;
|
||||||
|
import frc4388.utility.Status.ReportLevel;
|
||||||
|
|
||||||
public class SwerveModule extends SubsystemBase {
|
public class SwerveModule extends Subsystem {
|
||||||
|
private String name = "Null";
|
||||||
private TalonFX driveMotor;
|
private TalonFX driveMotor;
|
||||||
private TalonFX angleMotor;
|
private TalonFX angleMotor;
|
||||||
private CANcoder encoder;
|
private CANcoder encoder;
|
||||||
@@ -47,7 +56,9 @@ public class SwerveModule extends SubsystemBase {
|
|||||||
|
|
||||||
|
|
||||||
/** Creates a new SwerveModule. */
|
/** Creates a new SwerveModule. */
|
||||||
public SwerveModule(TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
|
public SwerveModule(String name, TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
|
||||||
|
super();
|
||||||
|
this.name = name;
|
||||||
this.driveMotor = driveMotor;
|
this.driveMotor = driveMotor;
|
||||||
this.angleMotor = angleMotor;
|
this.angleMotor = angleMotor;
|
||||||
this.encoder = encoder;
|
this.encoder = encoder;
|
||||||
@@ -150,7 +161,7 @@ public class SwerveModule extends SubsystemBase {
|
|||||||
public Rotation2d getAngle() {
|
public Rotation2d getAngle() {
|
||||||
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
|
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
|
||||||
// return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
|
// return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
|
||||||
return Rotation2d.fromRotations(encoder.getPosition().getValue());
|
return Rotation2d.fromRotations(encoder.getPosition().getValue().baseUnitMagnitude());
|
||||||
}
|
}
|
||||||
|
|
||||||
public double getAngularVel() {
|
public double getAngularVel() {
|
||||||
@@ -184,7 +195,7 @@ public class SwerveModule extends SubsystemBase {
|
|||||||
*/
|
*/
|
||||||
public SwerveModuleState getState() {
|
public SwerveModuleState getState() {
|
||||||
return new SwerveModuleState(
|
return new SwerveModuleState(
|
||||||
Units.inchesToMeters(driveMotor.getVelocity().getValue() *
|
Units.inchesToMeters(driveMotor.getVelocity().getValue().baseUnitMagnitude() *
|
||||||
SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV *
|
SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV *
|
||||||
SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV),
|
SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV),
|
||||||
getAngle()
|
getAngle()
|
||||||
@@ -208,10 +219,10 @@ public class SwerveModule extends SubsystemBase {
|
|||||||
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
|
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
|
||||||
* @param desiredState a SwerveModuleState representing the desired new state of the module
|
* @param desiredState a SwerveModuleState representing the desired new state of the module
|
||||||
// */
|
// */
|
||||||
public void setDesiredState(SwerveModuleState desiredState) {
|
public void setDesiredState(SwerveModuleState state) {
|
||||||
Rotation2d currentRotation = this.getAngle();
|
Rotation2d currentRotation = this.getAngle();
|
||||||
|
|
||||||
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
state.optimize(currentRotation);//SwerveModuleState.optimize(desiredState, currentRotation);
|
||||||
|
|
||||||
// calculate the difference between our current rotational position and our new rotational position
|
// calculate the difference between our current rotational position and our new rotational position
|
||||||
Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
||||||
@@ -227,6 +238,33 @@ public class SwerveModule extends SubsystemBase {
|
|||||||
// encoder.setPosition(0);
|
// encoder.setPosition(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public String getSubsystemName() {
|
||||||
|
return this.name;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void queryStatus() {
|
||||||
|
SmartDashboard.putNumber("[" + getSubsystemName() + "] Drive motor speed", this.driveMotor.get());
|
||||||
|
SmartDashboard.putNumber("[" + getSubsystemName() + "] Angle motor angle", this.angleMotor.getRotorPosition().getValueAsDouble());
|
||||||
|
//TODO: Add more status things
|
||||||
|
}
|
||||||
|
|
||||||
|
public boolean motorsAlive() {
|
||||||
|
return this.driveMotor.isAlive() && this.angleMotor.isAlive();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public Status diagnosticStatus() {
|
||||||
|
Status status = new Status();
|
||||||
|
|
||||||
|
status.diagnoseHardwareCTRE("Drive", this.driveMotor);
|
||||||
|
status.diagnoseHardwareCTRE("Angle", this.angleMotor);
|
||||||
|
status.diagnoseHardwareCTRE("Steer", this.encoder);
|
||||||
|
|
||||||
|
return status;
|
||||||
|
}
|
||||||
|
|
||||||
// public double getCurrent() {
|
// public double getCurrent() {
|
||||||
// return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
|
// return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
|
||||||
// }
|
// }
|
||||||
|
|||||||
@@ -1,38 +0,0 @@
|
|||||||
package frc4388.robot.subsystems;
|
|
||||||
|
|
||||||
import edu.wpi.first.apriltag.AprilTag;
|
|
||||||
import edu.wpi.first.math.geometry.Pose3d;
|
|
||||||
import edu.wpi.first.math.geometry.Rotation3d;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableEntry;
|
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
|
||||||
|
|
||||||
public class Vision {
|
|
||||||
private final NetworkTableEntry m_isTags;
|
|
||||||
private final NetworkTableEntry m_xPoses;
|
|
||||||
private final NetworkTableEntry m_yPoses;
|
|
||||||
private final NetworkTableEntry m_zPoses;
|
|
||||||
|
|
||||||
public Vision() {
|
|
||||||
final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
|
|
||||||
|
|
||||||
m_isTags = tagTable.getEntry("IsTag");
|
|
||||||
m_xPoses = tagTable.getEntry("TagPosX");
|
|
||||||
m_yPoses = tagTable.getEntry("TagPosY");
|
|
||||||
m_zPoses = tagTable.getEntry("TagPosZ");
|
|
||||||
}
|
|
||||||
|
|
||||||
public AprilTag[] getAprilTags() {
|
|
||||||
if (!m_isTags.getBoolean(false)) return new AprilTag[0];
|
|
||||||
|
|
||||||
double xarr[] = m_xPoses.getDoubleArray(new double[] {});
|
|
||||||
double yarr[] = m_yPoses.getDoubleArray(new double[] {});
|
|
||||||
double zarr[] = m_zPoses.getDoubleArray(new double[] {});
|
|
||||||
|
|
||||||
AprilTag tags[] = new AprilTag[xarr.length];
|
|
||||||
for (int i = 0; i < tags.length; i++) {
|
|
||||||
tags[i] = new AprilTag(0, new Pose3d(xarr[i], yarr[i], zarr[i], new Rotation3d()));
|
|
||||||
}
|
|
||||||
|
|
||||||
return tags;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,57 @@
|
|||||||
|
package frc4388.utility;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
|
||||||
|
import edu.wpi.first.hal.CANData;
|
||||||
|
import edu.wpi.first.hal.can.CANJNI;
|
||||||
|
import edu.wpi.first.wpilibj.CAN;
|
||||||
|
import frc4388.utility.Status.Report;
|
||||||
|
import frc4388.utility.Status.ReportLevel;
|
||||||
|
|
||||||
|
public class CanDevice {
|
||||||
|
public static List<CanDevice> devices = new ArrayList<>();
|
||||||
|
|
||||||
|
public String name;
|
||||||
|
public int id;
|
||||||
|
|
||||||
|
public CanDevice(String name, int id) {
|
||||||
|
this.name = name;
|
||||||
|
this.id = id;
|
||||||
|
|
||||||
|
devices.add(this);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
private boolean isAlive() {
|
||||||
|
return true; //TODO: Link this with Device Finder
|
||||||
|
}
|
||||||
|
|
||||||
|
public String getName() {
|
||||||
|
return "CAN ID " + this.id + " ( " + this.name + " ) ";
|
||||||
|
}
|
||||||
|
|
||||||
|
public void Log(String str){
|
||||||
|
System.out.println(getName() + " - " + str);
|
||||||
|
}
|
||||||
|
|
||||||
|
public Status queryStatus() {
|
||||||
|
Status s = new Status();
|
||||||
|
|
||||||
|
s.addReport(ReportLevel.INFO, "TODO");
|
||||||
|
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
|
||||||
|
public Status diagnosticStatus() {
|
||||||
|
Status s = new Status();
|
||||||
|
//TODO
|
||||||
|
s.addReport(ReportLevel.INFO, "Add CAN magic here");
|
||||||
|
boolean isAlive = isAlive();
|
||||||
|
s.addReport(isAlive ? ReportLevel.INFO : ReportLevel.ERROR, "Is Alive: " + isAlive);
|
||||||
|
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
@@ -181,7 +181,7 @@ public class RobotGyro {
|
|||||||
* Roll is within [-90,+90] degrees.
|
* Roll is within [-90,+90] degrees.
|
||||||
*/
|
*/
|
||||||
private double[] getPigeonAngles() {
|
private double[] getPigeonAngles() {
|
||||||
m_pigeon.getAngle();
|
//m_pigeon.getAngle(); // This appeared to not do anything?
|
||||||
var rotation = m_pigeon.getRotation3d();
|
var rotation = m_pigeon.getRotation3d();
|
||||||
|
|
||||||
return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
|
return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
|
||||||
|
|||||||
@@ -0,0 +1,81 @@
|
|||||||
|
package frc4388.utility;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
|
||||||
|
import com.ctre.phoenix6.StatusCode;
|
||||||
|
import com.ctre.phoenix6.controls.EmptyControl;
|
||||||
|
import com.ctre.phoenix6.hardware.CANcoder;
|
||||||
|
import com.ctre.phoenix6.hardware.Pigeon2;
|
||||||
|
import com.ctre.phoenix6.hardware.TalonFX;
|
||||||
|
|
||||||
|
public class Status {
|
||||||
|
public enum ReportLevel {
|
||||||
|
INFO,
|
||||||
|
WARNING,
|
||||||
|
ERROR
|
||||||
|
}
|
||||||
|
|
||||||
|
public class Report {
|
||||||
|
public ReportLevel reportLevel;
|
||||||
|
public String description;
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public String toString() {
|
||||||
|
return this.reportLevel.name() + ": " + this.description;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public List<Report> reports;
|
||||||
|
|
||||||
|
public Status() {
|
||||||
|
this.reports = new ArrayList<>();
|
||||||
|
}
|
||||||
|
|
||||||
|
public void addReport(ReportLevel level, String description) {
|
||||||
|
Report r = new Report();
|
||||||
|
r.reportLevel = level;
|
||||||
|
r.description = description;
|
||||||
|
this.reports.add(r);
|
||||||
|
}
|
||||||
|
|
||||||
|
private String printStatusCode(StatusCode status){
|
||||||
|
return status.getName() + " (" + status.value + ")";
|
||||||
|
}
|
||||||
|
|
||||||
|
public void diagnoseHardwareCTRE(String deviceName, TalonFX motor) {
|
||||||
|
if (motor.isAlive()) addReport(ReportLevel.INFO, deviceName + " Motor (TalonFX) Alive?: Alive.");
|
||||||
|
else addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: Dead!");
|
||||||
|
}
|
||||||
|
|
||||||
|
public void diagnoseHardwareCTRE(String deviceName, CANcoder coder) {
|
||||||
|
// Because the Cancoder has no method to check its alive, we send it a empty control which it should return a zero when it gets the control.
|
||||||
|
// If its not zero, that means that most likely that it had some communication error, I.e. It actually is powered off or not connected at all.
|
||||||
|
// TODO: validate that a CANCoder can actually do `EmptyControl`s
|
||||||
|
StatusCode status = coder.setControl(new EmptyControl());
|
||||||
|
if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Cancoder Alive?: Alive. " + printStatusCode(status));
|
||||||
|
else addReport(ReportLevel.ERROR, deviceName + " Cancoder Alive?: Dead! " + printStatusCode(status));
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// StatusSignal<MagnetHealthValue> -> MagnetHealthValue -> int
|
||||||
|
int coderMagHealth = coder.getMagnetHealth().getValue().value;
|
||||||
|
if (coderMagHealth == 3) addReport(ReportLevel.INFO, deviceName + " Cancoder Magnet Strength?: Ideal."); // why is 3 the 'good value'?
|
||||||
|
if (coderMagHealth == 2) addReport(ReportLevel.WARNING, deviceName + " Cancoder Magnet Strength?: Subpar.");
|
||||||
|
if (coderMagHealth == 1) addReport(ReportLevel.ERROR, deviceName + " Cancoder Magnet Strength?: Too Close or Far!");
|
||||||
|
if (coderMagHealth == 0) addReport(ReportLevel.ERROR, deviceName + " Cancoder Magnet Strength?: Unkown!");
|
||||||
|
}
|
||||||
|
|
||||||
|
public void diagnoseHardwareCTRE(String deviceName, Pigeon2 pigeon) {
|
||||||
|
// Because the Pigeon has no method to check its alive, we send it a empty control which it should return a zero when it gets the control.
|
||||||
|
// If its not zero, that means that most likely that it had some communication error, I.e. It actually is powered off or not connected at all.
|
||||||
|
// TODO: validate that a Pigeon2 can actually do `EmptyControl`s
|
||||||
|
StatusCode status = pigeon.setControl(new EmptyControl());
|
||||||
|
if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Pigeon2 Alive?: Alive. " + printStatusCode(status));
|
||||||
|
else addReport(ReportLevel.ERROR, deviceName + " Pigeon2 Alive?: Dead! " + printStatusCode(status));
|
||||||
|
}
|
||||||
|
|
||||||
|
public boolean hasReport() {
|
||||||
|
return reports.size() == 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,25 @@
|
|||||||
|
package frc4388.utility;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.List;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
|
|
||||||
|
public abstract class Subsystem extends SubsystemBase {
|
||||||
|
public static List<Subsystem> subsystems = new ArrayList<>();
|
||||||
|
|
||||||
|
public Subsystem(){
|
||||||
|
subsystems.add(this);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void Log(String str) {
|
||||||
|
System.out.println(getSubsystemName() + " - " + str);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Get name of subsystem, for use in log.
|
||||||
|
public abstract String getSubsystemName();
|
||||||
|
// Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
|
||||||
|
public abstract void queryStatus();
|
||||||
|
// Proactivly search for any errors in each subsystem
|
||||||
|
public abstract Status diagnosticStatus();
|
||||||
|
}
|
||||||
@@ -1,31 +0,0 @@
|
|||||||
/**
|
|
||||||
* This file is a configuration file generated by the `Template` extension on `vscode`
|
|
||||||
* @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template
|
|
||||||
*/
|
|
||||||
module.exports = {
|
|
||||||
// You can change the template path to another path
|
|
||||||
templateRootPath: "./.templates",
|
|
||||||
// After copying the template file the `replaceFileTextFn` function is executed
|
|
||||||
replaceFileTextFn: (fileText, templateName, utils) => {
|
|
||||||
// @see https://www.npmjs.com/package/change-case
|
|
||||||
const { changeCase } = utils;
|
|
||||||
// You can change the text in the file
|
|
||||||
return fileText
|
|
||||||
.replace(/__templateName__/gm, templateName)
|
|
||||||
.replace(
|
|
||||||
/__templateNameToPascalCase__/gm,
|
|
||||||
changeCase.pascalCase(templateName)
|
|
||||||
)
|
|
||||||
.replace(
|
|
||||||
/__templateNameToParamCase__/gm,
|
|
||||||
changeCase.paramCase(templateName)
|
|
||||||
);
|
|
||||||
},
|
|
||||||
replaceFileNameFn: (fileName, templateName, utils) => {
|
|
||||||
const { path } = utils;
|
|
||||||
// @see https://nodejs.org/api/path.html#path_path_parse_path
|
|
||||||
const { base } = path.parse(fileName);
|
|
||||||
// You can change the file name
|
|
||||||
return base;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
@@ -3,7 +3,7 @@
|
|||||||
"name": "NavX",
|
"name": "NavX",
|
||||||
"version": "2024.1.0",
|
"version": "2024.1.0",
|
||||||
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
||||||
"frcYear": "2024",
|
"frcYear": "2025",
|
||||||
"mavenUrls": [
|
"mavenUrls": [
|
||||||
"https://dev.studica.com/maven/release/2024/"
|
"https://dev.studica.com/maven/release/2024/"
|
||||||
],
|
],
|
||||||
|
|||||||
@@ -1,50 +1,80 @@
|
|||||||
{
|
{
|
||||||
"fileName": "Phoenix6.json",
|
"fileName": "Phoenix6-25.1.0.json",
|
||||||
"name": "CTRE-Phoenix (v6)",
|
"name": "CTRE-Phoenix (v6)",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"frcYear": 2024,
|
"frcYear": "2025",
|
||||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||||
"mavenUrls": [
|
"mavenUrls": [
|
||||||
"https://maven.ctr-electronics.com/release/"
|
"https://maven.ctr-electronics.com/release/"
|
||||||
],
|
],
|
||||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
|
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
|
||||||
"conflictsWith": [
|
"conflictsWith": [
|
||||||
{
|
{
|
||||||
"uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
|
"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
|
||||||
"errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
|
"errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
|
||||||
"offlineFileName": "Phoenix6And5.json"
|
"offlineFileName": "Phoenix6-replay-frc2025-latest.json"
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"javaDependencies": [
|
"javaDependencies": [
|
||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6",
|
"groupId": "com.ctre.phoenix6",
|
||||||
"artifactId": "wpiapi-java",
|
"artifactId": "wpiapi-java",
|
||||||
"version": "24.3.0"
|
"version": "25.1.0"
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"jniDependencies": [
|
"jniDependencies": [
|
||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6",
|
"groupId": "com.ctre.phoenix6",
|
||||||
"artifactId": "tools",
|
"artifactId": "api-cpp",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
|
"linuxathena"
|
||||||
|
],
|
||||||
|
"simMode": "hwsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6",
|
||||||
|
"artifactId": "tools",
|
||||||
|
"version": "25.1.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"linuxathena"
|
"linuxathena"
|
||||||
],
|
],
|
||||||
"simMode": "hwsim"
|
"simMode": "hwsim"
|
||||||
},
|
},
|
||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "tools-sim",
|
"artifactId": "api-cpp-sim",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "tools-sim",
|
||||||
|
"version": "25.1.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -52,25 +82,13 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simTalonSRX",
|
"artifactId": "simTalonSRX",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
|
||||||
"skipInvalidPlatforms": true,
|
|
||||||
"validPlatforms": [
|
|
||||||
"windowsx86-64",
|
|
||||||
"linuxx86-64",
|
|
||||||
"osxuniversal"
|
|
||||||
],
|
|
||||||
"simMode": "swsim"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
|
||||||
"artifactId": "simTalonFX",
|
|
||||||
"version": "24.3.0",
|
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -78,12 +96,13 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simVictorSPX",
|
"artifactId": "simVictorSPX",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -91,12 +110,13 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simPigeonIMU",
|
"artifactId": "simPigeonIMU",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -104,12 +124,13 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simCANCoder",
|
"artifactId": "simCANCoder",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -117,12 +138,13 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simProTalonFX",
|
"artifactId": "simProTalonFX",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -130,12 +152,13 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simProCANcoder",
|
"artifactId": "simProCANcoder",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -143,12 +166,27 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simProPigeon2",
|
"artifactId": "simProPigeon2",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"isJar": false,
|
"isJar": false,
|
||||||
"skipInvalidPlatforms": true,
|
"skipInvalidPlatforms": true,
|
||||||
"validPlatforms": [
|
"validPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProCANrange",
|
||||||
|
"version": "25.1.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -158,7 +196,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6",
|
"groupId": "com.ctre.phoenix6",
|
||||||
"artifactId": "wpiapi-cpp",
|
"artifactId": "wpiapi-cpp",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_Phoenix6_WPI",
|
"libName": "CTRE_Phoenix6_WPI",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -166,6 +204,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"linuxathena"
|
"linuxathena"
|
||||||
],
|
],
|
||||||
"simMode": "hwsim"
|
"simMode": "hwsim"
|
||||||
@@ -173,7 +212,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6",
|
"groupId": "com.ctre.phoenix6",
|
||||||
"artifactId": "tools",
|
"artifactId": "tools",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_PhoenixTools",
|
"libName": "CTRE_PhoenixTools",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -181,6 +220,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"linuxathena"
|
"linuxathena"
|
||||||
],
|
],
|
||||||
"simMode": "hwsim"
|
"simMode": "hwsim"
|
||||||
@@ -188,7 +228,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "wpiapi-cpp-sim",
|
"artifactId": "wpiapi-cpp-sim",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_Phoenix6_WPISim",
|
"libName": "CTRE_Phoenix6_WPISim",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -196,6 +236,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -203,7 +244,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "tools-sim",
|
"artifactId": "tools-sim",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_PhoenixTools_Sim",
|
"libName": "CTRE_PhoenixTools_Sim",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -211,6 +252,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -218,7 +260,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simTalonSRX",
|
"artifactId": "simTalonSRX",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimTalonSRX",
|
"libName": "CTRE_SimTalonSRX",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -226,21 +268,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
"osxuniversal"
|
"linuxarm64",
|
||||||
],
|
|
||||||
"simMode": "swsim"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
|
||||||
"artifactId": "simTalonFX",
|
|
||||||
"version": "24.3.0",
|
|
||||||
"libName": "CTRE_SimTalonFX",
|
|
||||||
"headerClassifier": "headers",
|
|
||||||
"sharedLibrary": true,
|
|
||||||
"skipInvalidPlatforms": true,
|
|
||||||
"binaryPlatforms": [
|
|
||||||
"windowsx86-64",
|
|
||||||
"linuxx86-64",
|
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -248,7 +276,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simVictorSPX",
|
"artifactId": "simVictorSPX",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimVictorSPX",
|
"libName": "CTRE_SimVictorSPX",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -256,6 +284,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -263,7 +292,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simPigeonIMU",
|
"artifactId": "simPigeonIMU",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimPigeonIMU",
|
"libName": "CTRE_SimPigeonIMU",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -271,6 +300,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -278,7 +308,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simCANCoder",
|
"artifactId": "simCANCoder",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimCANCoder",
|
"libName": "CTRE_SimCANCoder",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -286,6 +316,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -293,7 +324,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simProTalonFX",
|
"artifactId": "simProTalonFX",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimProTalonFX",
|
"libName": "CTRE_SimProTalonFX",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -301,6 +332,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -308,7 +340,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simProCANcoder",
|
"artifactId": "simProCANcoder",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimProCANcoder",
|
"libName": "CTRE_SimProCANcoder",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -316,6 +348,7 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -323,7 +356,7 @@
|
|||||||
{
|
{
|
||||||
"groupId": "com.ctre.phoenix6.sim",
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
"artifactId": "simProPigeon2",
|
"artifactId": "simProPigeon2",
|
||||||
"version": "24.3.0",
|
"version": "25.1.0",
|
||||||
"libName": "CTRE_SimProPigeon2",
|
"libName": "CTRE_SimProPigeon2",
|
||||||
"headerClassifier": "headers",
|
"headerClassifier": "headers",
|
||||||
"sharedLibrary": true,
|
"sharedLibrary": true,
|
||||||
@@ -331,6 +364,23 @@
|
|||||||
"binaryPlatforms": [
|
"binaryPlatforms": [
|
||||||
"windowsx86-64",
|
"windowsx86-64",
|
||||||
"linuxx86-64",
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProCANrange",
|
||||||
|
"version": "25.1.0",
|
||||||
|
"libName": "CTRE_SimProCANrange",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"linuxarm64",
|
||||||
"osxuniversal"
|
"osxuniversal"
|
||||||
],
|
],
|
||||||
"simMode": "swsim"
|
"simMode": "swsim"
|
||||||
@@ -3,7 +3,7 @@
|
|||||||
"name": "WPILib-New-Commands",
|
"name": "WPILib-New-Commands",
|
||||||
"version": "1.0.0",
|
"version": "1.0.0",
|
||||||
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
||||||
"frcYear": "2024",
|
"frcYear": "2025",
|
||||||
"mavenUrls": [],
|
"mavenUrls": [],
|
||||||
"jsonUrl": "",
|
"jsonUrl": "",
|
||||||
"javaDependencies": [
|
"javaDependencies": [
|
||||||
|
|||||||
@@ -1,35 +0,0 @@
|
|||||||
{
|
|
||||||
"fileName": "navx_frc.json",
|
|
||||||
"name": "KauaiLabs_navX_FRC",
|
|
||||||
"version": "3.1.413",
|
|
||||||
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
|
||||||
"mavenUrls": [
|
|
||||||
"https://repo1.maven.org/maven2/"
|
|
||||||
],
|
|
||||||
"jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json",
|
|
||||||
"javaDependencies": [
|
|
||||||
{
|
|
||||||
"groupId": "com.kauailabs.navx.frc",
|
|
||||||
"artifactId": "navx-java",
|
|
||||||
"version": "3.1.413"
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"jniDependencies": [],
|
|
||||||
"cppDependencies": [
|
|
||||||
{
|
|
||||||
"groupId": "com.kauailabs.navx.frc",
|
|
||||||
"artifactId": "navx-cpp",
|
|
||||||
"version": "3.1.413",
|
|
||||||
"headerClassifier": "headers",
|
|
||||||
"sourcesClassifier": "sources",
|
|
||||||
"sharedLibrary": false,
|
|
||||||
"libName": "navx_frc",
|
|
||||||
"skipInvalidPlatforms": true,
|
|
||||||
"binaryPlatforms": [
|
|
||||||
"linuxathena",
|
|
||||||
"linuxraspbian",
|
|
||||||
"windowsx86-64"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
Reference in New Issue
Block a user