mirror of
https://github.com/Team4388/Robot-Essentials.git
synced 2026-06-09 00:38:01 -06:00
Merge pull request #35 from Team4388/swerve-out-of-control
Swerve out of control
This commit is contained in:
C4llSqin
+14
-3
@@ -1,4 +1,5 @@
|
||||
# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### C++ ###
|
||||
# Prerequisites
|
||||
@@ -151,11 +152,21 @@ gradle-app.setting
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
imgui.ini
|
||||
|
||||
# IntelliJ
|
||||
*.iml
|
||||
*.ipr
|
||||
*.iws
|
||||
.idea/
|
||||
out/
|
||||
|
||||
# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
|
||||
# Fleet
|
||||
.fleet
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
|
||||
Generated
+3
@@ -0,0 +1,3 @@
|
||||
# Default ignored files
|
||||
/shelf/
|
||||
/workspace.xml
|
||||
Generated
+17
@@ -0,0 +1,17 @@
|
||||
<?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
@@ -0,0 +1,4 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="ExternalStorageConfigurationManager" enabled="true" />
|
||||
</project>
|
||||
Generated
+6
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="VcsDirectoryMappings">
|
||||
<mapping directory="" vcs="Git" />
|
||||
</component>
|
||||
</project>
|
||||
Vendored
+15
-1
@@ -1,5 +1,6 @@
|
||||
{
|
||||
"java.configuration.updateBuildConfiguration": "automatic",
|
||||
"java.server.launchMode": "Standard",
|
||||
"files.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.svn": true,
|
||||
@@ -10,6 +11,19 @@
|
||||
"**/.classpath": true,
|
||||
"**/.project": true,
|
||||
"**/.settings": true,
|
||||
"**/.factorypath": true
|
||||
"**/.factorypath": true,
|
||||
"**/*~": true
|
||||
},
|
||||
"java.test.config": [
|
||||
{
|
||||
"name": "WPIlibUnitTests",
|
||||
"workingDirectory": "${workspaceFolder}/build/jni/release",
|
||||
"vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
|
||||
"env": {
|
||||
"LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
|
||||
"DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
|
||||
}
|
||||
},
|
||||
],
|
||||
"java.test.defaultConfig": "WPIlibUnitTests"
|
||||
}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2020",
|
||||
"projectYear": "2023",
|
||||
"teamNumber": 4388
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2021 FIRST and other WPILib contributors
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of FIRST, WPILib, nor the names of other WPILib
|
||||
contributors may be used to endorse or promote products derived from
|
||||
this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
|
||||
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
+59
-29
@@ -1,6 +1,6 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2020.3.2"
|
||||
id "edu.wpi.first.GradleRIO" version "2023.4.3"
|
||||
}
|
||||
|
||||
sourceCompatibility = JavaVersion.VERSION_11
|
||||
@@ -9,61 +9,91 @@ targetCompatibility = JavaVersion.VERSION_11
|
||||
def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
|
||||
|
||||
// Define my targets (RoboRIO) and artifacts (deployable files)
|
||||
// This is added by GradleRIO's backing project EmbeddedTools.
|
||||
// This is added by GradleRIO's backing project DeployUtils.
|
||||
deploy {
|
||||
targets {
|
||||
roboRIO("roborio") {
|
||||
roborio(getTargetTypeClass('RoboRIO')) {
|
||||
// Team number is loaded either from the .wpilib/wpilib_preferences.json
|
||||
// or from command line. If not found an exception will be thrown.
|
||||
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
|
||||
// want to store a team number in this file.
|
||||
team = frc.getTeamNumber()
|
||||
}
|
||||
}
|
||||
team = project.frc.getTeamNumber()
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
frcJavaArtifact('frcJava') {
|
||||
targets << "roborio"
|
||||
// Debug can be overridden by command line, for use with VSCode
|
||||
debug = frc.getDebugOrDefault(false)
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
// Built in artifact to deploy arbitrary files to the roboRIO.
|
||||
fileTreeArtifact('frcStaticFileDeploy') {
|
||||
// The directory below is the local directory to deploy
|
||||
files = fileTree(dir: 'src/main/deploy')
|
||||
// Deploy to RoboRIO target, into /home/lvuser/deploy
|
||||
targets << "roborio"
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
def includeDesktopSupport = false
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 4.
|
||||
// Also defines JUnit 5.
|
||||
dependencies {
|
||||
implementation wpi.deps.wpilib()
|
||||
nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
|
||||
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
|
||||
implementation wpi.java.deps.wpilib()
|
||||
implementation wpi.java.vendor.java()
|
||||
|
||||
roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
|
||||
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
|
||||
|
||||
implementation wpi.deps.vendor.java()
|
||||
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
|
||||
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
|
||||
roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
|
||||
roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
|
||||
|
||||
testImplementation 'junit:junit:4.12'
|
||||
testCompile "org.mockito:mockito-core:2.+"
|
||||
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
|
||||
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
|
||||
simulationDebug wpi.sim.enableDebug()
|
||||
|
||||
// Enable simulation gui support. Must check the box in vscode to enable support
|
||||
// upon debugging
|
||||
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
|
||||
nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
|
||||
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
|
||||
simulationRelease wpi.sim.enableRelease()
|
||||
|
||||
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
|
||||
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
|
||||
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
|
||||
}
|
||||
|
||||
test {
|
||||
useJUnitPlatform()
|
||||
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
|
||||
}
|
||||
|
||||
// Simulation configuration (e.g. environment variables).
|
||||
wpi.sim.addGui().defaultEnabled = true
|
||||
wpi.sim.addDriverstation()
|
||||
|
||||
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
|
||||
// in order to make them all available at runtime. Also adding the manifest so WPILib
|
||||
// knows where to look for our Robot Class.
|
||||
jar {
|
||||
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
|
||||
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
|
||||
duplicatesStrategy = DuplicatesStrategy.INCLUDE
|
||||
}
|
||||
|
||||
// Configure jar and deploy tasks
|
||||
deployArtifact.jarTask = jar
|
||||
wpi.java.configureExecutableTasks(jar)
|
||||
wpi.java.configureTestTasks(test)
|
||||
|
||||
// Configure string concat to always inline compile
|
||||
tasks.withType(JavaCompile) {
|
||||
options.compilerArgs.add '-XDstringConcat=inline'
|
||||
}
|
||||
|
||||
Vendored
BIN
Binary file not shown.
+1
-1
@@ -1,5 +1,5 @@
|
||||
distributionBase=GRADLE_USER_HOME
|
||||
distributionPath=permwrapper/dists
|
||||
distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
|
||||
distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
|
||||
zipStoreBase=GRADLE_USER_HOME
|
||||
zipStorePath=permwrapper/dists
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env sh
|
||||
#!/bin/sh
|
||||
|
||||
#
|
||||
# Copyright 2015 the original author or authors.
|
||||
# Copyright © 2015-2021 the original authors.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
@@ -17,78 +17,113 @@
|
||||
#
|
||||
|
||||
##############################################################################
|
||||
##
|
||||
## Gradle start up script for UN*X
|
||||
##
|
||||
#
|
||||
# Gradle start up script for POSIX generated by Gradle.
|
||||
#
|
||||
# Important for running:
|
||||
#
|
||||
# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
|
||||
# noncompliant, but you have some other compliant shell such as ksh or
|
||||
# bash, then to run this script, type that shell name before the whole
|
||||
# command line, like:
|
||||
#
|
||||
# ksh Gradle
|
||||
#
|
||||
# Busybox and similar reduced shells will NOT work, because this script
|
||||
# requires all of these POSIX shell features:
|
||||
# * functions;
|
||||
# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
|
||||
# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
|
||||
# * compound commands having a testable exit status, especially «case»;
|
||||
# * various built-in commands including «command», «set», and «ulimit».
|
||||
#
|
||||
# Important for patching:
|
||||
#
|
||||
# (2) This script targets any POSIX shell, so it avoids extensions provided
|
||||
# by Bash, Ksh, etc; in particular arrays are avoided.
|
||||
#
|
||||
# The "traditional" practice of packing multiple parameters into a
|
||||
# space-separated string is a well documented source of bugs and security
|
||||
# problems, so this is (mostly) avoided, by progressively accumulating
|
||||
# options in "$@", and eventually passing that to Java.
|
||||
#
|
||||
# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
|
||||
# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
|
||||
# see the in-line comments for details.
|
||||
#
|
||||
# There are tweaks for specific operating systems such as AIX, CygWin,
|
||||
# Darwin, MinGW, and NonStop.
|
||||
#
|
||||
# (3) This script is generated from the Groovy template
|
||||
# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
|
||||
# within the Gradle project.
|
||||
#
|
||||
# You can find Gradle at https://github.com/gradle/gradle/.
|
||||
#
|
||||
##############################################################################
|
||||
|
||||
# Attempt to set APP_HOME
|
||||
|
||||
# Resolve links: $0 may be a link
|
||||
PRG="$0"
|
||||
# Need this for relative symlinks.
|
||||
while [ -h "$PRG" ] ; do
|
||||
ls=`ls -ld "$PRG"`
|
||||
link=`expr "$ls" : '.*-> \(.*\)$'`
|
||||
if expr "$link" : '/.*' > /dev/null; then
|
||||
PRG="$link"
|
||||
else
|
||||
PRG=`dirname "$PRG"`"/$link"
|
||||
fi
|
||||
app_path=$0
|
||||
|
||||
# Need this for daisy-chained symlinks.
|
||||
while
|
||||
APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
|
||||
[ -h "$app_path" ]
|
||||
do
|
||||
ls=$( ls -ld "$app_path" )
|
||||
link=${ls#*' -> '}
|
||||
case $link in #(
|
||||
/*) app_path=$link ;; #(
|
||||
*) app_path=$APP_HOME$link ;;
|
||||
esac
|
||||
done
|
||||
SAVED="`pwd`"
|
||||
cd "`dirname \"$PRG\"`/" >/dev/null
|
||||
APP_HOME="`pwd -P`"
|
||||
cd "$SAVED" >/dev/null
|
||||
|
||||
APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
|
||||
|
||||
APP_NAME="Gradle"
|
||||
APP_BASE_NAME=`basename "$0"`
|
||||
APP_BASE_NAME=${0##*/}
|
||||
|
||||
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
|
||||
|
||||
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
||||
MAX_FD="maximum"
|
||||
MAX_FD=maximum
|
||||
|
||||
warn () {
|
||||
echo "$*"
|
||||
}
|
||||
} >&2
|
||||
|
||||
die () {
|
||||
echo
|
||||
echo "$*"
|
||||
echo
|
||||
exit 1
|
||||
}
|
||||
} >&2
|
||||
|
||||
# OS specific support (must be 'true' or 'false').
|
||||
cygwin=false
|
||||
msys=false
|
||||
darwin=false
|
||||
nonstop=false
|
||||
case "`uname`" in
|
||||
CYGWIN* )
|
||||
cygwin=true
|
||||
;;
|
||||
Darwin* )
|
||||
darwin=true
|
||||
;;
|
||||
MINGW* )
|
||||
msys=true
|
||||
;;
|
||||
NONSTOP* )
|
||||
nonstop=true
|
||||
;;
|
||||
case "$( uname )" in #(
|
||||
CYGWIN* ) cygwin=true ;; #(
|
||||
Darwin* ) darwin=true ;; #(
|
||||
MSYS* | MINGW* ) msys=true ;; #(
|
||||
NONSTOP* ) nonstop=true ;;
|
||||
esac
|
||||
|
||||
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
|
||||
|
||||
|
||||
# Determine the Java command to use to start the JVM.
|
||||
if [ -n "$JAVA_HOME" ] ; then
|
||||
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
|
||||
# IBM's JDK on AIX uses strange locations for the executables
|
||||
JAVACMD="$JAVA_HOME/jre/sh/java"
|
||||
JAVACMD=$JAVA_HOME/jre/sh/java
|
||||
else
|
||||
JAVACMD="$JAVA_HOME/bin/java"
|
||||
JAVACMD=$JAVA_HOME/bin/java
|
||||
fi
|
||||
if [ ! -x "$JAVACMD" ] ; then
|
||||
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
|
||||
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
|
||||
location of your Java installation."
|
||||
fi
|
||||
else
|
||||
JAVACMD="java"
|
||||
JAVACMD=java
|
||||
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||
|
||||
Please set the JAVA_HOME variable in your environment to match the
|
||||
@@ -105,79 +140,101 @@ location of your Java installation."
|
||||
fi
|
||||
|
||||
# Increase the maximum file descriptors if we can.
|
||||
if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
|
||||
MAX_FD_LIMIT=`ulimit -H -n`
|
||||
if [ $? -eq 0 ] ; then
|
||||
if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
|
||||
MAX_FD="$MAX_FD_LIMIT"
|
||||
fi
|
||||
ulimit -n $MAX_FD
|
||||
if [ $? -ne 0 ] ; then
|
||||
warn "Could not set maximum file descriptor limit: $MAX_FD"
|
||||
fi
|
||||
else
|
||||
warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
|
||||
fi
|
||||
fi
|
||||
|
||||
# For Darwin, add options to specify how the application appears in the dock
|
||||
if $darwin; then
|
||||
GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
|
||||
fi
|
||||
|
||||
# For Cygwin or MSYS, switch paths to Windows format before running java
|
||||
if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
|
||||
APP_HOME=`cygpath --path --mixed "$APP_HOME"`
|
||||
CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
|
||||
JAVACMD=`cygpath --unix "$JAVACMD"`
|
||||
|
||||
# We build the pattern for arguments to be converted via cygpath
|
||||
ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
|
||||
SEP=""
|
||||
for dir in $ROOTDIRSRAW ; do
|
||||
ROOTDIRS="$ROOTDIRS$SEP$dir"
|
||||
SEP="|"
|
||||
done
|
||||
OURCYGPATTERN="(^($ROOTDIRS))"
|
||||
# Add a user-defined pattern to the cygpath arguments
|
||||
if [ "$GRADLE_CYGPATTERN" != "" ] ; then
|
||||
OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
|
||||
fi
|
||||
# Now convert the arguments - kludge to limit ourselves to /bin/sh
|
||||
i=0
|
||||
for arg in "$@" ; do
|
||||
CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
|
||||
CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
|
||||
|
||||
if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
|
||||
eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
|
||||
else
|
||||
eval `echo args$i`="\"$arg\""
|
||||
fi
|
||||
i=`expr $i + 1`
|
||||
done
|
||||
case $i in
|
||||
0) set -- ;;
|
||||
1) set -- "$args0" ;;
|
||||
2) set -- "$args0" "$args1" ;;
|
||||
3) set -- "$args0" "$args1" "$args2" ;;
|
||||
4) set -- "$args0" "$args1" "$args2" "$args3" ;;
|
||||
5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
|
||||
6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
|
||||
7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
|
||||
8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
|
||||
9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
|
||||
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
|
||||
case $MAX_FD in #(
|
||||
max*)
|
||||
MAX_FD=$( ulimit -H -n ) ||
|
||||
warn "Could not query maximum file descriptor limit"
|
||||
esac
|
||||
case $MAX_FD in #(
|
||||
'' | soft) :;; #(
|
||||
*)
|
||||
ulimit -n "$MAX_FD" ||
|
||||
warn "Could not set maximum file descriptor limit to $MAX_FD"
|
||||
esac
|
||||
fi
|
||||
|
||||
# Escape application args
|
||||
save () {
|
||||
for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
|
||||
echo " "
|
||||
}
|
||||
APP_ARGS=`save "$@"`
|
||||
# Collect all arguments for the java command, stacking in reverse order:
|
||||
# * args from the command line
|
||||
# * the main class name
|
||||
# * -classpath
|
||||
# * -D...appname settings
|
||||
# * --module-path (only if needed)
|
||||
# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
|
||||
|
||||
# Collect all arguments for the java command, following the shell quoting and substitution rules
|
||||
eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
|
||||
# For Cygwin or MSYS, switch paths to Windows format before running java
|
||||
if "$cygwin" || "$msys" ; then
|
||||
APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
|
||||
CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
|
||||
|
||||
JAVACMD=$( cygpath --unix "$JAVACMD" )
|
||||
|
||||
# Now convert the arguments - kludge to limit ourselves to /bin/sh
|
||||
for arg do
|
||||
if
|
||||
case $arg in #(
|
||||
-*) false ;; # don't mess with options #(
|
||||
/?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
|
||||
[ -e "$t" ] ;; #(
|
||||
*) false ;;
|
||||
esac
|
||||
then
|
||||
arg=$( cygpath --path --ignore --mixed "$arg" )
|
||||
fi
|
||||
# Roll the args list around exactly as many times as the number of
|
||||
# args, so each arg winds up back in the position where it started, but
|
||||
# possibly modified.
|
||||
#
|
||||
# NB: a `for` loop captures its iteration list before it begins, so
|
||||
# changing the positional parameters here affects neither the number of
|
||||
# iterations, nor the values presented in `arg`.
|
||||
shift # remove old arg
|
||||
set -- "$@" "$arg" # push replacement arg
|
||||
done
|
||||
fi
|
||||
|
||||
# Collect all arguments for the java command;
|
||||
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
|
||||
# shell script including quotes and variable substitutions, so put them in
|
||||
# double quotes to make sure that they get re-expanded; and
|
||||
# * put everything else in single quotes, so that it's not re-expanded.
|
||||
|
||||
set -- \
|
||||
"-Dorg.gradle.appname=$APP_BASE_NAME" \
|
||||
-classpath "$CLASSPATH" \
|
||||
org.gradle.wrapper.GradleWrapperMain \
|
||||
"$@"
|
||||
|
||||
# Stop when "xargs" is not available.
|
||||
if ! command -v xargs >/dev/null 2>&1
|
||||
then
|
||||
die "xargs is not available"
|
||||
fi
|
||||
|
||||
# Use "xargs" to parse quoted args.
|
||||
#
|
||||
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
|
||||
#
|
||||
# In Bash we could simply go:
|
||||
#
|
||||
# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
|
||||
# set -- "${ARGS[@]}" "$@"
|
||||
#
|
||||
# but POSIX shell has neither arrays nor command substitution, so instead we
|
||||
# post-process each arg (as a line of input to sed) to backslash-escape any
|
||||
# character that might be a shell metacharacter, then use eval to reverse
|
||||
# that process (while maintaining the separation between arguments), and wrap
|
||||
# the whole thing up as a single "set" statement.
|
||||
#
|
||||
# This will of course break if any of these variables contains a newline or
|
||||
# an unmatched quote.
|
||||
#
|
||||
|
||||
eval "set -- $(
|
||||
printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
|
||||
xargs -n1 |
|
||||
sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
|
||||
tr '\n' ' '
|
||||
)" '"$@"'
|
||||
|
||||
exec "$JAVACMD" "$@"
|
||||
|
||||
Vendored
+14
-23
@@ -14,7 +14,7 @@
|
||||
@rem limitations under the License.
|
||||
@rem
|
||||
|
||||
@if "%DEBUG%" == "" @echo off
|
||||
@if "%DEBUG%"=="" @echo off
|
||||
@rem ##########################################################################
|
||||
@rem
|
||||
@rem Gradle startup script for Windows
|
||||
@@ -25,10 +25,13 @@
|
||||
if "%OS%"=="Windows_NT" setlocal
|
||||
|
||||
set DIRNAME=%~dp0
|
||||
if "%DIRNAME%" == "" set DIRNAME=.
|
||||
if "%DIRNAME%"=="" set DIRNAME=.
|
||||
set APP_BASE_NAME=%~n0
|
||||
set APP_HOME=%DIRNAME%
|
||||
|
||||
@rem Resolve any "." and ".." in APP_HOME to make it shorter.
|
||||
for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
|
||||
|
||||
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
|
||||
|
||||
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
|
||||
|
||||
set JAVA_EXE=java.exe
|
||||
%JAVA_EXE% -version >NUL 2>&1
|
||||
if "%ERRORLEVEL%" == "0" goto init
|
||||
if %ERRORLEVEL% equ 0 goto execute
|
||||
|
||||
echo.
|
||||
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||
@@ -51,7 +54,7 @@ goto fail
|
||||
set JAVA_HOME=%JAVA_HOME:"=%
|
||||
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
|
||||
|
||||
if exist "%JAVA_EXE%" goto init
|
||||
if exist "%JAVA_EXE%" goto execute
|
||||
|
||||
echo.
|
||||
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
|
||||
@@ -61,38 +64,26 @@ echo location of your Java installation.
|
||||
|
||||
goto fail
|
||||
|
||||
:init
|
||||
@rem Get command-line arguments, handling Windows variants
|
||||
|
||||
if not "%OS%" == "Windows_NT" goto win9xME_args
|
||||
|
||||
:win9xME_args
|
||||
@rem Slurp the command line arguments.
|
||||
set CMD_LINE_ARGS=
|
||||
set _SKIP=2
|
||||
|
||||
:win9xME_args_slurp
|
||||
if "x%~1" == "x" goto execute
|
||||
|
||||
set CMD_LINE_ARGS=%*
|
||||
|
||||
:execute
|
||||
@rem Setup the command line
|
||||
|
||||
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
|
||||
|
||||
|
||||
@rem Execute Gradle
|
||||
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
|
||||
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
|
||||
|
||||
:end
|
||||
@rem End local scope for the variables with windows NT shell
|
||||
if "%ERRORLEVEL%"=="0" goto mainEnd
|
||||
if %ERRORLEVEL% equ 0 goto mainEnd
|
||||
|
||||
:fail
|
||||
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
|
||||
rem the _cmd.exe /c_ return code!
|
||||
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
|
||||
exit /b 1
|
||||
set EXIT_CODE=%ERRORLEVEL%
|
||||
if %EXIT_CODE% equ 0 set EXIT_CODE=1
|
||||
if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
|
||||
exit /b %EXIT_CODE%
|
||||
|
||||
:mainEnd
|
||||
if "%OS%"=="Windows_NT" endlocal
|
||||
|
||||
+1
-1
@@ -4,7 +4,7 @@ pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2020'
|
||||
String frcYear = '2023'
|
||||
File frcHome
|
||||
if (OperatingSystem.current().isWindows()) {
|
||||
String publicFolder = System.getenv('PUBLIC')
|
||||
|
||||
@@ -7,7 +7,10 @@
|
||||
|
||||
package frc4388.robot;
|
||||
|
||||
import edu.wpi.first.math.trajectory.TrapezoidProfile;
|
||||
|
||||
import frc4388.utility.LEDPatterns;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
/**
|
||||
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
|
||||
@@ -18,6 +21,96 @@ import frc4388.utility.LEDPatterns;
|
||||
* constants are needed, to reduce verbosity.
|
||||
*/
|
||||
public final class Constants {
|
||||
public static final class SwerveDriveConstants {
|
||||
|
||||
public static final double MAX_ROT_SPEED = 1.5;
|
||||
public static final double MIN_ROT_SPEED = 0.8;
|
||||
public static double ROTATION_SPEED = MAX_ROT_SPEED;
|
||||
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
|
||||
|
||||
public static final double CORRECTION_MIN = 10;
|
||||
public static final double CORRECTION_MAX = 50;
|
||||
|
||||
public static final double SLOW_SPEED = 0.8;
|
||||
public static final double FAST_SPEED = 1.0;
|
||||
public static final double TURBO_SPEED = 4.0;
|
||||
|
||||
public static final class IDs {
|
||||
public static final int LEFT_FRONT_WHEEL_ID = 2;
|
||||
public static final int LEFT_FRONT_STEER_ID = 3;
|
||||
public static final int LEFT_FRONT_ENCODER_ID = 10;
|
||||
|
||||
public static final int RIGHT_FRONT_WHEEL_ID = 4;
|
||||
public static final int RIGHT_FRONT_STEER_ID = 5;
|
||||
public static final int RIGHT_FRONT_ENCODER_ID = 11;
|
||||
|
||||
public static final int LEFT_BACK_WHEEL_ID = 6;
|
||||
public static final int LEFT_BACK_STEER_ID = 7;
|
||||
public static final int LEFT_BACK_ENCODER_ID = 12;
|
||||
|
||||
public static final int RIGHT_BACK_WHEEL_ID = 8;
|
||||
public static final int RIGHT_BACK_STEER_ID = 9;
|
||||
public static final int RIGHT_BACK_ENCODER_ID = 13;
|
||||
}
|
||||
|
||||
public static final class PIDConstants {
|
||||
public static final int SWERVE_SLOT_IDX = 0;
|
||||
public static final int SWERVE_PID_LOOP_IDX = 1;
|
||||
public static final Gains SWERVE_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 1.0);
|
||||
}
|
||||
|
||||
public static final class AutoConstants {
|
||||
public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
|
||||
public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
|
||||
public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
|
||||
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
|
||||
|
||||
public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
|
||||
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
|
||||
}
|
||||
|
||||
public static final class Conversions {
|
||||
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
|
||||
|
||||
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
|
||||
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
|
||||
|
||||
public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
|
||||
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
|
||||
|
||||
public static final double TICKS_PER_MOTOR_REV = 2048;
|
||||
public static final double WHEEL_DIAMETER_INCHES = 3.9;
|
||||
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
|
||||
|
||||
public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
|
||||
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
|
||||
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
|
||||
public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
|
||||
|
||||
public static final double TICK_TIME_TO_SECONDS = 10;
|
||||
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
|
||||
}
|
||||
|
||||
public static final class Configurations {
|
||||
public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
|
||||
public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
|
||||
public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
|
||||
}
|
||||
|
||||
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
|
||||
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
|
||||
|
||||
// dimensions
|
||||
public static final double WIDTH = 18.5;
|
||||
public static final double HEIGHT = 18.5;
|
||||
public static final double HALF_WIDTH = WIDTH / 2.d;
|
||||
public static final double HALF_HEIGHT = HEIGHT / 2.d;
|
||||
|
||||
// misc
|
||||
public static final int TIMEOUT_MS = 30;
|
||||
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
|
||||
}
|
||||
|
||||
public static final class DriveConstants {
|
||||
public static final int DRIVE_PIGEON_ID = 6;
|
||||
|
||||
|
||||
@@ -12,7 +12,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix.sensors.PigeonIMU;
|
||||
|
||||
import edu.wpi.first.wpilibj.Spark;
|
||||
import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
||||
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
||||
import frc4388.robot.Constants.LEDConstants;
|
||||
import frc4388.utility.RobotGyro;
|
||||
|
||||
@@ -80,6 +80,6 @@ public class DiffDrive extends SubsystemBase {
|
||||
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
|
||||
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
|
||||
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
|
||||
SmartDashboard.putData(m_gyro);
|
||||
//SmartDashboard.putData(m_gyro);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj.Spark;
|
||||
import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
|
||||
@@ -0,0 +1,195 @@
|
||||
// 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.subsystems;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
|
||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.utility.RobotGyro;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
public class SwerveDrive extends SubsystemBase {
|
||||
|
||||
private SwerveModule leftFront;
|
||||
private SwerveModule rightFront;
|
||||
private SwerveModule leftBack;
|
||||
private SwerveModule rightBack;
|
||||
|
||||
private SwerveModule[] modules;
|
||||
|
||||
private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
private Translation2d rightFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
private Translation2d leftBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
|
||||
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
|
||||
|
||||
private RobotGyro gyro;
|
||||
|
||||
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
|
||||
|
||||
public double rotTarget = 0.0;
|
||||
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
|
||||
|
||||
/** Creates a new SwerveDrive. */
|
||||
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
|
||||
this.leftFront = leftFront;
|
||||
this.rightFront = rightFront;
|
||||
this.leftBack = leftBack;
|
||||
this.rightBack = rightBack;
|
||||
|
||||
this.gyro = gyro;
|
||||
|
||||
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
|
||||
}
|
||||
|
||||
boolean stopped = false;
|
||||
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
if (fieldRelative) {
|
||||
|
||||
double rot = 0;
|
||||
|
||||
if (rightStick.getNorm() > 0.05) {
|
||||
rotTarget = gyro.getAngle();
|
||||
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
|
||||
SmartDashboard.putBoolean("drift correction", false);
|
||||
stopped = false;
|
||||
} else if(leftStick.getNorm() > 0.05) {
|
||||
if (!stopped) {
|
||||
stopModules();
|
||||
stopped = true;
|
||||
}
|
||||
|
||||
SmartDashboard.putBoolean("drift correction", true);
|
||||
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
|
||||
|
||||
}
|
||||
|
||||
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
|
||||
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
|
||||
// Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
|
||||
|
||||
// Convert field-relative speeds to robot-relative speeds.
|
||||
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
|
||||
} else {
|
||||
// Create robot-relative speeds.
|
||||
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
|
||||
}
|
||||
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
}
|
||||
|
||||
/**
|
||||
* Set each module of the swerve drive to the corresponding desired state.
|
||||
* @param desiredStates Array of module states to set.
|
||||
*/
|
||||
public void setModuleStates(SwerveModuleState[] desiredStates) {
|
||||
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
|
||||
for (int i = 0; i < desiredStates.length; i++) {
|
||||
SwerveModule module = modules[i];
|
||||
SwerveModuleState state = desiredStates[i];
|
||||
module.setDesiredState(state);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean rotateToTarget(double angle) {
|
||||
double currentAngle = getGyroAngle();
|
||||
double error = angle - currentAngle;
|
||||
|
||||
driveWithInput(new Translation2d(0, 0), new Translation2d(error / Math.abs(error) * 0.3, 0), true);
|
||||
|
||||
if (Math.abs(angle - getGyroAngle()) < 5.0) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public double getGyroAngle() {
|
||||
return gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyro() {
|
||||
gyro.reset();
|
||||
rotTarget = 0.0;
|
||||
}
|
||||
|
||||
public void stopModules() {
|
||||
for (SwerveModule module : this.modules) {
|
||||
module.stop();
|
||||
}
|
||||
}
|
||||
|
||||
public SwerveDriveKinematics getKinematics() {
|
||||
return this.kinematics;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run\
|
||||
SmartDashboard.putNumber("Gyro", getGyroAngle());
|
||||
}
|
||||
|
||||
public void shiftDown() {
|
||||
if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
|
||||
|
||||
} else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
|
||||
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
|
||||
} else {
|
||||
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
|
||||
}
|
||||
}
|
||||
|
||||
public void setToSlow() {
|
||||
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
}
|
||||
|
||||
public void setToFast() {
|
||||
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
}
|
||||
|
||||
public void setToTurbo() {
|
||||
this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
}
|
||||
|
||||
public void shiftUp() {
|
||||
if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
|
||||
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
|
||||
} else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
|
||||
this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
|
||||
} else {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public void toggleGear(double angle) {
|
||||
if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
|
||||
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
|
||||
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
|
||||
} else {
|
||||
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
|
||||
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,161 @@
|
||||
// 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.subsystems;
|
||||
|
||||
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
|
||||
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
|
||||
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
|
||||
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix.sensors.CANCoder;
|
||||
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.kinematics.SwerveModulePosition;
|
||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
public class SwerveModule extends SubsystemBase {
|
||||
private WPI_TalonFX driveMotor;
|
||||
private WPI_TalonFX angleMotor;
|
||||
private CANCoder encoder;
|
||||
|
||||
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
|
||||
|
||||
/** Creates a new SwerveModule. */
|
||||
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
|
||||
this.driveMotor = driveMotor;
|
||||
this.angleMotor = angleMotor;
|
||||
this.encoder = encoder;
|
||||
|
||||
TalonFXConfiguration angleConfig = new TalonFXConfiguration();
|
||||
angleConfig.slot0.kP = swerveGains.kP;
|
||||
angleConfig.slot0.kI = swerveGains.kI;
|
||||
angleConfig.slot0.kD = swerveGains.kD;
|
||||
|
||||
// use the CANcoder as the remote sensor for the primary TalonFX PID
|
||||
angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
|
||||
angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
|
||||
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
|
||||
angleMotor.configAllSettings(angleConfig);
|
||||
|
||||
encoder.configMagnetOffset(offset);
|
||||
|
||||
driveMotor.setSelectedSensorPosition(0);
|
||||
driveMotor.config_kP(0, 0.2);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the drive motor of the SwerveModule
|
||||
* @return the drive motor of the SwerveModule
|
||||
*/
|
||||
public WPI_TalonFX getDriveMotor() {
|
||||
return this.driveMotor;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the angle motor of the SwerveModule
|
||||
* @return the angle motor of the SwerveModule
|
||||
*/
|
||||
public WPI_TalonFX getAngleMotor() {
|
||||
return this.angleMotor;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the CANcoder of the SwerveModule
|
||||
* @return the CANcoder of the SwerveModule
|
||||
*/
|
||||
public CANCoder getEncoder() {
|
||||
return this.encoder;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the angle of a SwerveModule as a Rotation2d
|
||||
* @return the angle of a SwerveModule as a Rotation2d
|
||||
*/
|
||||
public Rotation2d getAngle() {
|
||||
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
|
||||
return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
|
||||
}
|
||||
|
||||
public double getAngularVel() {
|
||||
return this.angleMotor.getSelectedSensorVelocity();
|
||||
}
|
||||
|
||||
public double getDrivePos() {
|
||||
return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
|
||||
}
|
||||
|
||||
public double getDriveVel() {
|
||||
return this.driveMotor.getSelectedSensorVelocity(0);
|
||||
}
|
||||
|
||||
public void stop() {
|
||||
driveMotor.set(0);
|
||||
angleMotor.set(0);
|
||||
}
|
||||
|
||||
public void rotateToAngle(double angle) {
|
||||
angleMotor.set(TalonFXControlMode.Position, angle);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get state of swerve module
|
||||
* @return speed in m/s and angle in degrees
|
||||
*/
|
||||
public SwerveModuleState getState() {
|
||||
return new SwerveModuleState(
|
||||
Units.inchesToMeters(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.Conversions.INCHES_PER_TICK) * SwerveDriveConstants.Conversions.TICK_TIME_TO_SECONDS,
|
||||
getAngle()
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the current position of the SwerveModule
|
||||
* @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
|
||||
*/
|
||||
public SwerveModulePosition getPosition() {
|
||||
return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle());
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
|
||||
* @param desiredState a SwerveModuleState representing the desired new state of the module
|
||||
*/
|
||||
public void setDesiredState(SwerveModuleState desiredState) {
|
||||
Rotation2d currentRotation = this.getAngle();
|
||||
|
||||
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
|
||||
// calculate the difference between our current rotational position and our new rotational position
|
||||
Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
||||
|
||||
// calculate the new absolute position of the SwerveModule based on the difference in rotation
|
||||
double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
|
||||
|
||||
// convert the CANCoder from its position reading to ticks
|
||||
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
|
||||
|
||||
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
|
||||
|
||||
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
|
||||
driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
|
||||
}
|
||||
|
||||
public void reset(double position) {
|
||||
encoder.setPositionToAbsolute();
|
||||
}
|
||||
|
||||
public double getCurrent() {
|
||||
return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
|
||||
}
|
||||
|
||||
public double getVoltage() {
|
||||
return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,83 @@
|
||||
// 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.utility;
|
||||
|
||||
/** Add your docs here. */
|
||||
public class Gains {
|
||||
public double kP;
|
||||
public double kI;
|
||||
public double kD;
|
||||
public double kF;
|
||||
public int kIZone;
|
||||
public double kPeakOutput;
|
||||
public double kMaxOutput;
|
||||
public double kMinOutput;
|
||||
|
||||
/**
|
||||
* Creates Gains object for PIDs
|
||||
* @param kP The P value.
|
||||
* @param kI The I value.
|
||||
* @param kD The D value.
|
||||
* @param kF The F value.
|
||||
* @param kIZone The zone of the I value.
|
||||
* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
|
||||
*/
|
||||
public Gains(double kP, double kI, double kD, double kF, int kIZone, double kPeakOutput) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
this.kF = kF;
|
||||
this.kIZone = kIZone;
|
||||
this.kPeakOutput = kPeakOutput;
|
||||
this.kMaxOutput = kPeakOutput;
|
||||
this.kMinOutput = -kPeakOutput;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates Gains object for PIDs
|
||||
* @param kP The P value.
|
||||
* @param kI The I value.
|
||||
* @param kD The D value.
|
||||
* @param kF The F value.
|
||||
* @param kIZone The zone of the I value.
|
||||
*/
|
||||
public Gains(double kP, double kI, double kD, double kF, int kIZone) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
this.kF = kF;
|
||||
this.kIZone = kIZone;
|
||||
this.kPeakOutput = 1.0;
|
||||
this.kMaxOutput = 1.0;
|
||||
this.kMinOutput = -1.0;
|
||||
}
|
||||
|
||||
public Gains(double kP, double kI, double kD) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates Gains object for PIDs
|
||||
* @param kP The P value.
|
||||
* @param kI The I value.
|
||||
* @param kD The D value.
|
||||
* @param kF The F value.
|
||||
* @param kIZone The zone of the I value.
|
||||
* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
|
||||
* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
|
||||
*/
|
||||
public Gains(double kP, double kI, double kD, double kF, int kIZone, double kMaxOutput, double kMinOutput) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
this.kF = kF;
|
||||
this.kIZone = kIZone;
|
||||
this.kMaxOutput = kMaxOutput;
|
||||
this.kMinOutput = kMinOutput;
|
||||
this.kPeakOutput = (Math.abs(kMinOutput) > Math.abs(kMaxOutput)) ? Math.abs(kMinOutput) : Math.abs(kMaxOutput);
|
||||
}
|
||||
}
|
||||
@@ -7,31 +7,34 @@
|
||||
|
||||
package frc4388.utility;
|
||||
|
||||
import com.ctre.phoenix.sensors.PigeonIMU;
|
||||
import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
|
||||
import com.ctre.phoenix.sensors.WPI_Pigeon2;
|
||||
import com.kauailabs.navx.frc.AHRS;
|
||||
|
||||
import edu.wpi.first.wpilibj.GyroBase;
|
||||
import edu.wpi.first.wpiutil.math.MathUtil;
|
||||
// import edu.wpi.first.wpilibj.GyroBase;
|
||||
import edu.wpi.first.wpilibj.interfaces.Gyro;
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
|
||||
/**
|
||||
* Gyro class that allows for interchangeable use between a pigeon and a navX
|
||||
*/
|
||||
public class RobotGyro extends GyroBase {
|
||||
public class RobotGyro implements Gyro {
|
||||
private RobotTime m_robotTime = RobotTime.getInstance();
|
||||
|
||||
private PigeonIMU m_pigeon = null;
|
||||
private WPI_Pigeon2 m_pigeon = null;
|
||||
private AHRS m_navX = null;
|
||||
public boolean m_isGyroAPigeon; //true if pigeon, false if navX
|
||||
|
||||
private double m_lastPigeonAngle;
|
||||
private double m_deltaPigeonAngle;
|
||||
|
||||
private double pitchZero = 0;
|
||||
private double rollZero = 0;
|
||||
|
||||
/**
|
||||
* Creates a Gyro based on a pigeon
|
||||
* @param gyro the gyroscope to use for Gyro
|
||||
*/
|
||||
public RobotGyro(PigeonIMU gyro) {
|
||||
public RobotGyro(WPI_Pigeon2 gyro) {
|
||||
m_pigeon = gyro;
|
||||
m_isGyroAPigeon = true;
|
||||
}
|
||||
@@ -45,6 +48,16 @@ public class RobotGyro extends GyroBase {
|
||||
m_isGyroAPigeon = false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets yaw, pitch, and roll.
|
||||
*/
|
||||
public void resetZeroValues() {
|
||||
if (!m_isGyroAPigeon) return;
|
||||
|
||||
pitchZero = m_pigeon.getPitch();
|
||||
rollZero = m_pigeon.getRoll();
|
||||
}
|
||||
|
||||
/**
|
||||
* Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
|
||||
* that the getRate() method for a navX will likely be much more accurate than for a pigeon.
|
||||
@@ -74,7 +87,7 @@ public class RobotGyro extends GyroBase {
|
||||
@Override
|
||||
public void calibrate() {
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
|
||||
m_pigeon.calibrate();
|
||||
} else {
|
||||
m_navX.calibrate();
|
||||
}
|
||||
@@ -82,6 +95,8 @@ public class RobotGyro extends GyroBase {
|
||||
|
||||
@Override
|
||||
public void reset() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(0);
|
||||
} else {
|
||||
@@ -98,9 +113,10 @@ public class RobotGyro extends GyroBase {
|
||||
* Roll is within [-90,+90] degrees.
|
||||
*/
|
||||
private double[] getPigeonAngles() {
|
||||
double[] angles = new double[3];
|
||||
m_pigeon.getYawPitchRoll(angles);
|
||||
return angles;
|
||||
double[] ypr = new double[3];
|
||||
m_pigeon.getYawPitchRoll(ypr);
|
||||
|
||||
return new double[] {ypr[0], (ypr[1] - pitchZero), (ypr[2] - rollZero)};
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -112,6 +128,10 @@ public class RobotGyro extends GyroBase {
|
||||
}
|
||||
}
|
||||
|
||||
public double getYaw() {
|
||||
return this.getAngle();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets an absolute heading of the robot
|
||||
* @return heading from -180 to 180 degrees
|
||||
@@ -165,7 +185,7 @@ public class RobotGyro extends GyroBase {
|
||||
}
|
||||
}
|
||||
|
||||
public PigeonIMU getPigeon(){
|
||||
public WPI_Pigeon2 getPigeon(){
|
||||
return m_pigeon;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.button.Button;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
|
||||
/**
|
||||
* Mapping for the Xbox controller triggers to allow triggers to be defined as
|
||||
@@ -32,7 +31,7 @@ public class XboxTriggerButton extends Button {
|
||||
}
|
||||
|
||||
/** {@inheritDoc} */
|
||||
@Override
|
||||
// @Override
|
||||
public boolean get() {
|
||||
if (m_trigger == RIGHT_TRIGGER) {
|
||||
return m_controller.getRightTrigger();
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
{
|
||||
"fileName": "NavX.json",
|
||||
"name": "KauaiLabs_navX_FRC",
|
||||
"version": "2023.0.4",
|
||||
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
||||
"mavenUrls": [
|
||||
"https://dev.studica.com/maven/release/2023/"
|
||||
],
|
||||
"jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.kauailabs.navx.frc",
|
||||
"artifactId": "navx-frc-java",
|
||||
"version": "2023.0.4"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.kauailabs.navx.frc",
|
||||
"artifactId": "navx-frc-cpp",
|
||||
"version": "2023.0.4",
|
||||
"headerClassifier": "headers",
|
||||
"sourcesClassifier": "sources",
|
||||
"sharedLibrary": false,
|
||||
"libName": "navx_frc",
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"linuxraspbian",
|
||||
"linuxarm32",
|
||||
"linuxarm64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal",
|
||||
"windowsx86-64"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
+320
-77
@@ -1,180 +1,423 @@
|
||||
{
|
||||
"fileName": "Phoenix.json",
|
||||
"name": "CTRE-Phoenix",
|
||||
"version": "5.17.3",
|
||||
"name": "CTRE-Phoenix (v5)",
|
||||
"version": "5.31.0+23.2.2",
|
||||
"frcYear": 2023,
|
||||
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
|
||||
"mavenUrls": [
|
||||
"http://devsite.ctr-electronics.com/maven/release/"
|
||||
"https://maven.ctr-electronics.com/release/"
|
||||
],
|
||||
"jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
|
||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json",
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-java",
|
||||
"version": "5.17.3"
|
||||
"version": "5.31.0"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "5.17.3"
|
||||
"version": "5.31.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.17.3",
|
||||
"version": "5.31.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "diagnostics",
|
||||
"version": "5.17.3",
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.31.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "canutils",
|
||||
"version": "5.17.3",
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "platform-stub",
|
||||
"version": "5.17.3",
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "core",
|
||||
"version": "5.17.3",
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonFX",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "23.2.2",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "5.17.3",
|
||||
"version": "5.31.0",
|
||||
"libName": "CTRE_Phoenix_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "5.17.3",
|
||||
"version": "5.31.0",
|
||||
"libName": "CTRE_Phoenix",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.17.3",
|
||||
"version": "5.31.0",
|
||||
"libName": "CTRE_PhoenixCCI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "diagnostics",
|
||||
"version": "5.17.3",
|
||||
"libName": "CTRE_PhoenixDiagnostics",
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_PhoenixTools",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "canutils",
|
||||
"version": "5.17.3",
|
||||
"libName": "CTRE_PhoenixCanutils",
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "5.31.0",
|
||||
"libName": "CTRE_Phoenix_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "platform-stub",
|
||||
"version": "5.17.3",
|
||||
"libName": "CTRE_PhoenixPlatform",
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "api-cpp-sim",
|
||||
"version": "5.31.0",
|
||||
"libName": "CTRE_PhoenixSim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "core",
|
||||
"version": "5.17.3",
|
||||
"libName": "CTRE_PhoenixCore",
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.31.0",
|
||||
"libName": "CTRE_PhoenixCCISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"windowsx86-64",
|
||||
"linuxx86-64"
|
||||
]
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_PhoenixTools_Sim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimTalonSRX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonFX",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimVictorSPX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimPigeonIMU",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimCANCoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimProTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimProCANcoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "23.2.2",
|
||||
"libName": "CTRE_SimProPigeon2",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "WPILibNewCommands.json",
|
||||
"name": "WPILib-New-Commands",
|
||||
"version": "2020.0.0",
|
||||
"version": "1.0.0",
|
||||
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
||||
"mavenUrls": [],
|
||||
"jsonUrl": "",
|
||||
@@ -25,12 +25,12 @@
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"linuxraspbian",
|
||||
"linuxaarch64bionic",
|
||||
"linuxarm32",
|
||||
"linuxarm64",
|
||||
"windowsx86-64",
|
||||
"windowsx86",
|
||||
"linuxx86-64",
|
||||
"osxx86-64"
|
||||
"osxuniversal"
|
||||
]
|
||||
}
|
||||
]
|
||||
|
||||
Reference in New Issue
Block a user