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Merge pull request #6 from Team4388/2020-framework-update

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2020 Framework Update
This commit is contained in:
Keenan D. Buckley
2020-01-06 02:21:34 +00:00
committed by GitHub
parent d41880191c c16c8ba395
commit ee9c2c754f
25 changed files with 476 additions and 428 deletions
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.gitignore
+1
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@@ -155,6 +155,7 @@ gradle-app.setting
.project
.settings/
bin/
imgui.ini
# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
.vscode/settings.json
Vendored
+5 -4
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@@ -7,8 +7,9 @@
"**/CVS": true,
"**/.DS_Store": true,
"bin/": true,
".classpath": true,
".project": true
},
"wpilib.online": true
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
"**/.factorypath": true
}
}
.wpilib/wpilib_preferences.json
+1 -1
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@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2019",
"projectYear": "2020",
"teamNumber": 4388
}
build.gradle
+18 -11
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@@ -1,8 +1,11 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2019.1.1"
id "edu.wpi.first.GradleRIO" version "2020.1.2"
}
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11
def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
// Define my targets (RoboRIO) and artifacts (deployable files)
@@ -35,27 +38,31 @@ deploy {
}
// Set this to true to enable desktop support.
def includeDesktopSupport = false
// Maven central needed for JUnit
repositories {
mavenCentral()
}
def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 4.
dependencies {
compile wpi.deps.wpilib()
compile wpi.deps.vendor.java()
implementation wpi.deps.wpilib()
nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.deps.vendor.java()
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testCompile 'junit:junit:4.12'
testImplementation 'junit:junit:4.12'
// Enable simulation gui support. Must check the box in vscode to enable support
// upon debugging
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
}
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
// in order to make them all available at runtime. Also adding the manifest so WPILib
// knows where to look for our Robot Class.
jar {
from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
}
gradle/wrapper/gradle-wrapper.jar
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gradle/wrapper/gradle-wrapper.properties
Vendored
+1 -1
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@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
gradlew
Vendored
+31 -20
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@@ -1,5 +1,21 @@
#!/usr/bin/env sh
#
# Copyright 2015 the original author or authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
##############################################################################
##
## Gradle start up script for UN*X
@@ -28,7 +44,7 @@ APP_NAME="Gradle"
APP_BASE_NAME=`basename "$0"`
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m"'
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD="maximum"
@@ -109,8 +125,8 @@ if $darwin; then
GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
fi
# For Cygwin, switch paths to Windows format before running java
if $cygwin ; then
# For Cygwin or MSYS, switch paths to Windows format before running java
if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
APP_HOME=`cygpath --path --mixed "$APP_HOME"`
CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
JAVACMD=`cygpath --unix "$JAVACMD"`
@@ -138,19 +154,19 @@ if $cygwin ; then
else
eval `echo args$i`="\"$arg\""
fi
i=$((i+1))
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" ;;
0) set -- ;;
1) set -- "$args0" ;;
2) set -- "$args0" "$args1" ;;
3) set -- "$args0" "$args1" "$args2" ;;
4) set -- "$args0" "$args1" "$args2" "$args3" ;;
5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
esac
fi
@@ -159,14 +175,9 @@ save () {
for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
echo " "
}
APP_ARGS=$(save "$@")
APP_ARGS=`save "$@"`
# Collect all arguments for the java command, following the shell quoting and substitution rules
eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
cd "$(dirname "$0")"
fi
exec "$JAVACMD" "$@"
gradlew.bat
Vendored
+17 -1
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@@ -1,3 +1,19 @@
@rem
@rem Copyright 2015 the original author or authors.
@rem
@rem Licensed under the Apache License, Version 2.0 (the "License");
@rem you may not use this file except in compliance with the License.
@rem You may obtain a copy of the License at
@rem
@rem https://www.apache.org/licenses/LICENSE-2.0
@rem
@rem Unless required by applicable law or agreed to in writing, software
@rem distributed under the License is distributed on an "AS IS" BASIS,
@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@if "%DEBUG%" == "" @echo off
@rem ##########################################################################
@rem
@@ -14,7 +30,7 @@ set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
set DEFAULT_JVM_OPTS="-Xmx64m"
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
@rem Find java.exe
if defined JAVA_HOME goto findJavaFromJavaHome
settings.gradle
+5 -3
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@@ -4,17 +4,19 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
String frcYear = '2019'
String frcYear = '2020'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
if (publicFolder == null) {
publicFolder = "C:\\Users\\Public"
}
frcHome = new File(publicFolder, "frc${frcYear}")
def homeRoot = new File(publicFolder, "wpilib")
frcHome = new File(homeRoot, frcYear)
} else {
def userFolder = System.getProperty("user.home")
frcHome = new File(userFolder, "frc${frcYear}")
def homeRoot = new File(userFolder, "wpilib")
frcHome = new File(homeRoot, frcYear)
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
src/main/java/frc4388/robot/Constants.java
+34
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@@ -0,0 +1,34 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final class DriveConstants {
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
}
}
src/main/java/frc4388/robot/OI.java
-89
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@@ -1,89 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
private static OI instance;
public static XboxController m_driverXbox;
private static XboxController m_operatorXbox;
public OI() {
m_driverXbox = new XboxController(RobotMap.XBOX_DRIVER_ID);
m_operatorXbox = new XboxController(RobotMap.XBOX_OPERATOR_ID);
JoystickButton GamerMove = new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON);
GamerMove.whenPressed(new GamerMove());
GamerMove.whenReleased(new DriveWithJoystick());
}
public static OI getInstance() {
if(instance == null) {
instance = new OI();
}
return instance;
}
public IHandController getDriverController() {
return m_driverXbox;
}
public IHandController getOperatorController()
{
return m_operatorXbox;
}
public Joystick getOperatorJoystick()
{
return m_operatorXbox.getJoyStick();
}
public Joystick getDriverJoystick()
{
return m_driverXbox.getJoyStick();
}
}
src/main/java/frc4388/robot/Robot.java
+17 -34
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,15 +8,8 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.commands.ExampleCommand;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.ExampleSubsystem;
import frc4388.robot.subsystems.LED;
import frc4388.utility.controller.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
* The VM is configured to automatically run this class, and to call the
@@ -26,13 +19,9 @@ import frc4388.utility.controller.XboxController;
* project.
*/
public class Robot extends TimedRobot {
public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
public static LED m_led = new LED();
public static Drive m_Drive = new Drive();
public static OI m_oi;
Command m_autonomousCommand;
SendableChooser<Command> m_chooser = new SendableChooser<>();
private RobotContainer m_robotContainer;
/**
* This function is run when the robot is first started up and should be
@@ -40,10 +29,9 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotInit() {
m_oi = new OI();
m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
// chooser.addOption("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", m_chooser);
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
}
/**
@@ -56,6 +44,11 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotPeriodic() {
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
}
/**
@@ -69,23 +62,14 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
Scheduler.getInstance().run();
}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* getString code to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional commands to the
* chooser code above (like the commented example) or additional comparisons
* to the switch structure below with additional strings & commands.
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {
m_autonomousCommand = m_chooser.getSelected();
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
@@ -96,7 +80,7 @@ public class Robot extends TimedRobot {
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
m_autonomousCommand.schedule();
}
}
@@ -105,7 +89,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
@@ -124,7 +107,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+91
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@@ -0,0 +1,91 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LED;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
/**
* This class is where the bulk of the robot should be declared. Since
* Command-based is a "declarative" paradigm, very little robot logic should
* actually be handled in the {@link Robot} periodic methods (other than the
* scheduler calls). Instead, the structure of the robot (including subsystems,
* commands, and button mappings) should be declared here.
*/
public class RobotContainer {
/* Subsystems */
private final Drive m_robotDrive = new Drive();
private final LED m_robotLED = new LED();
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new GamerMove(m_robotDrive))
.whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
return new InstantCommand();
}
public IHandController getDriverController() {
return m_driverXbox;
}
public IHandController getOperatorController()
{
return m_operatorXbox;
}
public Joystick getOperatorJoystick()
{
return m_operatorXbox.getJoyStick();
}
public Joystick getDriverJoystick()
{
return m_driverXbox.getJoyStick();
}
}
src/main/java/frc4388/robot/RobotMap.java
-41
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@@ -1,41 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot;
import frc4388.utility.controller.XboxController;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into
* to a variable name. This provides flexibility changing wiring, makes checking
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*/
public class RobotMap {
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// public static int leftMotor = 1;
// public static int rightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// public static int rangefinderPort = 1;
// public static int rangefinderModule = 1;
/* Xbox Controllers */
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
/* Blinkin LED Strip */
public static final int LED_SPARK_ID = 0;
/* Drive Train */
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
}
src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
+28 -29
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 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. */
@@ -7,47 +7,46 @@
package frc4388.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.OI;
import frc4388.robot.Robot;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
import frc4388.utility.controller.IHandController;
public class DriveWithJoystick extends Command {
public class DriveWithJoystick extends CommandBase {
private final Drive m_drive;
private final IHandController m_driverXbox;
public double m_inputMove, m_inputSteer;
public DriveWithJoystick() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(Robot.m_Drive);
/**
* Creates a new DriveWithJoystick, driving the robot with the given controller
*/
public DriveWithJoystick(Drive subsystem, IHandController controller) {
m_drive = subsystem;
m_driverXbox = controller;
addRequirements(m_drive);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
public void initialize() {
}
// Called repeatedly when this Command is scheduled to run
// Called every time the scheduler runs while the command is scheduled.
@Override
protected void execute() {
m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
Robot.m_Drive.driveWithInput(m_inputMove, m_inputSteer);
public void execute() {
m_inputMove = m_driverXbox.getLeftYAxis();
m_inputSteer = m_driverXbox.getRightXAxis();
m_drive.driveWithInput(m_inputMove, m_inputSteer);
}
// Make this return true when this Command no longer needs to run execute()
// Called once the command ends or is interrupted.
@Override
protected boolean isFinished() {
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/commands/Drive/GamerMove.java
+26 -26
View File
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 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. */
@@ -7,41 +7,41 @@
package frc4388.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.Robot;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class GamerMove extends Command {
public GamerMove() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(Robot.m_Drive);
import frc4388.robot.subsystems.Drive;
public class GamerMove extends CommandBase {
private final Drive m_drive;
/**
* Creates a new GamerMove.
*/
public GamerMove(Drive subsystem) {
m_drive = subsystem;
addRequirements(m_drive);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
public void initialize() {
}
// Called repeatedly when this Command is scheduled to run
// Called every time the scheduler runs while the command is scheduled.
@Override
protected void execute() {
Robot.m_Drive.driveWithInput(0, 1);
public void execute() {
m_drive.driveWithInput(0, 1);
}
// Make this return true when this Command no longer needs to run execute()
// Called once the command ends or is interrupted.
@Override
protected boolean isFinished() {
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/commands/ExampleCommand.java
-48
View File
@@ -1,48 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.Robot;
/**
* An example command. You can replace me with your own command.
*/
public class ExampleCommand extends Command {
public ExampleCommand() {
// Use requires() here to declare subsystem dependencies
requires(Robot.m_subsystem);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
+15 -32
View File
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 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. */
@@ -7,45 +7,28 @@
package frc4388.robot.commands.LED;
import frc4388.robot.Robot;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc4388.robot.constants.LEDPatterns;
import frc4388.robot.subsystems.LED;
import edu.wpi.first.wpilibj.command.Command;
public class SetLEDPattern extends Command {
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class SetLEDPattern extends InstantCommand {
private final LED m_led;
public static LEDPatterns m_pattern;
public SetLEDPattern(LEDPatterns pattern) {
requires(Robot.m_led);
public SetLEDPattern(LED subsystem, LEDPatterns pattern) {
m_led = subsystem;
m_pattern = pattern;
addRequirements(m_led);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
Robot.m_led.setPattern(m_pattern);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return true;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
public void initialize() {
m_led.setPattern(m_pattern);
}
}
src/main/java/frc4388/robot/commands/LED/UpdateLED.java
+26 -25
View File
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 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. */
@@ -7,40 +7,41 @@
package frc4388.robot.commands.LED;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.Robot;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class UpdateLED extends Command {
public UpdateLED() {
// Use requires() here to declare subsystem dependencies
requires(Robot.m_led);
import frc4388.robot.subsystems.LED;
public class UpdateLED extends CommandBase {
private final LED m_LED;
/**
* Creates a new UpdateLED that continually runs updateLED in the LED subsystem.
*/
public UpdateLED(LED subsystem) {
m_LED = subsystem;
addRequirements(m_LED);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
public void initialize() {
}
// Called repeatedly when this Command is scheduled to run
// Called every time the scheduler runs while the command is scheduled.
@Override
protected void execute() {
Robot.m_led.updateLED();
public void execute() {
m_LED.updateLED();
}
// Make this return true when this Command no longer needs to run execute()
// Called once the command ends or is interrupted.
@Override
protected boolean isFinished() {
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+10 -19
View File
@@ -7,38 +7,29 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.Faults;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.RobotMap;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.robot.OI;
import frc4388.robot.Robot;
import frc4388.utility.controller.XboxController;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.DriveConstants;
/**
* Add your docs here.
*/
public class Drive extends Subsystem {
public class Drive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
private static double m_inputMove, m_inputSteer;
public Drive(){
/* factory default values */
m_leftFrontMotor.configFactoryDefault();
@@ -67,10 +58,10 @@ public class Drive extends Subsystem {
m_driveTrain.arcadeDrive(move, steer);
}
@Override
/* @Override
public void initDefaultCommand(){
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
setDefaultCommand(new DriveWithJoystick());
}
} */
}
src/main/java/frc4388/robot/subsystems/ExampleSubsystem.java
-24
View File
@@ -1,24 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* An example subsystem. You can replace me with your own Subsystem.
*/
public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
@Override
public void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
}
}
src/main/java/frc4388/robot/subsystems/LED.java
+10 -9
View File
@@ -7,23 +7,24 @@
package frc4388.robot.subsystems;
import frc4388.robot.RobotMap;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.constants.LEDPatterns;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.constants.LEDPatterns;
/**
* Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED Driver
* Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
* Driver
*/
public class LED extends Subsystem {
public class LED extends SubsystemBase {
public static float currentLED;
public static Spark LEDController;
public LED(){
LEDController = new Spark(RobotMap.LED_SPARK_ID);
LEDController = new Spark(LEDConstants.LED_SPARK_ID);
setPattern(LEDPatterns.FOREST_WAVES);
LEDController.set(currentLED);
System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
@@ -43,10 +44,10 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
SmartDashboard.putNumber("LED", currentLED);
}
@Override
/* @Override
public void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
setDefaultCommand(new UpdateLED());
}
} */
}
src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+1 -2
View File
@@ -1,9 +1,8 @@
package frc4388.utility.controller;
import edu.wpi.first.wpilibj2.command.button.Button;
import frc4388.utility.controller.XboxController;
import edu.wpi.first.wpilibj.buttons.Button;
/**
* Mapping for the Xbox controller triggers to allow triggers to be defined as
* buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger
vendordeps/Phoenix.json
+102 -9
View File
@@ -1,7 +1,7 @@
{
"fileName": "Phoenix.json",
"name": "CTRE-Phoenix",
"version": "5.12.0",
"version": "5.17.3",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"http://devsite.ctr-electronics.com/maven/release/"
@@ -11,19 +11,65 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.12.0"
"version": "5.17.3"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.12.0"
"version": "5.17.3"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.12.0",
"version": "5.17.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "diagnostics",
"version": "5.17.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "canutils",
"version": "5.17.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "platform-stub",
"version": "5.17.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "core",
"version": "5.17.3",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -37,7 +83,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.12.0",
"version": "5.17.3",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -51,7 +97,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.12.0",
"version": "5.17.3",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -65,7 +111,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.12.0",
"version": "5.17.3",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -76,12 +122,59 @@
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "diagnostics",
"version": "5.17.3",
"libName": "CTRE_PhoenixDiagnostics",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "canutils",
"version": "5.17.3",
"libName": "CTRE_PhoenixCanutils",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "platform-stub",
"version": "5.17.3",
"libName": "CTRE_PhoenixPlatform",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "core",
"version": "5.12.0",
"version": "5.17.3",
"libName": "CTRE_PhoenixCore",
"headerClassifier": "headers"
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
}
]
}
vendordeps/WPILibNewCommands.json
+37
View File
@@ -0,0 +1,37 @@
{
"fileName": "WPILibNewCommands.json",
"name": "WPILib-New-Commands",
"version": "2020.0.0",
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
"mavenUrls": [],
"jsonUrl": "",
"javaDependencies": [
{
"groupId": "edu.wpi.first.wpilibNewCommands",
"artifactId": "wpilibNewCommands-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "edu.wpi.first.wpilibNewCommands",
"artifactId": "wpilibNewCommands-cpp",
"version": "wpilib",
"libName": "wpilibNewCommands",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"linuxraspbian",
"linuxaarch64bionic",
"windowsx86-64",
"windowsx86",
"linuxx86-64",
"osxx86-64"
]
}
]
}