It is advised to statically import this class (or one of its inner classes) wherever the + *
+ * 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 int DRIVE_PIGEON_ID = 6; + public static final class DriveConstants { + public static final int DRIVE_LEFT_CAN_ID = 2; + public static final int DRIVE_RIGHT_CAN_ID = 3; + } - public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; - } + public static final class ShooterConstants { + public static final int SHOOTER_LOWER_LEFTER_SOLENOID_ID = 1; + public static final int SHOOTER_LOWER_LEFT_SOLENOID_ID = 2; + public static final int SHOOTER_LOWER_RIGHT_SOLENOID_ID = 3; + public static final int SHOOTER_LOWER_RIGHTER_SOLENOID_ID = 4; + public static final int SHOOTER_UPPER_LEFTER_SOLENOID_ID = 5; + public static final int SHOOTER_UPPER_LEFT_SOLENOID_ID = 6; + public static final int SHOOTER_UPPER_RIGHT_SOLENOID_ID = 7; + public static final int SHOOTER_UPPER_RIGHTER_SOLENOID_ID = 8; + } - public static final class LEDConstants { - public static final int LED_SPARK_ID = 0; + public static final class HornConstants { + public static final int HORN_SOLENOID_ID = 0; + } - public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; - } - - public static final class OIConstants { - public static final int XBOX_DRIVER_ID = 0; - public static final int XBOX_OPERATOR_ID = 1; - } + public static final class OIConstants { + public static final int CONTROLLER_ID = 0; + } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index e145b38..0bd9ad4 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -1,124 +1,66 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - package frc4388.robot; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; -import frc4388.utility.RobotTime; /** - * The VM is configured to automatically run this class, and to call the - * functions corresponding to each mode, as described in the TimedRobot - * documentation. If you change the name of this class or the package after - * creating this project, you must also update the build.gradle file in the + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the * project. */ public class Robot extends TimedRobot { - Command m_autonomousCommand; - - private RobotTime m_robotTime = RobotTime.getInstance(); private RobotContainer m_robotContainer; - /** - * This function is run when the robot is first started up and should be - * used for any initialization code. - */ + /** Robot-wide initialization code should go here. */ @Override public void robotInit() { - // Instantiate our RobotContainer. This will perform all our button bindings, and put our - // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); } - /** - * This function is called every robot packet, no matter the mode. Use - * this for items like diagnostics that you want ran during disabled, - * autonomous, teleoperated and test. - * - *
This runs after the mode specific periodic functions, but before - * LiveWindow and SmartDashboard integrated updating. - */ + /** Periodic code for all robot modes should go here. */ @Override public void robotPeriodic() { - m_robotTime.updateTimes(); - // 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. + // Runs a single iteration of the scheduler. CommandScheduler.getInstance().run(); } - /** - * This function is called once each time the robot enters Disabled mode. - * You can use it to reset any subsystem information you want to clear when - * the robot is disabled. - */ + /** Initialization code for disabled mode should go here. */ @Override public void disabledInit() { - m_robotTime.endMatchTime(); } + /** Periodic code for disabled mode should go here. */ @Override public void disabledPeriodic() { } - /** - * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. - */ + /** Initialization code for autonomous mode should go here. */ @Override public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - - /* - * String autoSelected = SmartDashboard.getString("Auto Selector", - * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand - * = new MyAutoCommand(); break; case "Default Auto": default: - * autonomousCommand = new ExampleCommand(); break; } - */ - - // schedule the autonomous command (example) - if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); - } - m_robotTime.startMatchTime(); } - /** - * This function is called periodically during autonomous. - */ + /** Periodic code for autonomous mode should go here. */ @Override public void autonomousPeriodic() { } + /** Initialization code for teleop mode should go here. */ @Override public void teleopInit() { - // This makes sure that the autonomous stops running when - // teleop starts running. If you want the autonomous to - // continue until interrupted by another command, remove - // this line or comment it out. - if (m_autonomousCommand != null) { - m_autonomousCommand.cancel(); - } - m_robotTime.startMatchTime(); } - /** - * This function is called periodically during operator control. - */ + /** Periodic code for teleop mode should go here. */ @Override public void teleopPeriodic() { - } - /** - * This function is called periodically during test mode. - */ + /** Initialization code for test mode should go here. */ + @Override + public void testInit() { + } + + /** Periodic code for test mode should go here. */ @Override public void testPeriodic() { } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index b7542bc..73e6476 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -1,114 +1,138 @@ -/*----------------------------------------------------------------------------*/ -/* 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.networktables.EntryListenerFlags; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.GenericHID.RumbleType; +import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandGroupBase; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import frc4388.robot.Constants.*; +import edu.wpi.first.wpilibj2.command.button.POVButton; +import frc4388.robot.Constants.OIConstants; import frc4388.robot.subsystems.Drive; -import frc4388.robot.subsystems.LED; -import frc4388.utility.LEDPatterns; -import frc4388.utility.controller.IHandController; -import frc4388.utility.controller.XboxController; +import frc4388.robot.subsystems.Horn; +import frc4388.robot.subsystems.Shooter; /** - * 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. + * 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 { - /* RobotMap */ - private final RobotMap m_robotMap = new RobotMap(); + /* RobotMap */ + private final RobotMap m_robotMap = new RobotMap(); - /* Subsystems */ - private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor, - m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive); + /* Subsystems */ + private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftMotor, m_robotMap.driveRightMotor, m_robotMap.driveBase); + private final Shooter[][] m_robotShooterRows = { + { + new Shooter(m_robotMap.shooterLowerLefterSolenoid), + new Shooter(m_robotMap.shooterLowerLeftSolenoid), + new Shooter(m_robotMap.shooterLowerRightSolenoid), + new Shooter(m_robotMap.shooterLowerRighterSolenoid), + }, + { + new Shooter(m_robotMap.shooterUpperLefterSolenoid), + new Shooter(m_robotMap.shooterUpperLeftSolenoid), + new Shooter(m_robotMap.shooterUpperRightSolenoid), + new Shooter(m_robotMap.shooterUpperRighterSolenoid) + } + }; + private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid); - private final LED m_robotLED = new LED(m_robotMap.LEDController); + /* Controllers */ + private final XboxController m_controller = new XboxController(OIConstants.CONTROLLER_ID); + private final NetworkTableInteger m_shooterRowIndex = new NetworkTableInteger("Shooter/Row", 0, 0, 1); + private final NetworkTableInteger m_shooterColumnIndex = new NetworkTableInteger("Shooter/Column", 0, 0, 3); - /* 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(); - /** - * The container for the robot. Contains subsystems, OI devices, and commands. - */ - public RobotContainer() { - configureButtonBindings(); + /* Default Commands */ + // drives the robot with a two-axis input from the driver controller + m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.arcadeDrive(getController().getLeftY(), getController().getRightX()), m_robotDrive)); + } - /* Default Commands */ - // drives the robot with a two-axis input from the driver controller - m_robotDrive.setDefaultCommand( - new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(), - getDriverController().getRightXAxis()), m_robotDrive)); - // continually sends updates to the Blinkin LED controller to keep the lights on - m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.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() { + // B Button: Fire Selected Shooter + new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(this::fireShooterWithFeedback); + // A Button: Sound Horn + new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false)); + // Right Bumper: Shift Column Selection Right + new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() + 1)); + // Left Bumper: Shift Column Selection Left + new JoystickButton(getController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() - 1)); + // D-Pad Down: Select Lower Shooter Row + new POVButton(getController(), 180).whenPressed(() -> m_shooterRowIndex.set(0)); + // D-Pad Up: Select Upper Shooter Row + new POVButton(getController(), 0).whenPressed(() -> m_shooterRowIndex.set(1)); + // D-Pad Left: Select Righter Shooter Column + new POVButton(getController(), 90).whenPressed(() -> m_shooterColumnIndex.set(3)); + // D-Pad Right: Select Lefter Shooter Column + new POVButton(getController(), 270).whenPressed(() -> m_shooterColumnIndex.set(0)); + } + + private void fireShooterWithFeedback() { + boolean fired = m_robotShooterRows[m_shooterRowIndex.get()][m_shooterColumnIndex.get()].set(true); + RumbleType rumbleType = m_shooterColumnIndex.get() < 2 ? RumbleType.kLeftRumble : RumbleType.kRightRumble; + double value = fired ? 0.3 : 0.6; + double duration = fired ? 0.3 : 0.4; + CommandGroupBase.sequence(new InstantCommand(() -> getController().setRumble(rumbleType, value)), new WaitCommand(duration), new InstantCommand(() -> getController().setRumble(rumbleType, 0.0))).schedule(); + System.out.println(m_shooterRowIndex.get() + ":" + m_shooterColumnIndex.get()); + } + + private static class NetworkTableInteger { + private final NetworkTableEntry m_entry; + private final int m_defaultValue; + + public NetworkTableInteger(String name, int defaultValue, int minValue, int maxValue) { + m_defaultValue = defaultValue; + m_entry = NetworkTableInstance.getDefault().getTable("SmartDashboard").getEntry(name); + m_entry.setDouble(m_defaultValue); + m_entry.addListener(event -> { + if (event.value.isDouble()) { + double entryValue = event.value.getDouble(); + double safeValue = Math.max(minValue, Math.min((int) entryValue, maxValue)); + if (entryValue != safeValue) event.getEntry().setDouble(safeValue); + } else event.getEntry().setDouble(m_defaultValue); + }, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate); } - /** - * Use this method to define your button->command mappings. Buttons can be - * created by instantiating a {@link GenericHID} or one of its subclasses - * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then - * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. - */ - private void configureButtonBindings() { - /* Driver Buttons */ - // test command to spin the robot while pressing A on the driver controller - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whileHeld(() -> m_robotDrive.driveWithInput(0, 1)); - - /* Operator Buttons */ - // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + public int get() { + return (int) m_entry.getDouble(m_defaultValue); } - /** - * 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 void set(int value) { + m_entry.setDouble(value); } + } - /** - * Add your docs here. - */ - public IHandController getDriverController() { - return m_driverXbox; - } + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return new PrintCommand("No Autonomous"); + } - /** - * Add your docs here. - */ - public IHandController getOperatorController() { - return m_operatorXbox; - } - - /** - * Add your docs here. - */ - public Joystick getOperatorJoystick() { - return m_operatorXbox.getJoyStick(); - } - - /** - * Add your docs here. - */ - public Joystick getDriverJoystick() { - return m_driverXbox.getJoyStick(); - } + public XboxController getController() { + return m_controller; + } } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 3456b71..17ba0b1 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -7,65 +7,53 @@ package frc4388.robot; -import com.ctre.phoenix.motorcontrol.InvertType; -import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; -import com.ctre.phoenix.sensors.PigeonIMU; +import static frc4388.robot.Constants.DriveConstants.*; +import static frc4388.robot.Constants.HornConstants.*; +import static frc4388.robot.Constants.ShooterConstants.*; -import edu.wpi.first.wpilibj.Spark; +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; + +import edu.wpi.first.wpilibj.PneumaticsModuleType; +import edu.wpi.first.wpilibj.Solenoid; import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import frc4388.robot.Constants.DriveConstants; -import frc4388.robot.Constants.LEDConstants; -import frc4388.utility.RobotGyro; /** - * Defines and holds all I/O objects on the Roborio. This is useful for unit - * testing and modularization. + * Defines and holds all I/O objects on the Roborio. This is useful for unit testing and + * modularization. */ public class RobotMap { - public RobotMap() { - configureLEDMotorControllers(); - configureDriveMotorControllers(); - } + public RobotMap() { + configureDriveMotorControllers(); + } - /* LED Subsystem */ - public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); + /* Drive Subsystem */ + public final WPI_TalonSRX driveLeftMotor = new WPI_TalonSRX(DRIVE_LEFT_CAN_ID); + public final WPI_TalonSRX driveRightMotor = new WPI_TalonSRX(DRIVE_RIGHT_CAN_ID); + public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftMotor, driveRightMotor); - void configureLEDMotorControllers() { - - } + void configureDriveMotorControllers() { + /* factory default values */ + driveLeftMotor.configFactoryDefault(); + driveRightMotor.configFactoryDefault(); - /* Drive Subsystem */ - public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID); - public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID); - public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID); - public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID); - public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor); - public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID)); + /* set neutral mode */ + driveLeftMotor.setNeutralMode(NeutralMode.Brake); + driveRightMotor.setNeutralMode(NeutralMode.Brake); + } - void configureDriveMotorControllers() { + /* Horn subsystem */ + public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID); - /* factory default values */ - leftFrontMotor.configFactoryDefault(); - rightFrontMotor.configFactoryDefault(); - leftBackMotor.configFactoryDefault(); - rightBackMotor.configFactoryDefault(); + /* Shooter subsystem */ + public final Solenoid shooterLowerLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFTER_SOLENOID_ID); + public final Solenoid shooterLowerLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFT_SOLENOID_ID); + public final Solenoid shooterLowerRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHT_SOLENOID_ID); + public final Solenoid shooterLowerRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHTER_SOLENOID_ID); + public final Solenoid shooterUpperLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFTER_SOLENOID_ID); + public final Solenoid shooterUpperLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFT_SOLENOID_ID); + public final Solenoid shooterUpperRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHT_SOLENOID_ID); + public final Solenoid shooterUpperRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHTER_SOLENOID_ID); - /* set back motors as followers */ - leftBackMotor.follow(leftFrontMotor); - rightBackMotor.follow(rightFrontMotor); - - /* set neutral mode */ - leftFrontMotor.setNeutralMode(NeutralMode.Brake); - rightFrontMotor.setNeutralMode(NeutralMode.Brake); - leftFrontMotor.setNeutralMode(NeutralMode.Brake); - rightFrontMotor.setNeutralMode(NeutralMode.Brake); - - /* flip input so forward becomes back, etc */ - leftFrontMotor.setInverted(false); - rightFrontMotor.setInverted(false); - leftBackMotor.setInverted(InvertType.FollowMaster); - rightBackMotor.setInverted(InvertType.FollowMaster); - } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 9bbdee7..2fd869f 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -1,85 +1,29 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - package frc4388.robot.subsystems; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.robot.Constants.DriveConstants; -import frc4388.utility.RobotGyro; -import frc4388.utility.RobotTime; - -/** - * Add your docs here. - */ public class Drive extends SubsystemBase { - // Put methods for controlling this subsystem - // here. Call these from Commands. + private WPI_TalonSRX m_leftMotor; + private WPI_TalonSRX m_rightMotor; + private DifferentialDrive m_driveBase; - private RobotTime m_robotTime = RobotTime.getInstance(); - - private WPI_TalonFX m_leftFrontMotor; - private WPI_TalonFX m_rightFrontMotor; - private WPI_TalonFX m_leftBackMotor; - private WPI_TalonFX m_rightBackMotor; - private DifferentialDrive m_driveTrain; - private RobotGyro m_gyro; - - /** - * Add your docs here. - */ - public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor, - WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) { - - m_leftFrontMotor = leftFrontMotor; - m_rightFrontMotor = rightFrontMotor; - m_leftBackMotor = leftBackMotor; - m_rightBackMotor = rightBackMotor; - m_driveTrain = driveTrain; - m_gyro = gyro; + public Drive(WPI_TalonSRX leftMotor, WPI_TalonSRX rightMotor, DifferentialDrive driveBase) { + m_leftMotor = leftMotor; + m_rightMotor = rightMotor; + m_driveBase = driveBase; + addChild("Left Motor", m_leftMotor); + addChild("Right Motor", m_rightMotor); } - @Override - public void periodic() { - m_gyro.updatePigeonDeltas(); - - if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) { - updateSmartDashboard(); - } + public void arcadeDrive(double xSpeed, double zRotation) { + m_driveBase.arcadeDrive(xSpeed, zRotation, true); } - /** - * Add your docs here. - */ - public void driveWithInput(double move, double steer) { - m_driveTrain.arcadeDrive(move, steer); - } - - /** - * Add your docs here. - */ - public void tankDriveWithInput(double leftMove, double rightMove) { - m_leftFrontMotor.set(leftMove); - m_rightFrontMotor.set(rightMove); - } - - /** - * Add your docs here. - */ - private void updateSmartDashboard() { - - // Examples of the functionality of RobotGyro - 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); + public void tankDrive(double leftSpeed, double rightSpeed) { + m_leftMotor.set(leftSpeed); + m_rightMotor.set(rightSpeed); } } diff --git a/src/main/java/frc4388/robot/subsystems/Horn.java b/src/main/java/frc4388/robot/subsystems/Horn.java new file mode 100644 index 0000000..fd3039c --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Horn.java @@ -0,0 +1,16 @@ +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj.Solenoid; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Horn extends SubsystemBase { + private Solenoid m_solenoid; + + public Horn(Solenoid solenoid) { + m_solenoid = solenoid; + } + + public void set(boolean on) { + m_solenoid.set(on); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java deleted file mode 100644 index 57c7b58..0000000 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ /dev/null @@ -1,63 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.robot.subsystems; - -import edu.wpi.first.wpilibj.Spark; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -import frc4388.robot.Constants.LEDConstants; -import frc4388.utility.LEDPatterns; - -/** - * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED - * Driver - */ -public class LED extends SubsystemBase { - - private LEDPatterns m_currentPattern; - private Spark m_LEDController; - - /** - * Add your docs here. - */ - public LED(Spark LEDController){ - m_LEDController = LEDController; - setPattern(LEDConstants.DEFAULT_PATTERN); - updateLED(); - System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); - } - - @Override - public void periodic(){ - SmartDashboard.putNumber("LED", m_currentPattern.getValue()); - } - - /** - * Add your docs here. - */ - public void updateLED(){ - m_LEDController.set(m_currentPattern.getValue()); - } - - /** - * Add your docs here. - */ - public void setPattern(LEDPatterns pattern){ - m_currentPattern = pattern; - m_LEDController.set(m_currentPattern.getValue()); - } - - /** - * Add your docs here. - * @return - */ - public LEDPatterns getPattern() { - return m_currentPattern; - } -} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java new file mode 100644 index 0000000..84f4d30 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -0,0 +1,18 @@ +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj.Solenoid; + +public class Shooter extends SubsystemBase { + Solenoid m_solenoid; + + public Shooter(Solenoid solenoid) { + m_solenoid = solenoid; + } + + public boolean set(boolean on) { + if (m_solenoid.get() == on) return false; + m_solenoid.set(on); + return true; + } +} diff --git a/src/main/java/frc4388/utility/LEDPatterns.java b/src/main/java/frc4388/utility/LEDPatterns.java deleted file mode 100644 index 6df032c..0000000 --- a/src/main/java/frc4388/utility/LEDPatterns.java +++ /dev/null @@ -1,45 +0,0 @@ -package frc4388.utility; - -/** - * Add your docs here. - */ -public enum LEDPatterns { - /* PALLETTE PATTERNS */ - RAINBOW_RAINBOW(-0.99f), PARTY_RAINBOW(-0.97f), OCEAN_RAINBOW(-0.95f), LAVA_RAINBOW(-0.93f), FOREST_RAINBOW(-0.91f), - RAINBOW_GLITTER(-0.89f), CONFETTI(-0.87f), RED_SHOT(-0.85f), BLUE_SHOT(-0.83f), WHITE_SHOT(-0.81f), RAINBOW_SINELON(-0.79f), - PARTY_SINELON(-0.77f), OCEAN_SINELON(-0.75f), LAVA_SINELON(-0.73f), FOREST_SINELON(-0.71f), RAINBOW_BPM(-0.69f), - PARTY_BPM(-0.67f), OCEAN_BPM(-0.65f), LAVA_BPM(-0.63f), FOREST_BPM(-0.61f), FIRE_MEDIUM(-0.59f), FIRE_LARGE(-0.57f), - RAINBOW_TWINKLES(-0.55f), PARTY_TWINKLES(-0.53f), OCEAN_TWINKLES(-0.51f), LAVA_TWINKLES(-0.49f), FOREST_TWINKLES(-0.47f), - RAINBOW_WAVES(-0.45f), PARTY_WAVES(-0.43f), OCEAN_WAVES(-0.41f), LAVA_WAVES(-0.39f), FOREST_WAVES(-0.37f), - RED_SCANNER(-0.35f), GRAY_SCANNER(-0.33f), RED_CHASE(-0.31f), BLUE_CHASE(-0.29f), GRAY_CHASE(-0.27f), RED_HEARTBEAT(-0.25f), - BLUE_HEARTBEAT(-0.23f), WHITE_HEARTBEAT(-0.21f), GRAY_HEARBEAT(-0.19f), RED_BREATH(-0.17f), BLUE_BREATH(-0.15f), - GRAY_BREATH(-0.13f), RED_STROBE(-0.11f), BLUE_STROBE(-0.09f), GOLD_STROBE(-0.07f), WHITE_STROBE(-0.05f), - - /* COLOR 1 PATTERNS */ - C1_END_TO_END(-0.03f), C1_SCANNER(-0.01f), C1_CHASE(0.01f), C1_HEARTBEAT_SLOW(0.03f), C1_HEARTBEAT_MEDIUM(0.05f), - C1_HEARTBEAT_FAST(0.07f), C1_BREATH_SLOW(0.09f), C1_BREATH_FAST(0.11f), C1_SHOT(0.13f), C1_STROBE(0.15f), - - /* COLOR 2 PATTERNS */ - C2_END_TO_END(0.17f), C2_SCANNER(0.19f), C2_CHASE(0.21f), C2_HEARTBEAT_SLOW(0.23f), C2_HEARTBEAT_MEDIUM(0.25f), - C2_HEARTBEAT_FAST(0.27f), C2_BREATH_SLOW(0.29f), C2_BREATH_FAST(0.31f), C2_SHOT(0.33f), C2_STROBE(0.35f), - - /* COLOR 1 AND 2 PATTERNS */ - C1C2_SPARKLE(0.37f), C2C1_SPARKLE(0.39f), C1C2_GRADIENT(0.41f), C1C2_BPM(0.43f), C1C2_BLEND(0.45f), C1C2_TWINKLES(0.51f), - C1C2_WAVES(0.53f), C1C2_SINELON(0.55f), - - /* SOLID COLORS */ - SOLID_PINK_HOT(0.57f), SOLID_RED_DARK(0.59f), SOLID_RED(0.61f), SOLID_RED_ORANGE(0.63f), SOLID_ORANGE(0.65f), - SOLID_GOLD(0.67f), SOLID_YELLOW(0.69f), SOLID_GREEN_LAWN(0.71f), SOLID_GREEN_LIME(0.73f), SOLID_GREEN_DARK(0.75f), - SOLID_GREEN(0.77f), SOLID_BLUE_GREEN(0.79f), SOLID_BLUE_AQUA(0.81f), SOLID_BLUE_SKY(0.83f), SOLID_BLUE_DARK(0.85f), - SOLID_BLUE(0.87f), SOLID_BLUE_VIOLET(0.89f), SOLID_VIOLET(0.91f), SOLID_WHITE(0.93f), SOLID_GRAY(0.95f), - SOLID_GRAY_DARK(0.97f), SOLID_BLACK(0.99f); - - /* GETTERS/SETTERS */ - private final float id; - LEDPatterns(float id) { - this.id = id; - } - public float getValue() { - return id; - } -} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java deleted file mode 100644 index a42e8c8..0000000 --- a/src/main/java/frc4388/utility/RobotGyro.java +++ /dev/null @@ -1,180 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.utility; - -import com.ctre.phoenix.sensors.PigeonIMU; -import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode; -import com.kauailabs.navx.frc.AHRS; - -import edu.wpi.first.wpilibj.GyroBase; -import edu.wpi.first.wpiutil.math.MathUtil; - -/** - * Gyro class that allows for interchangeable use between a pigeon and a navX - */ -public class RobotGyro extends GyroBase { - private RobotTime m_robotTime = RobotTime.getInstance(); - - private PigeonIMU 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; - - /** - * Creates a Gyro based on a pigeon - * @param gyro the gyroscope to use for Gyro - */ - public RobotGyro(PigeonIMU gyro) { - m_pigeon = gyro; - m_isGyroAPigeon = true; - } - - /** - * Creates a Gyro based on a navX - * @param gyro the gyroscope to use for Gyro - */ - public RobotGyro(AHRS gyro){ - m_navX = gyro; - m_isGyroAPigeon = false; - } - - /** - * 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. - */ - public void updatePigeonDeltas() { - double currentPigeonAngle = getAngle(); - m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle; - m_lastPigeonAngle = currentPigeonAngle; - } - - /** - *
NavX: - *
Calibrate the gyro by running for a number of samples and computing the center value. Then use - * the center value as the Accumulator center value for subsequent measurements. It's important to - * make sure that the robot is not moving while the centering calculations are in progress, this - * is typically done when the robot is first turned on while it's sitting at rest before the - * competition starts. - * - *
Pigeon: - *
Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot - * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon - * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to - * make sure that the robot is not moving while the tempurature calculations are in progress, this - * is typically done when the robot is first turned on while it's sitting at rest before the - * competition starts. - */ - @Override - public void calibrate() { - if (m_isGyroAPigeon) { - m_pigeon.enterCalibrationMode(CalibrationMode.Temperature); - } else { - m_navX.calibrate(); - } - } - - @Override - public void reset() { - if (m_isGyroAPigeon) { - m_pigeon.setYaw(0); - } else { - m_navX.reset(); - } - } - - /** - * Get Yaw, Pitch, and Roll data. - * - * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data. - * Yaw is within [-368,640, +368,640] degrees. - * Pitch is within [-90,+90] degrees. - * Roll is within [-90,+90] degrees. - */ - private double[] getPigeonAngles() { - double[] angles = new double[3]; - m_pigeon.getYawPitchRoll(angles); - return angles; - } - - @Override - public double getAngle() { - if (m_isGyroAPigeon) { - return getPigeonAngles()[0]; - } else { - return m_navX.getAngle(); - } - } - - /** - * Gets an absolute heading of the robot - * @return heading from -180 to 180 degrees - */ - public double getHeading() { - return getHeading(getAngle()); - } - - /** - * Gets an absolute heading of the robot - * @return heading from -180 to 180 degrees - */ - public double getHeading(double angle) { - return Math.IEEEremainder(angle, 360); - } - - /** - * Returns the current pitch value (in degrees, from -90 to 90) - * reported by the sensor. Pitch is a measure of rotation around - * the Y Axis. - * @return The current pitch value in degrees (-90 to 90). - */ - public double getPitch() { - if (m_isGyroAPigeon) { - return MathUtil.clamp(getPigeonAngles()[1], -90, 90); - } else { - return MathUtil.clamp(m_navX.getPitch(), -90, 90); - } - } - - /** - * Returns the current roll value (in degrees, from -90 to 90) - * reported by the sensor. Roll is a measure of rotation around - * the X Axis. - * @return The current roll value in degrees (-90 to 90). - */ - public double getRoll() { - if (m_isGyroAPigeon) { - return MathUtil.clamp(getPigeonAngles()[2], -90, 90); - } else { - return MathUtil.clamp(m_navX.getRoll(), -90, 90); - } - } - - @Override - public double getRate() { - if (m_isGyroAPigeon) { - return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000; - } else { - return m_navX.getRate(); - } - } - - public PigeonIMU getPigeon(){ - return m_pigeon; - } - - public AHRS getNavX(){ - return m_navX; - } - - @Override - public void close() throws Exception { - - } -} diff --git a/src/main/java/frc4388/utility/RobotTime.java b/src/main/java/frc4388/utility/RobotTime.java deleted file mode 100644 index 694f850..0000000 --- a/src/main/java/frc4388/utility/RobotTime.java +++ /dev/null @@ -1,79 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.utility; - -/** - *
Keeps track of Robot times like time passed, delta time, etc - *
All times are in milliseconds - */ -public class RobotTime { - private long m_currTime = System.currentTimeMillis(); - public long m_deltaTime = 0; - - private long m_startRobotTime = m_currTime; - public long m_robotTime = 0; - public long m_lastRobotTime = 0; - - private long m_startMatchTime = 0; - public long m_matchTime = 0; - public long m_lastMatchTime = 0; - - public long m_frameNumber = 0; - - /** - * Private constructor prevents other classes from instantiating - */ - private RobotTime(){} - - private static RobotTime instance = null; - - /** - * Gets the instance of Robot Time. If there is no instance running one will be created. - * @return instance of Robot Time - */ - public static RobotTime getInstance() { - if (instance == null) { - instance = new RobotTime(); - } - return instance; - } - - /** - * Call this once per periodic loop. - */ - public void updateTimes() { - m_lastRobotTime = m_robotTime; - m_lastMatchTime = m_matchTime; - - m_currTime = System.currentTimeMillis(); - m_robotTime = m_currTime - m_startRobotTime; - m_deltaTime = m_robotTime - m_lastRobotTime; - m_frameNumber++; - - if (m_startMatchTime != 0) { - m_matchTime = m_currTime - m_startMatchTime; - } - } - - /** - * Call this in both the auto and periodic inits - */ - public void startMatchTime() { - if (m_startMatchTime == 0) { - m_startMatchTime = m_currTime; - } - } - - /** - * Call this in disabled init - */ - public void endMatchTime() { - m_startMatchTime = 0; - m_matchTime = 0; - } -} diff --git a/src/main/java/frc4388/utility/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java deleted file mode 100644 index 13aa763..0000000 --- a/src/main/java/frc4388/utility/controller/IHandController.java +++ /dev/null @@ -1,21 +0,0 @@ -package frc4388.utility.controller; - -/** - * Add your docs here. - */ -public interface IHandController { - - public double getLeftXAxis(); - - public double getLeftYAxis(); - - public double getRightXAxis(); - - public double getRightYAxis(); - - public double getLeftTriggerAxis(); - - public double getRightTriggerAxis(); - - public int getDpadAngle(); -} diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java deleted file mode 100644 index 8b8f0f8..0000000 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ /dev/null @@ -1,218 +0,0 @@ -package frc4388.utility.controller; - -import edu.wpi.first.wpilibj.Joystick; - -/** - * This is a wrapper for the WPILib Joystick class that represents an XBox - * controller. - * @author frc1675 - */ -public class XboxController implements IHandController -{ - public static final int LEFT_X_AXIS = 0; - public static final int LEFT_Y_AXIS = 1; - public static final int LEFT_TRIGGER_AXIS = 2; - public static final int RIGHT_TRIGGER_AXIS = 3; - public static final int RIGHT_X_AXIS = 4; - public static final int RIGHT_Y_AXIS = 5; - public static final int LEFT_RIGHT_DPAD_AXIS = 6; - public static final int TOP_BOTTOM_DPAD_AXIS = 6; - - public static final int A_BUTTON = 1; - public static final int B_BUTTON = 2; - public static final int X_BUTTON = 3; - public static final int Y_BUTTON = 4; - public static final int LEFT_BUMPER_BUTTON = 5; - public static final int RIGHT_BUMPER_BUTTON = 6; - public static final int BACK_BUTTON = 7; - public static final int START_BUTTON = 8; - - public static final int LEFT_JOYSTICK_BUTTON = 9; - public static final int RIGHT_JOYSTICK_BUTTON = 10; - - private static final double LEFT_DPAD_TOLERANCE = -0.9; - private static final double RIGHT_DPAD_TOLERANCE = 0.9; - private static final double BOTTOM_DPAD_TOLERANCE = -0.9; - private static final double TOP_DPAD_TOLERANCE = 0.9; - - private static final double LEFT_TRIGGER_TOLERANCE = 0.5; - private static final double RIGHT_TRIGGER_TOLERANCE = 0.5; - - private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9; - private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9; - private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9; - private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9; - - private static final double LEFT_AXIS_UP_TOLERANCE = -0.9; - private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9; - private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9; - private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9; - - private static final double DEADZONE = 0.1; - - private Joystick m_stick; - - /** - * Add your docs here. - */ - public XboxController(int portNumber){ - m_stick = new Joystick(portNumber); - } - - /** - * Add your docs here. - */ - public Joystick getJoyStick() { - return m_stick; - } - - /** - * Checks if the input falls within the deadzone. - * @param input from an axis on the controller - * @return true if input falls in deadzone, false if input falls outside deadzone - */ - private boolean inDeadZone(double input){ - return (Math.abs(input) < DEADZONE); - } - - /** - * Updates an input to have a deadzone around the 0 position - * @param input from an axis on the controller - * @return updated input - */ - private double getAxisWithDeadZoneCheck(double input){ - if(inDeadZone(input)){ - return 0.0; - } else { - return input; - } - } - - public boolean getAButton(){ - return m_stick.getRawButton(A_BUTTON); - } - - public boolean getXButton(){ - return m_stick.getRawButton(X_BUTTON); - } - - public boolean getBButton(){ - return m_stick.getRawButton(B_BUTTON); - } - - public boolean getYButton(){ - return m_stick.getRawButton(Y_BUTTON); - } - - public boolean getBackButton(){ - return m_stick.getRawButton(BACK_BUTTON); - } - - public boolean getStartButton(){ - return m_stick.getRawButton(START_BUTTON); - } - - public boolean getLeftBumperButton(){ - return m_stick.getRawButton(LEFT_BUMPER_BUTTON); - } - - public boolean getRightBumperButton(){ - return m_stick.getRawButton(RIGHT_BUMPER_BUTTON); - } - - public boolean getLeftJoystickButton(){ - return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON); - } - - public boolean getRightJoystickButton(){ - return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON); - } - - public double getLeftXAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS)); - } - - public double getLeftYAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS)); - } - - public double getRightXAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS)); - } - - public double getRightYAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS)); - } - - public double getLeftTriggerAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS)); - } - - public double getRightTriggerAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS)); - } - - /** - * Get the angle input from the dpad. - * @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc. - */ - public int getDpadAngle() { - return m_stick.getPOV(0); - } - - public boolean getDPadLeft(){ - return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE); - } - - public boolean getDPadRight(){ - return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE); - } - - public boolean getDPadTop(){ - return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE); - } - - public boolean getDPadBottom(){ - return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE); - } - - public boolean getLeftTrigger(){ - return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE); - } - - public boolean getRightTrigger(){ - return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE); - } - - public boolean getRightAxisUpTrigger(){ - return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE); - } - - public boolean getRightAxisDownTrigger(){ - return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE); - } - - public boolean getRightAxisLeftTrigger(){ - return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE); - } - - public boolean getRightAxisRightTrigger(){ - return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE); - } - - public boolean getLeftAxisUpTrigger(){ - return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE); - } - - public boolean getLeftAxisDownTrigger(){ - return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE); - } - - public boolean getLeftAxisLeftTrigger(){ - return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE); - } - - public boolean getLeftAxisRightTrigger(){ - return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE); - } -} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java deleted file mode 100644 index 26372c2..0000000 --- a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java +++ /dev/null @@ -1,69 +0,0 @@ -package frc4388.utility.controller; - -import edu.wpi.first.wpilibj2.command.button.Button; -import frc4388.utility.controller.XboxController; - -/** - * Mapping for the Xbox controller triggers to allow triggers to be defined as - * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger - * exceeds a tolerance defined in {@link XboxController}. - */ -public class XboxTriggerButton extends Button { - public static final int RIGHT_TRIGGER = 0; - public static final int LEFT_TRIGGER = 1; - public static final int RIGHT_AXIS_UP_TRIGGER = 2; - public static final int RIGHT_AXIS_DOWN_TRIGGER = 3; - public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4; - public static final int RIGHT_AXIS_LEFT_TRIGGER = 5; - public static final int LEFT_AXIS_UP_TRIGGER = 6; - public static final int LEFT_AXIS_DOWN_TRIGGER = 7; - public static final int LEFT_AXIS_RIGHT_TRIGGER = 8; - public static final int LEFT_AXIS_LEFT_TRIGGER = 9; - - private XboxController m_controller; - private int m_trigger; - - /** - * Creates a Trigger-Button mapped to a specific Xbox controller and trigger - */ - public XboxTriggerButton(XboxController controller, int trigger) { - m_controller = controller; - m_trigger = trigger; - } - - /** {@inheritDoc} */ - @Override - public boolean get() { - if (m_trigger == RIGHT_TRIGGER) { - return m_controller.getRightTrigger(); - } - else if (m_trigger == LEFT_TRIGGER) { - return m_controller.getLeftTrigger(); - } - else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) { - return m_controller.getRightAxisUpTrigger(); - } - else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) { - return m_controller.getRightAxisDownTrigger(); - } - else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) { - return m_controller.getRightAxisRightTrigger(); - } - else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) { - return m_controller.getRightAxisLeftTrigger(); - } - else if (m_trigger == LEFT_AXIS_UP_TRIGGER) { - return m_controller.getLeftAxisUpTrigger(); - } - else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) { - return m_controller.getLeftAxisDownTrigger(); - } - else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) { - return m_controller.getLeftAxisRightTrigger(); - } - else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) { - return m_controller.getLeftAxisLeftTrigger(); - } - return false; - } -} diff --git a/src/test/java/frc4388/mocks/MockPigeonIMU.java b/src/test/java/frc4388/mocks/MockPigeonIMU.java deleted file mode 100644 index ecddde7..0000000 --- a/src/test/java/frc4388/mocks/MockPigeonIMU.java +++ /dev/null @@ -1,54 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.mocks; - -import com.ctre.phoenix.ErrorCode; -import com.ctre.phoenix.sensors.PigeonIMU; - -/** - * Add your docs here. - */ -public class MockPigeonIMU extends PigeonIMU { - public int m_deviceNumber; - public double currentYaw; - public double currentPitch; - public double currentRoll; - - public MockPigeonIMU(int deviceNumber) { - super(deviceNumber); - m_deviceNumber = deviceNumber; - } - - @Override - public ErrorCode setYaw(double angleDeg) { - currentYaw = angleDeg; - return ErrorCode.OK; - } - - /** - * @param currentPitch the Pitch to set - */ - public void setCurrentPitch(double currentPitch) { - this.currentPitch = currentPitch; - } - - /** - * @param currentRoll the Roll to set - */ - public void setCurrentRoll(double currentRoll) { - this.currentRoll = currentRoll; - } - - @Override - public ErrorCode getYawPitchRoll(double[] ypr_deg) { - ypr_deg[0] = currentYaw; - ypr_deg[1] = currentPitch; - ypr_deg[2] = currentRoll; - return ErrorCode.OK; - } -} diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java deleted file mode 100644 index 8fcbf53..0000000 --- a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java +++ /dev/null @@ -1,59 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.robot.subsystems; - -import static org.junit.Assert.assertEquals; -import static org.mockito.Mockito.mock; - -import org.junit.Test; - -import edu.wpi.first.wpilibj.*; -import frc4388.robot.Constants.LEDConstants; -import frc4388.utility.LEDPatterns; - -/** - * Add your docs here. - */ -public class LEDSubsystemTest { - @Test - public void testConstructor() { - // Arrange - Spark ledController = mock(Spark.class); - - // Act - LED led = new LED(ledController); - - // Assert - assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001); - } - - @Test - public void testPatterns() { - // Arrange - Spark ledController = mock(Spark.class); - LED led = new LED(ledController); - - // Act - led.setPattern(LEDPatterns.RAINBOW_RAINBOW); - - // Assert - assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001); - - // Act - led.setPattern(LEDPatterns.BLUE_BREATH); - - // Assert - assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001); - - // Act - led.setPattern(LEDPatterns.SOLID_BLACK); - - // Assert - assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001); - } -} diff --git a/src/test/java/frc4388/utility/RobotGyroUtilityTest.java b/src/test/java/frc4388/utility/RobotGyroUtilityTest.java deleted file mode 100644 index 8c0b1e5..0000000 --- a/src/test/java/frc4388/utility/RobotGyroUtilityTest.java +++ /dev/null @@ -1,184 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.utility; - -import static org.junit.Assert.*; -import static org.mockito.Mockito.*; - -import com.kauailabs.navx.frc.AHRS; - -import org.junit.*; - -import frc4388.mocks.MockPigeonIMU; -import frc4388.robot.Constants.DriveConstants; - -/** - * Add your docs here. - */ -public class RobotGyroUtilityTest { - // TODO UNTESTED: most functions for NavX - - private RobotGyro gyroPigeon; - private RobotGyro gyroNavX; - - @Test - public void testConstructor() { - // Arrange - MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); - AHRS navX = mock(AHRS.class); - gyroPigeon = new RobotGyro(pigeon); - gyroNavX = new RobotGyro(navX); - - // Assert - assertEquals(true, gyroPigeon.m_isGyroAPigeon); - assertEquals(pigeon, gyroPigeon.getPigeon()); - assertEquals(null, gyroPigeon.getNavX()); - assertEquals(false, gyroNavX.m_isGyroAPigeon); - assertEquals(navX, gyroNavX.getNavX()); - assertEquals(null, gyroNavX.getPigeon()); - } - - @Test - public void testHeadingPigeon() { - // Arrange - MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); - gyroPigeon = new RobotGyro(pigeon); - - // Act & Assert - assertEquals(-90, gyroPigeon.getHeading(270), 0.0001); - assertEquals(-45, gyroPigeon.getHeading(315), 0.0001); - assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001); - assertEquals(30, gyroPigeon.getHeading(30), 0.0001); - assertEquals(0, gyroPigeon.getHeading(0), 0.0001); - assertEquals(180, gyroPigeon.getHeading(180), 0.0001); - assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001); - assertEquals(97, gyroPigeon.getHeading(1537), 0.0001); - assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001); - } - - @Test - public void testYawPitchRollPigeon() { - // Arrange - MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); - gyroPigeon = new RobotGyro(pigeon); - - // Assert - assertEquals(0, gyroPigeon.getAngle(), 0.0001); - - // Act - pigeon.setYaw(40); - - // Assert - assertEquals(40, gyroPigeon.getAngle(), 0.0001); - - // Act - gyroPigeon.reset(); - - // Assert - assertEquals(0, gyroPigeon.getAngle(), 0.0001); - - // Act - pigeon.setYaw(-1457); - pigeon.setCurrentPitch(100); - pigeon.setCurrentRoll(100); - - // Assert - assertEquals(-1457, gyroPigeon.getAngle(), 0.0001); - assertEquals(90, gyroPigeon.getPitch(), 0.0001); - assertEquals(90, gyroPigeon.getRoll(), 0.0001); - - // Act - pigeon.setCurrentPitch(45); - pigeon.setCurrentRoll(45); - - // Assert - assertEquals(45, gyroPigeon.getPitch(), 0.0001); - assertEquals(45, gyroPigeon.getRoll(), 0.0001); - - // Act - pigeon.setCurrentPitch(0); - pigeon.setCurrentRoll(0); - - // Assert - assertEquals(0, gyroPigeon.getPitch(), 0.0001); - assertEquals(0, gyroPigeon.getRoll(), 0.0001); - - // Act - pigeon.setCurrentPitch(-60); - pigeon.setCurrentRoll(-60); - - // Assert - assertEquals(-60, gyroPigeon.getPitch(), 0.0001); - assertEquals(-60, gyroPigeon.getRoll(), 0.0001); - - // Act - pigeon.setCurrentPitch(-90); - pigeon.setCurrentRoll(-90); - - // Assert - assertEquals(-90, gyroPigeon.getPitch(), 0.0001); - assertEquals(-90, gyroPigeon.getRoll(), 0.0001); - - // Act - pigeon.setCurrentPitch(-100); - pigeon.setCurrentRoll(-100); - - // Assert - assertEquals(-90, gyroPigeon.getPitch(), 0.0001); - assertEquals(-90, gyroPigeon.getRoll(), 0.0001); - } - - @Test - public void testRatesPigeon() { - // Arrange - MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); - gyroPigeon = new RobotGyro(pigeon); - RobotTime robotTime = RobotTime.getInstance(); - gyroPigeon.updatePigeonDeltas(); - - // Act - robotTime.m_deltaTime = 5; - pigeon.setYaw(0); - gyroPigeon.updatePigeonDeltas(); - - // Assert - assertEquals(0, gyroPigeon.getRate(), 1); - - // Act - robotTime.m_deltaTime = 5; - pigeon.setYaw(90); - gyroPigeon.updatePigeonDeltas(); - - // Assert - assertEquals(18000, gyroPigeon.getRate(), 0.001); - - // Act - robotTime.m_deltaTime = 5; - pigeon.setYaw(90); - gyroPigeon.updatePigeonDeltas(); - - // Assert - assertEquals(0, gyroPigeon.getRate(), 0.001); - - // Act - robotTime.m_deltaTime = 3; - pigeon.setYaw(-30); - gyroPigeon.updatePigeonDeltas(); - - // Assert - assertEquals(-40000, gyroPigeon.getRate(), 0.001); - - // Act - robotTime.m_deltaTime = 6; - pigeon.setYaw(690); - gyroPigeon.updatePigeonDeltas(); - - // Assert - assertEquals(120000, gyroPigeon.getRate(), 0.001); - } -} diff --git a/src/test/java/frc4388/utility/RobotTimeUtilityTest.java b/src/test/java/frc4388/utility/RobotTimeUtilityTest.java deleted file mode 100644 index 2c31a34..0000000 --- a/src/test/java/frc4388/utility/RobotTimeUtilityTest.java +++ /dev/null @@ -1,104 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc4388.utility; - -import static org.junit.Assert.*; - -import org.junit.*; - -/** - * Add your docs here. - */ -public class RobotTimeUtilityTest { - RobotTime robotTime = RobotTime.getInstance(); - - @Test - public void testUpdateTimes() { - // Arrange - long lastTime; - robotTime.m_deltaTime = 0; - robotTime.m_robotTime = 0; - robotTime.m_lastRobotTime = 0; - robotTime.m_frameNumber = 0; - robotTime.endMatchTime(); - robotTime.m_lastMatchTime = 0; - - // Assert - assertEquals(0, robotTime.m_deltaTime); - assertEquals(0, robotTime.m_robotTime); - assertEquals(0, robotTime.m_lastRobotTime); - assertEquals(0, robotTime.m_frameNumber); - lastTime = robotTime.m_robotTime; - - // Act - wait(1); - robotTime.updateTimes(); - - // Assert - assertEquals(true, robotTime.m_deltaTime > 0); - assertEquals(true, robotTime.m_robotTime > 0); - assertEquals(lastTime, robotTime.m_lastRobotTime); - assertEquals(1, robotTime.m_frameNumber); - lastTime = robotTime.m_robotTime; - - // Act - wait(1); - robotTime.updateTimes(); - - // Assert - assertEquals(true, robotTime.m_deltaTime > 0); - assertEquals(true, robotTime.m_robotTime > 0); - assertEquals(lastTime, robotTime.m_lastRobotTime); - assertEquals(2, robotTime.m_frameNumber); - } - - @Test - public void testMatchTime() { - // Arrange - long lastTime; - - // Assert - assertEquals(0, robotTime.m_matchTime); - assertEquals(0, robotTime.m_lastMatchTime); - lastTime = robotTime.m_matchTime; - - // Act - robotTime.startMatchTime(); - wait(1); - robotTime.updateTimes(); - - // Assert - assertEquals(true, robotTime.m_matchTime > 0); - assertEquals(lastTime, robotTime.m_lastMatchTime); - lastTime = robotTime.m_matchTime; - - // Act - wait(1); - robotTime.updateTimes(); - robotTime.endMatchTime(); - - // Assert - assertEquals(0, robotTime.m_matchTime); - assertEquals(lastTime, robotTime.m_lastMatchTime); - lastTime = robotTime.m_matchTime; - - // Act - wait(1); - robotTime.updateTimes(); - - // Assert - assertEquals(0, robotTime.m_matchTime); - assertEquals(lastTime, robotTime.m_lastMatchTime); - } - - private void wait(int millis) { - try { - Thread.sleep(millis); - } catch (Exception e) {} - } -} diff --git a/template.config.js b/template.config.js deleted file mode 100644 index 54f2425..0000000 --- a/template.config.js +++ /dev/null @@ -1,31 +0,0 @@ -/** - * This file is a configuration file generated by the `Template` extension on `vscode` - * @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template - */ -module.exports = { - // You can change the template path to another path - templateRootPath: "./.templates", - // After copying the template file the `replaceFileTextFn` function is executed - replaceFileTextFn: (fileText, templateName, utils) => { - // @see https://www.npmjs.com/package/change-case - const { changeCase } = utils; - // You can change the text in the file - return fileText - .replace(/__templateName__/gm, templateName) - .replace( - /__templateNameToPascalCase__/gm, - changeCase.pascalCase(templateName) - ) - .replace( - /__templateNameToParamCase__/gm, - changeCase.paramCase(templateName) - ); - }, - replaceFileNameFn: (fileName, templateName, utils) => { - const { path } = utils; - // @see https://nodejs.org/api/path.html#path_path_parse_path - const { base } = path.parse(fileName); - // You can change the file name - return base; - } -}; diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json index f8d42a4..dd0b3f4 100644 --- a/vendordeps/Phoenix.json +++ b/vendordeps/Phoenix.json @@ -1,81 +1,106 @@ { "fileName": "Phoenix.json", "name": "CTRE-Phoenix", - "version": "5.17.3", + "version": "5.21.2", + "frcYear": 2022, "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/Phoenix-frc2022-latest.json", "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.17.3" + "version": "5.21.2" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.17.3" + "version": "5.21.2" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.17.3", + "version": "5.21.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64" + "linuxathena" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "diagnostics", - "version": "5.17.3", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.21.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "linuxathena", "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "canutils", - "version": "5.17.3", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.21.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "platform-stub", - "version": "5.17.3", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.21.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "core", - "version": "5.17.3", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simVictorSPX", + "version": "5.21.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "linuxathena", "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" ] } ], @@ -83,97 +108,149 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.17.3", + "version": "5.21.2", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64" + "linuxathena" ] }, { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.17.3", + "version": "5.21.2", "libName": "CTRE_Phoenix", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64" + "linuxathena" ] }, { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.17.3", + "version": "5.21.2", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64" + "linuxathena" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "diagnostics", - "version": "5.17.3", - "libName": "CTRE_PhoenixDiagnostics", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.21.2", + "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "canutils", - "version": "5.17.3", - "libName": "CTRE_PhoenixCanutils", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.21.2", + "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "platform-stub", - "version": "5.17.3", - "libName": "CTRE_PhoenixPlatform", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.21.2", + "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "core", - "version": "5.17.3", - "libName": "CTRE_PhoenixCore", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.21.2", + "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", "windowsx86-64", - "linuxx86-64" + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.21.2", + "libName": "CTRE_SimTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simVictorSPX", + "version": "5.21.2", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.21.2", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.21.2", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" ] } ] diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index 83de291..d7bd9b0 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -1,37 +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" - ] - } - ] -} \ No newline at end of file + "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" + ] + } + ] +} diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json deleted file mode 100644 index dca1d82..0000000 --- a/vendordeps/navx_frc.json +++ /dev/null @@ -1,35 +0,0 @@ -{ - "fileName": "navx_frc.json", - "name": "KauaiLabs_navX_FRC", - "version": "3.1.413", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://repo1.maven.org/maven2/" - ], - "jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json", - "javaDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-java", - "version": "3.1.413" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-cpp", - "version": "3.1.413", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": false, - "libName": "navx_frc", - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxraspbian", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file