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Add best guess base robot code

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Remove unused items
This commit is contained in:
nathanrsxtn
2022-04-26 14:55:02 -06:00
parent 7fd43e1cbb
commit 71bf718023
40 changed files with 845 additions and 1912 deletions
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.templates/CommandTest.java
-40
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@@ -1,40 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.*;
import frc4388.robot.subsystems.*;
import org.junit.*;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.verify;
public class CommandTest {
private CommandScheduler scheduler = null;
@Before
public void setup() {
scheduler = CommandScheduler.getInstance();
}
// TODO: Update this to use an actual command. Won't work with inline commands for some reason
@Test
public void testExample() {
// Arrange
Drive drive = mock(Drive.class);
RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
// Act
scheduler.schedule(command);
scheduler.run();
// Assert
verify(drive).driveWithInput(0, 0);
}
}
.templates/SubsystemTest.java
-59
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@@ -1,59 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import org.junit.*;
import edu.wpi.first.wpilibj.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.LEDPatterns;
/**
* Based off the LEDSubsystemTest class
*/
public class SubsystemTest {
@Test
public void testConstructor() {
// Arrange
Spark ledController = mock(Spark.class);
// 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);
}
}
.templates/UtilityTest.java
-61
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@@ -1,61 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.utility;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
/**
* Based on the RobotGyroUtilityTest class
*/
public class UtilityTest {
private RobotGyro gyroPigeon;
private RobotGyro gyroNavX;
@Test
public void testConstructor() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
AHRS navX = mock(AHRS.class);
gyroPigeon = new RobotGyro(pigeon);
gyroNavX = new RobotGyro(navX);
// Assert
assertEquals(true, gyroPigeon.m_isGyroAPigeon);
assertEquals(pigeon, gyroPigeon.getPigeon());
assertEquals(null, gyroPigeon.getNavX());
assertEquals(false, gyroNavX.m_isGyroAPigeon);
assertEquals(navX, gyroNavX.getNavX());
assertEquals(null, gyroNavX.getPigeon());
}
@Test
public void testHeadingPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
// 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);
}
}
.vscode/settings.json
Vendored
+15 -1
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@@ -1,5 +1,6 @@
{
"java.configuration.updateBuildConfiguration": "automatic",
"java.server.launchMode": "Standard",
"files.exclude": {
"**/.git": true,
"**/.svn": true,
@@ -10,6 +11,19 @@
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
"**/.factorypath": true
"**/.factorypath": true,
"**/*~": true
},
"java.test.config": [
{
"name": "WPIlibUnitTests",
"workingDirectory": "${workspaceFolder}/build/jni/release",
"vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
"env": {
"LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
"DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
}
},
],
"java.test.defaultConfig": "WPIlibUnitTests"
}
.wpilib/wpilib_preferences.json
+1 -1
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@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2020",
"projectYear": "2022",
"teamNumber": 4388
}
LICENSE
-24
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@@ -1,24 +0,0 @@
Copyright (c) 2009-2018 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
README.md
-2
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@@ -1,2 +0,0 @@
# Robot-Essentials
Basic code for any Ridgebotics robot project
WPILib-License.md
+24
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@@ -0,0 +1,24 @@
Copyright (c) 2009-2021 FIRST and other WPILib contributors
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of FIRST, WPILib, nor the names of other WPILib
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
build.gradle
+45 -27
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@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2020.3.2"
id "edu.wpi.first.GradleRIO" version "2022.2.1"
}
sourceCompatibility = JavaVersion.VERSION_11
@@ -9,61 +9,79 @@ targetCompatibility = JavaVersion.VERSION_11
def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project EmbeddedTools.
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roboRIO("roborio") {
roborio(getTargetTypeClass('RoboRIO')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
// want to store a team number in this file.
team = frc.getTeamNumber()
}
}
team = project.frc.getTeamNumber()
debug = project.frc.getDebugOrDefault(false)
artifacts {
frcJavaArtifact('frcJava') {
targets << "roborio"
// Debug can be overridden by command line, for use with VSCode
debug = frc.getDebugOrDefault(false)
// First part is artifact name, 2nd is artifact type
// getTargetTypeClass is a shortcut to get the class type using a string
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
}
// Built in artifact to deploy arbitrary files to the roboRIO.
fileTreeArtifact('frcStaticFileDeploy') {
// The directory below is the local directory to deploy
files = fileTree(dir: 'src/main/deploy')
// Deploy to RoboRIO target, into /home/lvuser/deploy
targets << "roborio"
// Static files artifact
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
}
}
}
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
// Set to true to use debug for JNI.
wpi.java.debugJni = false
// Set this to true to enable desktop support.
def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 4.
dependencies {
implementation wpi.deps.wpilib()
nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
implementation wpi.deps.vendor.java()
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
simulationDebug wpi.sim.enableDebug()
nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
simulationRelease wpi.sim.enableRelease()
testImplementation 'junit:junit:4.12'
testCompile "org.mockito:mockito-core:2.+"
// Enable simulation gui support. Must check the box in vscode to enable support
// upon debugging
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
}
// Simulation configuration (e.g. environment variables).
wpi.sim.addGui().defaultEnabled = true
wpi.sim.addDriverstation()
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
// in order to make them all available at runtime. Also adding the manifest so WPILib
// knows where to look for our Robot Class.
jar {
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}
// Configure jar and deploy tasks
deployArtifact.jarTask = jar
wpi.java.configureExecutableTasks(jar)
wpi.java.configureTestTasks(test)
gradle/wrapper/gradle-wrapper.jar
Vendored
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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-6.0.1-bin.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
gradlew
Vendored Regular → Executable
+160 -109
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@@ -1,7 +1,7 @@
#!/usr/bin/env sh
#!/bin/sh
#
# Copyright 2015 the original author or authors.
# Copyright © 2015-2021 the original authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
#
##############################################################################
##
## Gradle start up script for UN*X
##
#
# Gradle start up script for POSIX generated by Gradle.
#
# Important for running:
#
# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
# noncompliant, but you have some other compliant shell such as ksh or
# bash, then to run this script, type that shell name before the whole
# command line, like:
#
# ksh Gradle
#
# Busybox and similar reduced shells will NOT work, because this script
# requires all of these POSIX shell features:
# * functions;
# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
# * compound commands having a testable exit status, especially «case»;
# * various built-in commands including «command», «set», and «ulimit».
#
# Important for patching:
#
# (2) This script targets any POSIX shell, so it avoids extensions provided
# by Bash, Ksh, etc; in particular arrays are avoided.
#
# The "traditional" practice of packing multiple parameters into a
# space-separated string is a well documented source of bugs and security
# problems, so this is (mostly) avoided, by progressively accumulating
# options in "$@", and eventually passing that to Java.
#
# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
# see the in-line comments for details.
#
# There are tweaks for specific operating systems such as AIX, CygWin,
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
#
##############################################################################
# Attempt to set APP_HOME
# Resolve links: $0 may be a link
PRG="$0"
# Need this for relative symlinks.
while [ -h "$PRG" ] ; do
ls=`ls -ld "$PRG"`
link=`expr "$ls" : '.*-> \(.*\)$'`
if expr "$link" : '/.*' > /dev/null; then
PRG="$link"
else
PRG=`dirname "$PRG"`"/$link"
fi
app_path=$0
# Need this for daisy-chained symlinks.
while
APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
[ -h "$app_path" ]
do
ls=$( ls -ld "$app_path" )
link=${ls#*' -> '}
case $link in #(
/*) app_path=$link ;; #(
*) app_path=$APP_HOME$link ;;
esac
done
SAVED="`pwd`"
cd "`dirname \"$PRG\"`/" >/dev/null
APP_HOME="`pwd -P`"
cd "$SAVED" >/dev/null
APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
APP_NAME="Gradle"
APP_BASE_NAME=`basename "$0"`
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD="maximum"
MAX_FD=maximum
warn () {
echo "$*"
}
} >&2
die () {
echo
echo "$*"
echo
exit 1
}
} >&2
# OS specific support (must be 'true' or 'false').
cygwin=false
msys=false
darwin=false
nonstop=false
case "`uname`" in
CYGWIN* )
cygwin=true
;;
Darwin* )
darwin=true
;;
MINGW* )
msys=true
;;
NONSTOP* )
nonstop=true
;;
case "$( uname )" in #(
CYGWIN* ) cygwin=true ;; #(
Darwin* ) darwin=true ;; #(
MSYS* | MINGW* ) msys=true ;; #(
NONSTOP* ) nonstop=true ;;
esac
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
# Determine the Java command to use to start the JVM.
if [ -n "$JAVA_HOME" ] ; then
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
# IBM's JDK on AIX uses strange locations for the executables
JAVACMD="$JAVA_HOME/jre/sh/java"
JAVACMD=$JAVA_HOME/jre/sh/java
else
JAVACMD="$JAVA_HOME/bin/java"
JAVACMD=$JAVA_HOME/bin/java
fi
if [ ! -x "$JAVACMD" ] ; then
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
else
JAVACMD="java"
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
fi
# Increase the maximum file descriptors if we can.
if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
MAX_FD_LIMIT=`ulimit -H -n`
if [ $? -eq 0 ] ; then
if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
MAX_FD="$MAX_FD_LIMIT"
fi
ulimit -n $MAX_FD
if [ $? -ne 0 ] ; then
warn "Could not set maximum file descriptor limit: $MAX_FD"
fi
else
warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
fi
fi
# For Darwin, add options to specify how the application appears in the dock
if $darwin; then
GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
fi
# For Cygwin or MSYS, switch paths to Windows format before running java
if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
APP_HOME=`cygpath --path --mixed "$APP_HOME"`
CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
JAVACMD=`cygpath --unix "$JAVACMD"`
# We build the pattern for arguments to be converted via cygpath
ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
SEP=""
for dir in $ROOTDIRSRAW ; do
ROOTDIRS="$ROOTDIRS$SEP$dir"
SEP="|"
done
OURCYGPATTERN="(^($ROOTDIRS))"
# Add a user-defined pattern to the cygpath arguments
if [ "$GRADLE_CYGPATTERN" != "" ] ; then
OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
fi
# Now convert the arguments - kludge to limit ourselves to /bin/sh
i=0
for arg in "$@" ; do
CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
else
eval `echo args$i`="\"$arg\""
fi
i=`expr $i + 1`
done
case $i in
0) set -- ;;
1) set -- "$args0" ;;
2) set -- "$args0" "$args1" ;;
3) set -- "$args0" "$args1" "$args2" ;;
4) set -- "$args0" "$args1" "$args2" "$args3" ;;
5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
fi
# Escape application args
save () {
for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
echo " "
}
APP_ARGS=`save "$@"`
# Collect all arguments for the java command, stacking in reverse order:
# * args from the command line
# * the main class name
# * -classpath
# * -D...appname settings
# * --module-path (only if needed)
# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
# Collect all arguments for the java command, following the shell quoting and substitution rules
eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
# For Cygwin or MSYS, switch paths to Windows format before running java
if "$cygwin" || "$msys" ; then
APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
JAVACMD=$( cygpath --unix "$JAVACMD" )
# Now convert the arguments - kludge to limit ourselves to /bin/sh
for arg do
if
case $arg in #(
-*) false ;; # don't mess with options #(
/?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
[ -e "$t" ] ;; #(
*) false ;;
esac
then
arg=$( cygpath --path --ignore --mixed "$arg" )
fi
# Roll the args list around exactly as many times as the number of
# args, so each arg winds up back in the position where it started, but
# possibly modified.
#
# NB: a `for` loop captures its iteration list before it begins, so
# changing the positional parameters here affects neither the number of
# iterations, nor the values presented in `arg`.
shift # remove old arg
set -- "$@" "$arg" # push replacement arg
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \
-classpath "$CLASSPATH" \
org.gradle.wrapper.GradleWrapperMain \
"$@"
# Use "xargs" to parse quoted args.
#
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
#
# In Bash we could simply go:
#
# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
# set -- "${ARGS[@]}" "$@"
#
# but POSIX shell has neither arrays nor command substitution, so instead we
# post-process each arg (as a line of input to sed) to backslash-escape any
# character that might be a shell metacharacter, then use eval to reverse
# that process (while maintaining the separation between arguments), and wrap
# the whole thing up as a single "set" statement.
#
# This will of course break if any of these variables contains a newline or
# an unmatched quote.
#
eval "set -- $(
printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
xargs -n1 |
sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
tr '\n' ' '
)" '"$@"'
exec "$JAVACMD" "$@"
gradlew.bat
Vendored
+7 -18
View File
@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@rem Resolve any "." and ".." in APP_HOME to make it shorter.
for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if "%ERRORLEVEL%" == "0" goto init
if "%ERRORLEVEL%" == "0" goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
set JAVA_HOME=%JAVA_HOME:"=%
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto init
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
goto fail
:init
@rem Get command-line arguments, handling Windows variants
if not "%OS%" == "Windows_NT" goto win9xME_args
:win9xME_args
@rem Slurp the command line arguments.
set CMD_LINE_ARGS=
set _SKIP=2
:win9xME_args_slurp
if "x%~1" == "x" goto execute
set CMD_LINE_ARGS=%*
:execute
@rem Setup the command line
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
@rem Execute Gradle
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
:end
@rem End local scope for the variables with windows NT shell
settings.gradle
+1 -1
View File
@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
String frcYear = '2020'
String frcYear = '2022'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
simgui-ds.json
+85
View File
@@ -0,0 +1,85 @@
{
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 6,
"buttonKeys": [
90,
88,
67,
86,
66,
78
],
"povConfig": [
{
"key0": 73,
"key180": 75,
"key270": 74,
"key90": 76
}
],
"povCount": 1
},
{
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
],
"robotJoysticks": [
{
"guid": "Keyboard0"
}
]
}
simgui-window.json
+60
View File
@@ -0,0 +1,60 @@
{
"MainWindow": {
"GLOBAL": {
"height": "720",
"maximized": "0",
"style": "0",
"userScale": "2",
"width": "1280",
"xpos": "-1",
"ypos": "-1"
}
},
"Window": {
"###FMS": {
"Collapsed": "0",
"Pos": "5,540",
"Size": "235,169"
},
"###Joysticks": {
"Collapsed": "0",
"Pos": "250,465",
"Size": "796,155"
},
"###Keyboard 0 Settings": {
"Collapsed": "0",
"Pos": "10,50",
"Size": "300,560"
},
"###NetworkTables": {
"Collapsed": "0",
"Pos": "250,86",
"Size": "750,376"
},
"###Other Devices": {
"Collapsed": "0",
"Pos": "1025,20",
"Size": "250,695"
},
"###System Joysticks": {
"Collapsed": "0",
"Pos": "5,350",
"Size": "192,218"
},
"###Timing": {
"Collapsed": "0",
"Pos": "5,150",
"Size": "135,127"
},
"Debug##Default": {
"Collapsed": "0",
"Pos": "60,60",
"Size": "400,400"
},
"Robot State": {
"Collapsed": "0",
"Pos": "5,20",
"Size": "92,99"
}
}
}
simgui.json
+20
View File
@@ -0,0 +1,20 @@
{
"NTProvider": {
"types": {
"/FMSInfo": "FMSInfo",
"/LiveWindow/Drive": "Subsystem",
"/LiveWindow/Horn": "Subsystem",
"/LiveWindow/Shooter": "Subsystem",
"/LiveWindow/Ungrouped/DifferentialDrive[1]": "DifferentialDrive",
"/LiveWindow/Ungrouped/Scheduler": "Scheduler"
}
},
"NetworkTables": {
"SmartDashboard": {
"Shooter": {
"open": true
},
"open": true
}
}
}
src/main/deploy/example.txt
-3
View File
@@ -1,3 +0,0 @@
Files placed in this directory will be deployed to the RoboRIO into the
'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function
to get a proper path relative to the deploy directory.
src/main/java/frc4388/robot/Constants.java
+19 -25
View File
@@ -1,42 +1,36 @@
/*----------------------------------------------------------------------------*/
/* 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 frc4388.utility.LEDPatterns;
/**
* 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.
* 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
* <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 int DRIVE_PIGEON_ID = 6;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
public static final int DRIVE_LEFT_CAN_ID = 2;
public static final int DRIVE_RIGHT_CAN_ID = 3;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
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 LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
public static final class HornConstants {
public static final int HORN_SOLENOID_ID = 0;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
public static final int CONTROLLER_ID = 0;
}
}
src/main/java/frc4388/robot/Robot.java
+18 -76
View File
@@ -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.
*
* <p>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() {
}
src/main/java/frc4388/robot/RobotContainer.java
+94 -70
View File
@@ -1,44 +1,56 @@
/*----------------------------------------------------------------------------*/
/* 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();
/* 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);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
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);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
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);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -48,30 +60,67 @@ public class RobotContainer {
/* 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));
m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.arcadeDrive(getController().getLeftY(), getController().getRightX()), m_robotDrive));
}
/**
* 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}.
* 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));
// 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));
}
/* 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));
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);
}
public int get() {
return (int) m_entry.getDouble(m_defaultValue);
}
public void set(int value) {
m_entry.setDouble(value);
}
}
/**
@@ -80,35 +129,10 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
return new InstantCommand();
return new PrintCommand("No Autonomous");
}
/**
* Add your docs here.
*/
public IHandController getDriverController() {
return m_driverXbox;
}
/**
* 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;
}
}
src/main/java/frc4388/robot/RobotMap.java
+31 -43
View File
@@ -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();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
}
/* 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));
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 configureDriveMotorControllers() {
/* factory default values */
leftFrontMotor.configFactoryDefault();
rightFrontMotor.configFactoryDefault();
leftBackMotor.configFactoryDefault();
rightBackMotor.configFactoryDefault();
/* set back motors as followers */
leftBackMotor.follow(leftFrontMotor);
rightBackMotor.follow(rightFrontMotor);
driveLeftMotor.configFactoryDefault();
driveRightMotor.configFactoryDefault();
/* 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);
driveLeftMotor.setNeutralMode(NeutralMode.Brake);
driveRightMotor.setNeutralMode(NeutralMode.Brake);
}
/* Horn subsystem */
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
/* 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);
}
src/main/java/frc4388/robot/subsystems/Drive.java
+15 -71
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@@ -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);
}
}
src/main/java/frc4388/robot/subsystems/Horn.java
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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);
}
}
src/main/java/frc4388/robot/subsystems/LED.java
-63
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@@ -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;
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
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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;
}
}
src/main/java/frc4388/utility/LEDPatterns.java
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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;
}
}
src/main/java/frc4388/utility/RobotGyro.java
-180
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/*----------------------------------------------------------------------------*/
/* 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;
}
/**
* <p>NavX:
* <p>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.
*
* <p>Pigeon:
* <p>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 {
}
}
src/main/java/frc4388/utility/RobotTime.java
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@@ -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;
/**
* <p>Keeps track of Robot times like time passed, delta time, etc
* <p>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;
}
}
src/main/java/frc4388/utility/controller/IHandController.java
-21
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@@ -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();
}
src/main/java/frc4388/utility/controller/XboxController.java
-218
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@@ -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);
}
}
src/main/java/frc4388/utility/controller/XboxTriggerButton.java
-69
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@@ -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;
}
}
src/test/java/frc4388/mocks/MockPigeonIMU.java
-54
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@@ -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;
}
}
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
-59
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@@ -1,59 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
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);
}
}
src/test/java/frc4388/utility/RobotGyroUtilityTest.java
-184
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@@ -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);
}
}
src/test/java/frc4388/utility/RobotTimeUtilityTest.java
-104
View File
@@ -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) {}
}
}
template.config.js
-31
View File
@@ -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;
}
};
vendordeps/Phoenix.json
+145 -68
View File
@@ -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"
]
}
]
vendordeps/navx_frc.json
-35
View File
@@ -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"
]
}
]
}