mirror of
https://github.com/Team4388/Swerve-Drive.git
synced 2026-06-08 16:28:05 -06:00
Initial commit
This commit is contained in:
Abhishrek05
@@ -0,0 +1,2 @@
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|||||||
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# Auto detect text files and perform LF normalization
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||||||
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* text=auto
|
||||||
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|||||||
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name: Java CI
|
||||||
|
|
||||||
|
on:
|
||||||
|
push:
|
||||||
|
branches:
|
||||||
|
- master
|
||||||
|
pull_request:
|
||||||
|
branches:
|
||||||
|
- master
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
steps:
|
||||||
|
- uses: actions/checkout@v1
|
||||||
|
- name: Set up JDK 1.8
|
||||||
|
uses: actions/setup-java@v1
|
||||||
|
with:
|
||||||
|
java-version: 1.12
|
||||||
|
- name: Change wrapper permissions
|
||||||
|
run: chmod +x ./gradlew
|
||||||
|
- name: Build with Gradle
|
||||||
|
run: ./gradlew build
|
||||||
+161
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|
|||||||
|
# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
|
||||||
|
|
||||||
|
### C++ ###
|
||||||
|
# Prerequisites
|
||||||
|
*.d
|
||||||
|
|
||||||
|
# Compiled Object files
|
||||||
|
*.slo
|
||||||
|
*.lo
|
||||||
|
*.o
|
||||||
|
*.obj
|
||||||
|
|
||||||
|
# Precompiled Headers
|
||||||
|
*.gch
|
||||||
|
*.pch
|
||||||
|
|
||||||
|
# Compiled Dynamic libraries
|
||||||
|
*.so
|
||||||
|
*.dylib
|
||||||
|
*.dll
|
||||||
|
|
||||||
|
# Fortran module files
|
||||||
|
*.mod
|
||||||
|
*.smod
|
||||||
|
|
||||||
|
# Compiled Static libraries
|
||||||
|
*.lai
|
||||||
|
*.la
|
||||||
|
*.a
|
||||||
|
*.lib
|
||||||
|
|
||||||
|
# Executables
|
||||||
|
*.exe
|
||||||
|
*.out
|
||||||
|
*.app
|
||||||
|
|
||||||
|
### Java ###
|
||||||
|
# Compiled class file
|
||||||
|
*.class
|
||||||
|
|
||||||
|
# Log file
|
||||||
|
*.log
|
||||||
|
|
||||||
|
# BlueJ files
|
||||||
|
*.ctxt
|
||||||
|
|
||||||
|
# Mobile Tools for Java (J2ME)
|
||||||
|
.mtj.tmp/
|
||||||
|
|
||||||
|
# Package Files #
|
||||||
|
*.jar
|
||||||
|
*.war
|
||||||
|
*.nar
|
||||||
|
*.ear
|
||||||
|
*.zip
|
||||||
|
*.tar.gz
|
||||||
|
*.rar
|
||||||
|
|
||||||
|
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
|
||||||
|
hs_err_pid*
|
||||||
|
|
||||||
|
### Linux ###
|
||||||
|
*~
|
||||||
|
|
||||||
|
# temporary files which can be created if a process still has a handle open of a deleted file
|
||||||
|
.fuse_hidden*
|
||||||
|
|
||||||
|
# KDE directory preferences
|
||||||
|
.directory
|
||||||
|
|
||||||
|
# Linux trash folder which might appear on any partition or disk
|
||||||
|
.Trash-*
|
||||||
|
|
||||||
|
# .nfs files are created when an open file is removed but is still being accessed
|
||||||
|
.nfs*
|
||||||
|
|
||||||
|
### macOS ###
|
||||||
|
# General
|
||||||
|
.DS_Store
|
||||||
|
.AppleDouble
|
||||||
|
.LSOverride
|
||||||
|
|
||||||
|
# Icon must end with two \r
|
||||||
|
Icon
|
||||||
|
|
||||||
|
# Thumbnails
|
||||||
|
._*
|
||||||
|
|
||||||
|
# Files that might appear in the root of a volume
|
||||||
|
.DocumentRevisions-V100
|
||||||
|
.fseventsd
|
||||||
|
.Spotlight-V100
|
||||||
|
.TemporaryItems
|
||||||
|
.Trashes
|
||||||
|
.VolumeIcon.icns
|
||||||
|
.com.apple.timemachine.donotpresent
|
||||||
|
|
||||||
|
# Directories potentially created on remote AFP share
|
||||||
|
.AppleDB
|
||||||
|
.AppleDesktop
|
||||||
|
Network Trash Folder
|
||||||
|
Temporary Items
|
||||||
|
.apdisk
|
||||||
|
|
||||||
|
### VisualStudioCode ###
|
||||||
|
.vscode/*
|
||||||
|
!.vscode/settings.json
|
||||||
|
!.vscode/tasks.json
|
||||||
|
!.vscode/launch.json
|
||||||
|
!.vscode/extensions.json
|
||||||
|
|
||||||
|
### Windows ###
|
||||||
|
# Windows thumbnail cache files
|
||||||
|
Thumbs.db
|
||||||
|
ehthumbs.db
|
||||||
|
ehthumbs_vista.db
|
||||||
|
|
||||||
|
# Dump file
|
||||||
|
*.stackdump
|
||||||
|
|
||||||
|
# Folder config file
|
||||||
|
[Dd]esktop.ini
|
||||||
|
|
||||||
|
# Recycle Bin used on file shares
|
||||||
|
$RECYCLE.BIN/
|
||||||
|
|
||||||
|
# Windows Installer files
|
||||||
|
*.cab
|
||||||
|
*.msi
|
||||||
|
*.msix
|
||||||
|
*.msm
|
||||||
|
*.msp
|
||||||
|
|
||||||
|
# Windows shortcuts
|
||||||
|
*.lnk
|
||||||
|
|
||||||
|
### Gradle ###
|
||||||
|
.gradle
|
||||||
|
/build/
|
||||||
|
|
||||||
|
# Ignore Gradle GUI config
|
||||||
|
gradle-app.setting
|
||||||
|
|
||||||
|
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||||
|
!gradle-wrapper.jar
|
||||||
|
|
||||||
|
# Cache of project
|
||||||
|
.gradletasknamecache
|
||||||
|
|
||||||
|
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||||
|
# gradle/wrapper/gradle-wrapper.properties
|
||||||
|
|
||||||
|
# # VS Code Specific Java Settings
|
||||||
|
.classpath
|
||||||
|
.project
|
||||||
|
.settings/
|
||||||
|
bin/
|
||||||
|
imgui.ini
|
||||||
|
|
||||||
|
|
||||||
|
# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
|
||||||
@@ -0,0 +1,40 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
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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.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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
Vendored
+21
@@ -0,0 +1,21 @@
|
|||||||
|
{
|
||||||
|
// Use IntelliSense to learn about possible attributes.
|
||||||
|
// Hover to view descriptions of existing attributes.
|
||||||
|
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
|
||||||
|
"version": "0.2.0",
|
||||||
|
"configurations": [
|
||||||
|
|
||||||
|
{
|
||||||
|
"type": "wpilib",
|
||||||
|
"name": "WPILib Desktop Debug",
|
||||||
|
"request": "launch",
|
||||||
|
"desktop": true,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "wpilib",
|
||||||
|
"name": "WPILib roboRIO Debug",
|
||||||
|
"request": "launch",
|
||||||
|
"desktop": false,
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
Vendored
+15
@@ -0,0 +1,15 @@
|
|||||||
|
{
|
||||||
|
"java.configuration.updateBuildConfiguration": "automatic",
|
||||||
|
"files.exclude": {
|
||||||
|
"**/.git": true,
|
||||||
|
"**/.svn": true,
|
||||||
|
"**/.hg": true,
|
||||||
|
"**/CVS": true,
|
||||||
|
"**/.DS_Store": true,
|
||||||
|
"bin/": true,
|
||||||
|
"**/.classpath": true,
|
||||||
|
"**/.project": true,
|
||||||
|
"**/.settings": true,
|
||||||
|
"**/.factorypath": true
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,6 @@
|
|||||||
|
{
|
||||||
|
"enableCppIntellisense": false,
|
||||||
|
"currentLanguage": "java",
|
||||||
|
"projectYear": "2020",
|
||||||
|
"teamNumber": 4388
|
||||||
|
}
|
||||||
@@ -0,0 +1,24 @@
|
|||||||
|
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.
|
||||||
@@ -0,0 +1,2 @@
|
|||||||
|
# Robot-Essentials
|
||||||
|
Basic code for any Ridgebotics robot project
|
||||||
@@ -0,0 +1,69 @@
|
|||||||
|
plugins {
|
||||||
|
id "java"
|
||||||
|
id "edu.wpi.first.GradleRIO" version "2020.3.2"
|
||||||
|
}
|
||||||
|
|
||||||
|
sourceCompatibility = JavaVersion.VERSION_11
|
||||||
|
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.
|
||||||
|
deploy {
|
||||||
|
targets {
|
||||||
|
roboRIO("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()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
artifacts {
|
||||||
|
frcJavaArtifact('frcJava') {
|
||||||
|
targets << "roborio"
|
||||||
|
// Debug can be overridden by command line, for use with VSCode
|
||||||
|
debug = frc.getDebugOrDefault(false)
|
||||||
|
}
|
||||||
|
// 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"
|
||||||
|
directory = '/home/lvuser/deploy'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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.deps.vendor.java()
|
||||||
|
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
|
||||||
|
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
|
||||||
|
|
||||||
|
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)
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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)
|
||||||
|
}
|
||||||
Vendored
BIN
Binary file not shown.
+5
@@ -0,0 +1,5 @@
|
|||||||
|
distributionBase=GRADLE_USER_HOME
|
||||||
|
distributionPath=permwrapper/dists
|
||||||
|
distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
|
||||||
|
zipStoreBase=GRADLE_USER_HOME
|
||||||
|
zipStorePath=permwrapper/dists
|
||||||
@@ -0,0 +1,183 @@
|
|||||||
|
#!/usr/bin/env sh
|
||||||
|
|
||||||
|
#
|
||||||
|
# Copyright 2015 the original author or authors.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
|
||||||
|
##############################################################################
|
||||||
|
##
|
||||||
|
## Gradle start up script for UN*X
|
||||||
|
##
|
||||||
|
##############################################################################
|
||||||
|
|
||||||
|
# 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"`"/$link"
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
SAVED="`pwd`"
|
||||||
|
cd "`dirname \"$PRG\"`/" >/dev/null
|
||||||
|
APP_HOME="`pwd -P`"
|
||||||
|
cd "$SAVED" >/dev/null
|
||||||
|
|
||||||
|
APP_NAME="Gradle"
|
||||||
|
APP_BASE_NAME=`basename "$0"`
|
||||||
|
|
||||||
|
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||||
|
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
|
||||||
|
|
||||||
|
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
||||||
|
MAX_FD="maximum"
|
||||||
|
|
||||||
|
warn () {
|
||||||
|
echo "$*"
|
||||||
|
}
|
||||||
|
|
||||||
|
die () {
|
||||||
|
echo
|
||||||
|
echo "$*"
|
||||||
|
echo
|
||||||
|
exit 1
|
||||||
|
}
|
||||||
|
|
||||||
|
# OS specific support (must be 'true' or 'false').
|
||||||
|
cygwin=false
|
||||||
|
msys=false
|
||||||
|
darwin=false
|
||||||
|
nonstop=false
|
||||||
|
case "`uname`" in
|
||||||
|
CYGWIN* )
|
||||||
|
cygwin=true
|
||||||
|
;;
|
||||||
|
Darwin* )
|
||||||
|
darwin=true
|
||||||
|
;;
|
||||||
|
MINGW* )
|
||||||
|
msys=true
|
||||||
|
;;
|
||||||
|
NONSTOP* )
|
||||||
|
nonstop=true
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
CLASSPATH=$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="$JAVA_HOME/jre/sh/java"
|
||||||
|
else
|
||||||
|
JAVACMD="$JAVA_HOME/bin/java"
|
||||||
|
fi
|
||||||
|
if [ ! -x "$JAVACMD" ] ; then
|
||||||
|
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
|
||||||
|
|
||||||
|
Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
location of your Java installation."
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
JAVACMD="java"
|
||||||
|
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||||
|
|
||||||
|
Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
location of your Java installation."
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Increase the maximum file descriptors if we can.
|
||||||
|
if [ "$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" ;;
|
||||||
|
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, 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"
|
||||||
|
|
||||||
|
exec "$JAVACMD" "$@"
|
||||||
Vendored
+100
@@ -0,0 +1,100 @@
|
|||||||
|
@rem
|
||||||
|
@rem Copyright 2015 the original author or authors.
|
||||||
|
@rem
|
||||||
|
@rem Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
@rem you may not use this file except in compliance with the License.
|
||||||
|
@rem You may obtain a copy of the License at
|
||||||
|
@rem
|
||||||
|
@rem https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
@rem
|
||||||
|
@rem Unless required by applicable law or agreed to in writing, software
|
||||||
|
@rem distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
@rem See the License for the specific language governing permissions and
|
||||||
|
@rem limitations under the License.
|
||||||
|
@rem
|
||||||
|
|
||||||
|
@if "%DEBUG%" == "" @echo off
|
||||||
|
@rem ##########################################################################
|
||||||
|
@rem
|
||||||
|
@rem Gradle startup script for Windows
|
||||||
|
@rem
|
||||||
|
@rem ##########################################################################
|
||||||
|
|
||||||
|
@rem Set local scope for the variables with windows NT shell
|
||||||
|
if "%OS%"=="Windows_NT" setlocal
|
||||||
|
|
||||||
|
set DIRNAME=%~dp0
|
||||||
|
if "%DIRNAME%" == "" set DIRNAME=.
|
||||||
|
set APP_BASE_NAME=%~n0
|
||||||
|
set APP_HOME=%DIRNAME%
|
||||||
|
|
||||||
|
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||||
|
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
|
||||||
|
|
||||||
|
@rem Find java.exe
|
||||||
|
if defined JAVA_HOME goto findJavaFromJavaHome
|
||||||
|
|
||||||
|
set JAVA_EXE=java.exe
|
||||||
|
%JAVA_EXE% -version >NUL 2>&1
|
||||||
|
if "%ERRORLEVEL%" == "0" goto init
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||||
|
echo.
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
echo location of your Java installation.
|
||||||
|
|
||||||
|
goto fail
|
||||||
|
|
||||||
|
:findJavaFromJavaHome
|
||||||
|
set JAVA_HOME=%JAVA_HOME:"=%
|
||||||
|
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
|
||||||
|
|
||||||
|
if exist "%JAVA_EXE%" goto init
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
|
||||||
|
echo.
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
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%
|
||||||
|
|
||||||
|
:end
|
||||||
|
@rem End local scope for the variables with windows NT shell
|
||||||
|
if "%ERRORLEVEL%"=="0" goto mainEnd
|
||||||
|
|
||||||
|
:fail
|
||||||
|
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
|
||||||
|
rem the _cmd.exe /c_ return code!
|
||||||
|
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
|
||||||
|
exit /b 1
|
||||||
|
|
||||||
|
:mainEnd
|
||||||
|
if "%OS%"=="Windows_NT" endlocal
|
||||||
|
|
||||||
|
:omega
|
||||||
@@ -0,0 +1,27 @@
|
|||||||
|
import org.gradle.internal.os.OperatingSystem
|
||||||
|
|
||||||
|
pluginManagement {
|
||||||
|
repositories {
|
||||||
|
mavenLocal()
|
||||||
|
gradlePluginPortal()
|
||||||
|
String frcYear = '2020'
|
||||||
|
File frcHome
|
||||||
|
if (OperatingSystem.current().isWindows()) {
|
||||||
|
String publicFolder = System.getenv('PUBLIC')
|
||||||
|
if (publicFolder == null) {
|
||||||
|
publicFolder = "C:\\Users\\Public"
|
||||||
|
}
|
||||||
|
def homeRoot = new File(publicFolder, "wpilib")
|
||||||
|
frcHome = new File(homeRoot, frcYear)
|
||||||
|
} else {
|
||||||
|
def userFolder = System.getProperty("user.home")
|
||||||
|
def homeRoot = new File(userFolder, "wpilib")
|
||||||
|
frcHome = new File(homeRoot, frcYear)
|
||||||
|
}
|
||||||
|
def frcHomeMaven = new File(frcHome, 'maven')
|
||||||
|
maven {
|
||||||
|
name 'frcHome'
|
||||||
|
url frcHomeMaven
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
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.
|
||||||
@@ -0,0 +1,42 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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.
|
||||||
|
*
|
||||||
|
* <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 class LEDConstants {
|
||||||
|
public static final int LED_SPARK_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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +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;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj.RobotBase;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Do NOT add any static variables to this class, or any initialization at all.
|
||||||
|
* Unless you know what you are doing, do not modify this file except to
|
||||||
|
* change the parameter class to the startRobot call.
|
||||||
|
*/
|
||||||
|
public final class Main {
|
||||||
|
private Main() {
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Main initialization function. Do not perform any initialization here.
|
||||||
|
*
|
||||||
|
* <p>If you change your main robot class, change the parameter type.
|
||||||
|
*/
|
||||||
|
public static void main(String... args) {
|
||||||
|
RobotBase.startRobot(Robot::new);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,125 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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
|
||||||
|
* 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.
|
||||||
|
*/
|
||||||
|
@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.
|
||||||
|
*/
|
||||||
|
@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.
|
||||||
|
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.
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public void disabledInit() {
|
||||||
|
m_robotTime.endMatchTime();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void disabledPeriodic() {
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
|
||||||
|
*/
|
||||||
|
@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.
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public void autonomousPeriodic() {
|
||||||
|
}
|
||||||
|
|
||||||
|
@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.
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public void teleopPeriodic() {
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This function is called periodically during test mode.
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public void testPeriodic() {
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,114 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
|
||||||
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||||
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||||
|
/* the project. */
|
||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
package frc4388.robot;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj.Joystick;
|
||||||
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
|
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||||
|
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||||
|
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||||
|
import frc4388.robot.Constants.*;
|
||||||
|
import frc4388.robot.subsystems.Drive;
|
||||||
|
import frc4388.robot.subsystems.LED;
|
||||||
|
import frc4388.utility.LEDPatterns;
|
||||||
|
import frc4388.utility.controller.IHandController;
|
||||||
|
import frc4388.utility.controller.XboxController;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This class is where the bulk of the robot should be declared. Since
|
||||||
|
* Command-based is a "declarative" paradigm, very little robot logic should
|
||||||
|
* actually be handled in the {@link Robot} periodic methods (other than the
|
||||||
|
* scheduler calls). Instead, the structure of the robot (including subsystems,
|
||||||
|
* commands, and button mappings) should be declared here.
|
||||||
|
*/
|
||||||
|
public class RobotContainer {
|
||||||
|
/* 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);
|
||||||
|
|
||||||
|
/* Controllers */
|
||||||
|
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
|
||||||
|
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||||
|
*/
|
||||||
|
public RobotContainer() {
|
||||||
|
configureButtonBindings();
|
||||||
|
|
||||||
|
/* Default Commands */
|
||||||
|
// 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() {
|
||||||
|
/* 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));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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();
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,71 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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 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 edu.wpi.first.wpilibj.Spark;
|
||||||
|
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.
|
||||||
|
*/
|
||||||
|
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));
|
||||||
|
|
||||||
|
void configureDriveMotorControllers() {
|
||||||
|
|
||||||
|
/* factory default values */
|
||||||
|
leftFrontMotor.configFactoryDefault();
|
||||||
|
rightFrontMotor.configFactoryDefault();
|
||||||
|
leftBackMotor.configFactoryDefault();
|
||||||
|
rightBackMotor.configFactoryDefault();
|
||||||
|
|
||||||
|
/* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,85 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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 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 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;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void periodic() {
|
||||||
|
m_gyro.updatePigeonDeltas();
|
||||||
|
|
||||||
|
if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
|
||||||
|
updateSmartDashboard();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,63 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,45 @@
|
|||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,180 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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 {
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,79 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,21 @@
|
|||||||
|
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();
|
||||||
|
}
|
||||||
@@ -0,0 +1,218 @@
|
|||||||
|
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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,69 @@
|
|||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,54 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,59 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,184 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,104 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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) {}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,31 @@
|
|||||||
|
/**
|
||||||
|
* 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;
|
||||||
|
}
|
||||||
|
};
|
||||||
@@ -0,0 +1,180 @@
|
|||||||
|
{
|
||||||
|
"fileName": "Phoenix.json",
|
||||||
|
"name": "CTRE-Phoenix",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
|
||||||
|
"mavenUrls": [
|
||||||
|
"http://devsite.ctr-electronics.com/maven/release/"
|
||||||
|
],
|
||||||
|
"jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
|
||||||
|
"javaDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "api-java",
|
||||||
|
"version": "5.17.3"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "wpiapi-java",
|
||||||
|
"version": "5.17.3"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"jniDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "cci",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "diagnostics",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "canutils",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "platform-stub",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "core",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"cppDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "wpiapi-cpp",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_Phoenix_WPI",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "api-cpp",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_Phoenix",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "cci",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_PhoenixCCI",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "diagnostics",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_PhoenixDiagnostics",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "canutils",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_PhoenixCanutils",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "platform-stub",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_PhoenixPlatform",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix",
|
||||||
|
"artifactId": "core",
|
||||||
|
"version": "5.17.3",
|
||||||
|
"libName": "CTRE_PhoenixCore",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
@@ -0,0 +1,37 @@
|
|||||||
|
{
|
||||||
|
"fileName": "WPILibNewCommands.json",
|
||||||
|
"name": "WPILib-New-Commands",
|
||||||
|
"version": "2020.0.0",
|
||||||
|
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
||||||
|
"mavenUrls": [],
|
||||||
|
"jsonUrl": "",
|
||||||
|
"javaDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "edu.wpi.first.wpilibNewCommands",
|
||||||
|
"artifactId": "wpilibNewCommands-java",
|
||||||
|
"version": "wpilib"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"jniDependencies": [],
|
||||||
|
"cppDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "edu.wpi.first.wpilibNewCommands",
|
||||||
|
"artifactId": "wpilibNewCommands-cpp",
|
||||||
|
"version": "wpilib",
|
||||||
|
"libName": "wpilibNewCommands",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sourcesClassifier": "sources",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"linuxraspbian",
|
||||||
|
"linuxaarch64bionic",
|
||||||
|
"windowsx86-64",
|
||||||
|
"windowsx86",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxx86-64"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
@@ -0,0 +1,35 @@
|
|||||||
|
{
|
||||||
|
"fileName": "navx_frc.json",
|
||||||
|
"name": "KauaiLabs_navX_FRC",
|
||||||
|
"version": "3.1.413",
|
||||||
|
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
||||||
|
"mavenUrls": [
|
||||||
|
"https://repo1.maven.org/maven2/"
|
||||||
|
],
|
||||||
|
"jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json",
|
||||||
|
"javaDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "com.kauailabs.navx.frc",
|
||||||
|
"artifactId": "navx-java",
|
||||||
|
"version": "3.1.413"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"jniDependencies": [],
|
||||||
|
"cppDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "com.kauailabs.navx.frc",
|
||||||
|
"artifactId": "navx-cpp",
|
||||||
|
"version": "3.1.413",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sourcesClassifier": "sources",
|
||||||
|
"sharedLibrary": false,
|
||||||
|
"libName": "navx_frc",
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"linuxathena",
|
||||||
|
"linuxraspbian",
|
||||||
|
"windowsx86-64"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user