mirror of
https://github.com/Astatin3/Vision-Minibot.git
synced 2026-06-08 16:18:02 -06:00
Initial commit
This commit is contained in:
Michael Mikovsky
@@ -0,0 +1,2 @@
|
||||
# Auto detect text files and perform LF normalization
|
||||
* text=auto
|
||||
@@ -0,0 +1,23 @@
|
||||
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 17
|
||||
uses: actions/setup-java@v1
|
||||
with:
|
||||
java-version: 17
|
||||
- name: Change wrapper permissions
|
||||
run: chmod +x ./gradlew
|
||||
- name: Build with Gradle
|
||||
run: ./gradlew build
|
||||
+180
@@ -0,0 +1,180 @@
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### 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
|
||||
$RECYCLE.BIN/
|
||||
|
||||
# Windows Installer files
|
||||
*.cab
|
||||
*.msi
|
||||
*.msix
|
||||
*.msm
|
||||
*.msp
|
||||
|
||||
# Windows shortcuts
|
||||
*.lnk
|
||||
|
||||
### Gradle ###
|
||||
.gradle
|
||||
/build/
|
||||
|
||||
# Ignore Gradle GUI config
|
||||
gradle-app.setting
|
||||
|
||||
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||
!gradle-wrapper.jar
|
||||
|
||||
# Cache of project
|
||||
.gradletasknamecache
|
||||
|
||||
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
|
||||
# IntelliJ
|
||||
*.iml
|
||||
*.ipr
|
||||
*.iws
|
||||
.idea/
|
||||
out/
|
||||
|
||||
# Fleet
|
||||
.fleet
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
|
||||
# Simulation data log directory
|
||||
logs/
|
||||
|
||||
# Folder that has CTRE Phoenix Sim device config storage
|
||||
ctre_sim/
|
||||
simgui.json
|
||||
simgui-ds.json
|
||||
Generated
+3
@@ -0,0 +1,3 @@
|
||||
# Default ignored files
|
||||
/shelf/
|
||||
/workspace.xml
|
||||
Generated
+17
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="GradleSettings">
|
||||
<option name="linkedExternalProjectsSettings">
|
||||
<GradleProjectSettings>
|
||||
<option name="distributionType" value="DEFAULT_WRAPPED" />
|
||||
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
||||
<option name="gradleJvm" value="temurin-11" />
|
||||
<option name="modules">
|
||||
<set>
|
||||
<option value="$PROJECT_DIR$" />
|
||||
</set>
|
||||
</option>
|
||||
</GradleProjectSettings>
|
||||
</option>
|
||||
</component>
|
||||
</project>
|
||||
Generated
+4
@@ -0,0 +1,4 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="ExternalStorageConfigurationManager" enabled="true" />
|
||||
</project>
|
||||
Generated
+6
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="VcsDirectoryMappings">
|
||||
<mapping directory="" vcs="Git" />
|
||||
</component>
|
||||
</project>
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
@@ -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.*;
|
||||
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
+29
@@ -0,0 +1,29 @@
|
||||
{
|
||||
"java.configuration.updateBuildConfiguration": "automatic",
|
||||
"java.server.launchMode": "Standard",
|
||||
"files.exclude": {
|
||||
"**/.git": true,
|
||||
"**/.svn": true,
|
||||
"**/.hg": true,
|
||||
"**/CVS": true,
|
||||
"**/.DS_Store": true,
|
||||
"bin/": true,
|
||||
"**/.classpath": true,
|
||||
"**/.project": true,
|
||||
"**/.settings": true,
|
||||
"**/.factorypath": true,
|
||||
"**/*~": true
|
||||
},
|
||||
"java.test.config": [
|
||||
{
|
||||
"name": "WPIlibUnitTests",
|
||||
"workingDirectory": "${workspaceFolder}/build/jni/release",
|
||||
"vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
|
||||
"env": {
|
||||
"LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
|
||||
"DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
|
||||
}
|
||||
},
|
||||
],
|
||||
"java.test.defaultConfig": "WPIlibUnitTests"
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2024",
|
||||
"teamNumber": 4388
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2024 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 +1,24 @@
|
||||
Copyright (c) 2009-2023 FIRST and other WPILib contributors
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of FIRST, WPILib, nor the names of other WPILib
|
||||
contributors may be used to endorse or promote products derived from
|
||||
this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
|
||||
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
+101
@@ -0,0 +1,101 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2024.3.2"
|
||||
}
|
||||
|
||||
java {
|
||||
sourceCompatibility = JavaVersion.VERSION_17
|
||||
targetCompatibility = JavaVersion.VERSION_17
|
||||
}
|
||||
|
||||
def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
|
||||
|
||||
// Define my targets (RoboRIO) and artifacts (deployable files)
|
||||
// This is added by GradleRIO's backing project DeployUtils.
|
||||
deploy {
|
||||
targets {
|
||||
roborio(getTargetTypeClass('RoboRIO')) {
|
||||
// Team number is loaded either from the .wpilib/wpilib_preferences.json
|
||||
// or from command line. If not found an exception will be thrown.
|
||||
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
|
||||
// want to store a team number in this file.
|
||||
team = project.frc.getTeamNumber()
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = false
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 5.
|
||||
dependencies {
|
||||
implementation wpi.java.deps.wpilib()
|
||||
implementation wpi.java.vendor.java()
|
||||
|
||||
roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
|
||||
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
|
||||
|
||||
roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
|
||||
roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
|
||||
|
||||
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
|
||||
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
|
||||
simulationDebug wpi.sim.enableDebug()
|
||||
|
||||
nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
|
||||
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
|
||||
simulationRelease wpi.sim.enableRelease()
|
||||
|
||||
//testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
|
||||
//testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
|
||||
}
|
||||
|
||||
// test {
|
||||
// useJUnitPlatform()
|
||||
// systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
|
||||
//}
|
||||
|
||||
// Simulation configuration (e.g. environment variables).
|
||||
wpi.sim.addGui().defaultEnabled = true
|
||||
wpi.sim.addDriverstation()
|
||||
|
||||
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
|
||||
// in order to make them all available at runtime. Also adding the manifest so WPILib
|
||||
// knows where to look for our Robot Class.
|
||||
jar {
|
||||
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
|
||||
from sourceSets.main.allSource
|
||||
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
|
||||
duplicatesStrategy = DuplicatesStrategy.INCLUDE
|
||||
}
|
||||
|
||||
// Configure jar and deploy tasks
|
||||
deployArtifact.jarTask = jar
|
||||
wpi.java.configureExecutableTasks(jar)
|
||||
wpi.java.configureTestTasks(test)
|
||||
|
||||
// Configure string concat to always inline compile
|
||||
tasks.withType(JavaCompile) {
|
||||
options.compilerArgs.add '-XDstringConcat=inline'
|
||||
}
|
||||
Vendored
BIN
Binary file not shown.
+7
@@ -0,0 +1,7 @@
|
||||
distributionBase=GRADLE_USER_HOME
|
||||
distributionPath=permwrapper/dists
|
||||
distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
|
||||
networkTimeout=10000
|
||||
validateDistributionUrl=true
|
||||
zipStoreBase=GRADLE_USER_HOME
|
||||
zipStorePath=permwrapper/dists
|
||||
@@ -0,0 +1,249 @@
|
||||
#!/bin/sh
|
||||
|
||||
#
|
||||
# Copyright © 2015-2021 the original authors.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# 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 POSIX generated by Gradle.
|
||||
#
|
||||
# Important for running:
|
||||
#
|
||||
# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
|
||||
# noncompliant, but you have some other compliant shell such as ksh or
|
||||
# bash, then to run this script, type that shell name before the whole
|
||||
# command line, like:
|
||||
#
|
||||
# ksh Gradle
|
||||
#
|
||||
# Busybox and similar reduced shells will NOT work, because this script
|
||||
# requires all of these POSIX shell features:
|
||||
# * functions;
|
||||
# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
|
||||
# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
|
||||
# * compound commands having a testable exit status, especially «case»;
|
||||
# * various built-in commands including «command», «set», and «ulimit».
|
||||
#
|
||||
# Important for patching:
|
||||
#
|
||||
# (2) This script targets any POSIX shell, so it avoids extensions provided
|
||||
# by Bash, Ksh, etc; in particular arrays are avoided.
|
||||
#
|
||||
# The "traditional" practice of packing multiple parameters into a
|
||||
# space-separated string is a well documented source of bugs and security
|
||||
# problems, so this is (mostly) avoided, by progressively accumulating
|
||||
# options in "$@", and eventually passing that to Java.
|
||||
#
|
||||
# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
|
||||
# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
|
||||
# see the in-line comments for details.
|
||||
#
|
||||
# There are tweaks for specific operating systems such as AIX, CygWin,
|
||||
# Darwin, MinGW, and NonStop.
|
||||
#
|
||||
# (3) This script is generated from the Groovy template
|
||||
# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
|
||||
# within the Gradle project.
|
||||
#
|
||||
# You can find Gradle at https://github.com/gradle/gradle/.
|
||||
#
|
||||
##############################################################################
|
||||
|
||||
# Attempt to set APP_HOME
|
||||
|
||||
# Resolve links: $0 may be a link
|
||||
app_path=$0
|
||||
|
||||
# Need this for daisy-chained symlinks.
|
||||
while
|
||||
APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
|
||||
[ -h "$app_path" ]
|
||||
do
|
||||
ls=$( ls -ld "$app_path" )
|
||||
link=${ls#*' -> '}
|
||||
case $link in #(
|
||||
/*) app_path=$link ;; #(
|
||||
*) app_path=$APP_HOME$link ;;
|
||||
esac
|
||||
done
|
||||
|
||||
# This is normally unused
|
||||
# shellcheck disable=SC2034
|
||||
APP_BASE_NAME=${0##*/}
|
||||
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
|
||||
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
|
||||
|
||||
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
||||
MAX_FD=maximum
|
||||
|
||||
warn () {
|
||||
echo "$*"
|
||||
} >&2
|
||||
|
||||
die () {
|
||||
echo
|
||||
echo "$*"
|
||||
echo
|
||||
exit 1
|
||||
} >&2
|
||||
|
||||
# OS specific support (must be 'true' or 'false').
|
||||
cygwin=false
|
||||
msys=false
|
||||
darwin=false
|
||||
nonstop=false
|
||||
case "$( uname )" in #(
|
||||
CYGWIN* ) cygwin=true ;; #(
|
||||
Darwin* ) darwin=true ;; #(
|
||||
MSYS* | MINGW* ) msys=true ;; #(
|
||||
NONSTOP* ) nonstop=true ;;
|
||||
esac
|
||||
|
||||
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
|
||||
|
||||
|
||||
# Determine the Java command to use to start the JVM.
|
||||
if [ -n "$JAVA_HOME" ] ; then
|
||||
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
|
||||
# IBM's JDK on AIX uses strange locations for the executables
|
||||
JAVACMD=$JAVA_HOME/jre/sh/java
|
||||
else
|
||||
JAVACMD=$JAVA_HOME/bin/java
|
||||
fi
|
||||
if [ ! -x "$JAVACMD" ] ; then
|
||||
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
|
||||
|
||||
Please set the JAVA_HOME variable in your environment to match the
|
||||
location of your Java installation."
|
||||
fi
|
||||
else
|
||||
JAVACMD=java
|
||||
if ! command -v java >/dev/null 2>&1
|
||||
then
|
||||
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||
|
||||
Please set the JAVA_HOME variable in your environment to match the
|
||||
location of your Java installation."
|
||||
fi
|
||||
fi
|
||||
|
||||
# Increase the maximum file descriptors if we can.
|
||||
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
|
||||
case $MAX_FD in #(
|
||||
max*)
|
||||
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
|
||||
# shellcheck disable=SC2039,SC3045
|
||||
MAX_FD=$( ulimit -H -n ) ||
|
||||
warn "Could not query maximum file descriptor limit"
|
||||
esac
|
||||
case $MAX_FD in #(
|
||||
'' | soft) :;; #(
|
||||
*)
|
||||
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
|
||||
# shellcheck disable=SC2039,SC3045
|
||||
ulimit -n "$MAX_FD" ||
|
||||
warn "Could not set maximum file descriptor limit to $MAX_FD"
|
||||
esac
|
||||
fi
|
||||
|
||||
# Collect all arguments for the java command, stacking in reverse order:
|
||||
# * args from the command line
|
||||
# * the main class name
|
||||
# * -classpath
|
||||
# * -D...appname settings
|
||||
# * --module-path (only if needed)
|
||||
# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
|
||||
|
||||
# For Cygwin or MSYS, switch paths to Windows format before running java
|
||||
if "$cygwin" || "$msys" ; then
|
||||
APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
|
||||
CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
|
||||
|
||||
JAVACMD=$( cygpath --unix "$JAVACMD" )
|
||||
|
||||
# Now convert the arguments - kludge to limit ourselves to /bin/sh
|
||||
for arg do
|
||||
if
|
||||
case $arg in #(
|
||||
-*) false ;; # don't mess with options #(
|
||||
/?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
|
||||
[ -e "$t" ] ;; #(
|
||||
*) false ;;
|
||||
esac
|
||||
then
|
||||
arg=$( cygpath --path --ignore --mixed "$arg" )
|
||||
fi
|
||||
# Roll the args list around exactly as many times as the number of
|
||||
# args, so each arg winds up back in the position where it started, but
|
||||
# possibly modified.
|
||||
#
|
||||
# NB: a `for` loop captures its iteration list before it begins, so
|
||||
# changing the positional parameters here affects neither the number of
|
||||
# iterations, nor the values presented in `arg`.
|
||||
shift # remove old arg
|
||||
set -- "$@" "$arg" # push replacement arg
|
||||
done
|
||||
fi
|
||||
|
||||
|
||||
# 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"'
|
||||
|
||||
# Collect all arguments for the java command:
|
||||
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
|
||||
# and any embedded shellness will be escaped.
|
||||
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
|
||||
# treated as '${Hostname}' itself on the command line.
|
||||
|
||||
set -- \
|
||||
"-Dorg.gradle.appname=$APP_BASE_NAME" \
|
||||
-classpath "$CLASSPATH" \
|
||||
org.gradle.wrapper.GradleWrapperMain \
|
||||
"$@"
|
||||
|
||||
# Stop when "xargs" is not available.
|
||||
if ! command -v xargs >/dev/null 2>&1
|
||||
then
|
||||
die "xargs is not available"
|
||||
fi
|
||||
|
||||
# Use "xargs" to parse quoted args.
|
||||
#
|
||||
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
|
||||
#
|
||||
# In Bash we could simply go:
|
||||
#
|
||||
# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
|
||||
# set -- "${ARGS[@]}" "$@"
|
||||
#
|
||||
# but POSIX shell has neither arrays nor command substitution, so instead we
|
||||
# post-process each arg (as a line of input to sed) to backslash-escape any
|
||||
# character that might be a shell metacharacter, then use eval to reverse
|
||||
# that process (while maintaining the separation between arguments), and wrap
|
||||
# the whole thing up as a single "set" statement.
|
||||
#
|
||||
# This will of course break if any of these variables contains a newline or
|
||||
# an unmatched quote.
|
||||
#
|
||||
|
||||
eval "set -- $(
|
||||
printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
|
||||
xargs -n1 |
|
||||
sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
|
||||
tr '\n' ' '
|
||||
)" '"$@"'
|
||||
|
||||
exec "$JAVACMD" "$@"
|
||||
Vendored
+92
@@ -0,0 +1,92 @@
|
||||
@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=.
|
||||
@rem This is normally unused
|
||||
set APP_BASE_NAME=%~n0
|
||||
set APP_HOME=%DIRNAME%
|
||||
|
||||
@rem Resolve any "." and ".." in APP_HOME to make it shorter.
|
||||
for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
|
||||
|
||||
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
|
||||
|
||||
@rem Find java.exe
|
||||
if defined JAVA_HOME goto findJavaFromJavaHome
|
||||
|
||||
set JAVA_EXE=java.exe
|
||||
%JAVA_EXE% -version >NUL 2>&1
|
||||
if %ERRORLEVEL% equ 0 goto execute
|
||||
|
||||
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 execute
|
||||
|
||||
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
|
||||
|
||||
: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 %*
|
||||
|
||||
:end
|
||||
@rem End local scope for the variables with windows NT shell
|
||||
if %ERRORLEVEL% equ 0 goto mainEnd
|
||||
|
||||
:fail
|
||||
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
|
||||
rem the _cmd.exe /c_ return code!
|
||||
set EXIT_CODE=%ERRORLEVEL%
|
||||
if %EXIT_CODE% equ 0 set EXIT_CODE=1
|
||||
if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
|
||||
exit /b %EXIT_CODE%
|
||||
|
||||
:mainEnd
|
||||
if "%OS%"=="Windows_NT" endlocal
|
||||
|
||||
:omega
|
||||
@@ -0,0 +1 @@
|
||||
[]
|
||||
@@ -0,0 +1,30 @@
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2024'
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Properties props = System.getProperties();
|
||||
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
|
||||
@@ -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 +1,149 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.math.trajectory.TrapezoidProfile;
|
||||
import frc4388.utility.Gains;
|
||||
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 SwerveDriveConstants {
|
||||
|
||||
public static final double MAX_ROT_SPEED = 3.5;
|
||||
public static final double AUTO_MAX_ROT_SPEED = 1.5;
|
||||
public static final double MIN_ROT_SPEED = 1.0;
|
||||
public static double ROTATION_SPEED = MAX_ROT_SPEED;
|
||||
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
|
||||
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
|
||||
|
||||
public static final String CANBUS_NAME = "IDK";
|
||||
|
||||
public static final double CORRECTION_MIN = 10;
|
||||
public static final double CORRECTION_MAX = 50;
|
||||
|
||||
public static final double[] GEARS = {0.25, 0.5, 1.0};
|
||||
|
||||
public static final double SLOW_SPEED = 0.25;
|
||||
public static final double FAST_SPEED = 0.5;
|
||||
public static final double TURBO_SPEED = 1.0;
|
||||
|
||||
public static final class DefaultSwerveRotOffsets {
|
||||
public static final double FRONT_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
||||
public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
||||
public static final double BACK_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
||||
public static final double BACK_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
|
||||
}
|
||||
|
||||
public static final class IDs {
|
||||
public static final int RIGHT_FRONT_WHEEL_ID = 2;
|
||||
public static final int RIGHT_FRONT_STEER_ID = 3;
|
||||
public static final int RIGHT_FRONT_ENCODER_ID = 10;
|
||||
|
||||
public static final int LEFT_FRONT_WHEEL_ID = 4;
|
||||
public static final int LEFT_FRONT_STEER_ID = 5;
|
||||
public static final int LEFT_FRONT_ENCODER_ID = 11;
|
||||
|
||||
public static final int LEFT_BACK_WHEEL_ID = 6;
|
||||
public static final int LEFT_BACK_STEER_ID = 7;
|
||||
public static final int LEFT_BACK_ENCODER_ID = 12;
|
||||
|
||||
public static final int RIGHT_BACK_WHEEL_ID = 8;
|
||||
public static final int RIGHT_BACK_STEER_ID = 9;
|
||||
public static final int RIGHT_BACK_ENCODER_ID = 13;
|
||||
|
||||
public static final int DRIVE_PIGEON_ID = 14;
|
||||
}
|
||||
|
||||
public static final class PIDConstants {
|
||||
public static final int SWERVE_SLOT_IDX = 0;
|
||||
public static final int SWERVE_PID_LOOP_IDX = 1;
|
||||
public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
|
||||
|
||||
public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
|
||||
|
||||
}
|
||||
|
||||
public static final class AutoConstants {
|
||||
public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
|
||||
public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
|
||||
public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
|
||||
public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
|
||||
|
||||
public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
|
||||
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
|
||||
}
|
||||
|
||||
public static final class Conversions {
|
||||
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22;
|
||||
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.5;
|
||||
|
||||
public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
|
||||
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
|
||||
|
||||
public static final double TICKS_PER_MOTOR_REV = 0.5;
|
||||
public static final double WHEEL_DIAMETER_INCHES = 3.9;
|
||||
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
|
||||
|
||||
public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
|
||||
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
|
||||
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
|
||||
public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
|
||||
|
||||
public static final double TICK_TIME_TO_SECONDS = 10;
|
||||
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
|
||||
}
|
||||
|
||||
public static final class Configurations {
|
||||
public static final double OPEN_LOOP_RAMP_RATE = 0.2;
|
||||
public static final double CLOSED_LOOP_RAMP_RATE = 0.2;
|
||||
public static final double NEUTRAL_DEADBAND = 0.04;
|
||||
}
|
||||
|
||||
public static final double MAX_SPEED_FEET_PER_SECOND = 20.4;
|
||||
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
|
||||
|
||||
// dimensions
|
||||
public static final double WIDTH = 18.5;
|
||||
public static final double HEIGHT = 18.5;
|
||||
public static final double HALF_WIDTH = WIDTH / 2.d;
|
||||
public static final double HALF_HEIGHT = HEIGHT / 2.d;
|
||||
|
||||
// misc
|
||||
public static final int TIMEOUT_MS = 30;
|
||||
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
|
||||
}
|
||||
|
||||
public static final class VisionConstants {
|
||||
}
|
||||
|
||||
public static final class DriveConstants {
|
||||
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;
|
||||
public static final int XBOX_PROGRAMMER_ID = 2;
|
||||
public static final double LEFT_AXIS_DEADBAND = 0.1;
|
||||
|
||||
}
|
||||
}
|
||||
@@ -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 +1,134 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.DeferredBlock;
|
||||
import frc4388.utility.RobotTime;
|
||||
//import frc4388.robot.subsystems.LED;
|
||||
/**
|
||||
* 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;
|
||||
//private LED mled = new LED();
|
||||
/**
|
||||
* 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.doubl
|
||||
*
|
||||
* <p>This runs after the mode specific periodic functions, but before
|
||||
* LiveWindow and SmartDashboard integrated updating.
|
||||
*/
|
||||
@Override
|
||||
public void robotPeriodic() {
|
||||
m_robotTime.updateTimes();
|
||||
//System.out.println(m_robotContainer.limelight.isNearSpeaker());
|
||||
//mled.updateLED();
|
||||
// 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() {
|
||||
}
|
||||
|
||||
@Override
|
||||
public void disabledExit() {
|
||||
DeferredBlock.execute();
|
||||
}
|
||||
|
||||
/**
|
||||
* 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() {
|
||||
// m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called periodically during test mode.
|
||||
*/
|
||||
@Override
|
||||
public void testPeriodic() {
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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;
|
||||
|
||||
// Drive Systems
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.cameraserver.CameraServer;
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
import frc4388.robot.Constants.OIConstants;
|
||||
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||
import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
|
||||
// Commands
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
|
||||
// Autos
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
|
||||
|
||||
// Subsystems
|
||||
// import frc4388.robot.subsystems.LED;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
|
||||
// Utilites
|
||||
import frc4388.utility.DeferredBlock;
|
||||
import frc4388.utility.configurable.ConfigurableString;
|
||||
|
||||
/**
|
||||
* 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 */
|
||||
public final RobotMap m_robotMap = new RobotMap();
|
||||
|
||||
/* Subsystems */
|
||||
// private final LED m_robotLED = new LED();
|
||||
|
||||
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
m_robotMap.rightFront,
|
||||
m_robotMap.leftBack,
|
||||
m_robotMap.rightBack,
|
||||
|
||||
m_robotMap.gyro);
|
||||
|
||||
/* Controllers */
|
||||
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
|
||||
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
|
||||
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
|
||||
|
||||
/* Virtual Controllers */
|
||||
private final VirtualController m_virtualDriver = new VirtualController(0);
|
||||
private final VirtualController m_virtualOperator = new VirtualController(1);
|
||||
|
||||
// ! Teleop Commands
|
||||
|
||||
// ! /* Autos */
|
||||
private String lastAutoName = "defualt.auto";
|
||||
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
|
||||
private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
() -> autoplaybackName.get(), // lastAutoName
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false);
|
||||
|
||||
/**
|
||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||
*/
|
||||
public RobotContainer() {
|
||||
configureButtonBindings();
|
||||
configureVirtualButtonBindings();
|
||||
new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
|
||||
DriverStation.silenceJoystickConnectionWarning(true);
|
||||
// CameraServer.startAutomaticCapture();
|
||||
|
||||
/* Default Commands */
|
||||
// ! Swerve Drive Default Command (Regular Rotation)
|
||||
// drives the robot with a two-axis input from the driver controller
|
||||
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
|
||||
getDeadbandedDriverController().getRight(),
|
||||
true);
|
||||
}, m_robotSwerveDrive)
|
||||
.withName("SwerveDrive DefaultCommand"));
|
||||
m_robotSwerveDrive.setToSlow();
|
||||
|
||||
// ! Swerve Drive One Module Test
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
|
||||
// }
|
||||
|
||||
// ! Swerve Drive Default Command (Orientation Rotation)
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
|
||||
// getDeadbandedDriverController().getRightX(),
|
||||
// getDeadbandedDriverController().getRightY(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive))
|
||||
// .withName("SwerveDrive OrientationCommand"));
|
||||
// continually sends updates to the Blinkin LED controller to keep the lights on
|
||||
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotSwerveDrive.driveWithInput(
|
||||
// getDeadbandedDriverController().getLeft(),
|
||||
// getDeadbandedDriverController().getRight(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive));
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 */
|
||||
|
||||
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip()));
|
||||
|
||||
// ! /* Speed */
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
||||
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
|
||||
|
||||
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
|
||||
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
// ? /* Programer Buttons (Controller 3)*/
|
||||
|
||||
// * /* Auto Recording */
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
() -> autoplaybackName.get()))
|
||||
.onFalse(new InstantCommand());
|
||||
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
() -> autoplaybackName.get(),
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false))
|
||||
.onFalse(new InstantCommand());
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
|
||||
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
|
||||
*/
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
|
||||
* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
|
||||
* Auto Recording controls : We don't want an Null Ouroboros for an auto.
|
||||
*/
|
||||
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
|
||||
* We don't need it in an auto.
|
||||
* Climbing controls : We don't need to climb in auto.
|
||||
*/
|
||||
|
||||
// ? Notice: the Programer Buttons are not to be replicated because they are designed for debuging the robot, and do not need to be replicated in auto.
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Use this to pass the autonomous command to the main {@link Robot} class.
|
||||
*
|
||||
* @return the command to run in autonomous
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
return autoPlayback;
|
||||
}
|
||||
|
||||
/**
|
||||
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
|
||||
* @param joystickA A controller
|
||||
* @param joystickB A controller
|
||||
* @param buttonNumber The button to bind to
|
||||
*/
|
||||
public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
|
||||
return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
|
||||
}
|
||||
|
||||
public DeadbandedXboxController getDeadbandedDriverController() {
|
||||
return this.m_driverXbox;
|
||||
}
|
||||
|
||||
public DeadbandedXboxController getDeadbandedOperatorController() {
|
||||
return this.m_operatorXbox;
|
||||
}
|
||||
|
||||
public VirtualController getVirtualDriverController() {
|
||||
return m_virtualDriver;
|
||||
}
|
||||
|
||||
public VirtualController getVirtualOperatorController() {
|
||||
return m_virtualOperator;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,65 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
import com.ctre.phoenix6.hardware.Pigeon2;
|
||||
|
||||
// import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
||||
// import frc4388.robot.Constants.LEDConstants;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.robot.subsystems.SwerveModule;
|
||||
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 {
|
||||
private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON_ID);
|
||||
public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule rightFront;
|
||||
public SwerveModule leftBack;
|
||||
public SwerveModule rightBack;
|
||||
|
||||
public RobotMap() {
|
||||
configureDriveMotorControllers();
|
||||
}
|
||||
|
||||
/* LED Subsystem */
|
||||
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
||||
|
||||
/* Swreve Drive Subsystem */
|
||||
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
|
||||
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
|
||||
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
|
||||
|
||||
|
||||
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
|
||||
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
|
||||
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
|
||||
|
||||
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
|
||||
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
|
||||
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
|
||||
|
||||
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
|
||||
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
|
||||
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
|
||||
|
||||
void configureDriveMotorControllers() {
|
||||
// initialize SwerveModules
|
||||
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
||||
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,98 @@
|
||||
package frc4388.robot.commands.Autos;
|
||||
|
||||
import java.io.File;
|
||||
import java.util.ArrayList;
|
||||
import java.util.HashMap;
|
||||
|
||||
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
import frc4388.robot.commands.Swerve.JoystickPlayback;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
|
||||
public class PlaybackChooser {
|
||||
private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
|
||||
private SendableChooser<Command> m_playback = null;
|
||||
private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
|
||||
private final HashMap<String, Command> m_commandPool = new HashMap<>();
|
||||
|
||||
private final File m_dir = new File("/home/lvuser/autos/");
|
||||
private int m_cmdNum = 0;
|
||||
private final SwerveDrive m_swerve;
|
||||
|
||||
// commands
|
||||
private Command m_noAuto = new InstantCommand();
|
||||
|
||||
public PlaybackChooser(SwerveDrive swerve, Object... pool) {
|
||||
m_swerve = swerve;
|
||||
}
|
||||
|
||||
public PlaybackChooser addOption(String name, Command option) {
|
||||
m_commandPool.put(name, option);
|
||||
return this;
|
||||
}
|
||||
|
||||
public PlaybackChooser buildDisplay() {
|
||||
for (int i = 0; i < 10; i++) {
|
||||
appendCommand();
|
||||
}
|
||||
m_playback = m_choosers.get(0);
|
||||
nextChooser();
|
||||
|
||||
// ! This does not work, why?
|
||||
Shuffleboard.getTab("Auto Chooser")
|
||||
.add("Add Sequence", new InstantCommand(() -> nextChooser()))
|
||||
.withPosition(4, 0);
|
||||
return this;
|
||||
}
|
||||
|
||||
// This will be bound to a button for the time being
|
||||
public void appendCommand() {
|
||||
var chooser = new SendableChooser<Command>();
|
||||
chooser.setDefaultOption("No Auto", m_noAuto);
|
||||
|
||||
m_choosers.add(chooser);
|
||||
ComplexWidget widget = Shuffleboard.getTab("Auto Chooser")
|
||||
.add("Command: " + m_choosers.size(), chooser)
|
||||
.withSize(4, 1)
|
||||
.withPosition(0, m_choosers.size() - 1)
|
||||
.withWidget(BuiltInWidgets.kSplitButtonChooser);
|
||||
|
||||
m_widgets.add(widget);
|
||||
}
|
||||
|
||||
public void nextChooser() {
|
||||
SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
|
||||
|
||||
String[] dirs = m_dir.list();
|
||||
|
||||
if(dirs != null){ // Fix funny error
|
||||
for (String auto : dirs) {
|
||||
chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (var cmd_name : m_commandPool.keySet()) {
|
||||
chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
|
||||
}
|
||||
}
|
||||
|
||||
public Command getCommand() {
|
||||
Command command = m_playback.getSelected();
|
||||
command = command == null ? m_noAuto : command.asProxy();
|
||||
|
||||
Command[] commands = new Command[m_cmdNum - 1];
|
||||
for (int i = 0; i < m_cmdNum - 1; i++) {
|
||||
Command command2 = m_choosers.get(i + 1).getSelected();
|
||||
command2 = command2 == null ? m_noAuto : command2.asProxy();
|
||||
|
||||
commands[i] = command2.asProxy();
|
||||
}
|
||||
|
||||
return command.andThen(commands);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,225 @@
|
||||
0.0,0.0,0.0,0.0,0
|
||||
0.0,0.0,0.0,0.0,0
|
||||
0.0,0.0,0.0,0.0,12
|
||||
0.0,0.0,0.0,0.0,26
|
||||
0.0,0.0,0.0,0.0,37
|
||||
0.0,0.0,0.0,0.0,50
|
||||
0.0,0.0,0.0,0.0,62
|
||||
0.0,0.0,0.0,0.0,73
|
||||
0.0,0.0,0.0,0.0,88
|
||||
0.0,0.0,0.0,0.0,103
|
||||
0.0,0.0,0.0,0.0,116
|
||||
0.0,0.0,0.0,0.0,160
|
||||
0.0,0.0,0.0,0.0,173
|
||||
0.0,0.0,0.0,0.0,185
|
||||
0.0,0.0,0.0,0.0,200
|
||||
0.0,0.0,0.0,0.0,211
|
||||
0.0,0.0,0.0,0.0,223
|
||||
0.0,0.0,0.0,0.0,235
|
||||
0.0,0.0,0.0,0.0,247
|
||||
0.0,0.0,0.0,0.0,263
|
||||
0.0,0.0,0.0,0.0,283
|
||||
0.0,0.0,0.0,0.0,303
|
||||
0.0,-0.109375,0.0,0.0,323
|
||||
0.0,-0.1484375,0.0,0.0,343
|
||||
0.0,-0.2109375,0.0,0.0,363
|
||||
0.0,-0.3671875,0.0,0.0,398
|
||||
0.0,-0.4140625,0.0,0.0,411
|
||||
0.0,-0.4765625,0.0,0.0,425
|
||||
0.0,-0.5078125,0.0,0.0,443
|
||||
0.0,-0.5078125,0.0,0.0,463
|
||||
0.0,-0.53125,0.0,0.0,483
|
||||
0.0,-0.5546875,0.0,0.0,504
|
||||
0.0,-0.5625,0.0,0.0,523
|
||||
0.0,-0.5625,0.0,0.0,544
|
||||
0.0,-0.5703125,0.0,0.0,563
|
||||
0.0,-0.5859375,0.0,0.0,584
|
||||
0.0,-0.5859375,0.0,0.0,603
|
||||
0.0,-0.5859375,0.0,0.0,640
|
||||
0.0,-0.59375,0.0,0.0,657
|
||||
0.0,-0.6015625,0.0,0.0,672
|
||||
0.0,-0.6015625,0.0,0.0,685
|
||||
0.0,-0.6015625,0.0,0.0,703
|
||||
0.0,-0.6015625,0.0,0.0,723
|
||||
0.0,-0.6015625,0.0,0.0,743
|
||||
0.0,-0.6015625,0.0,0.0,763
|
||||
0.0,-0.6015625,0.0,0.0,783
|
||||
0.0,-0.6015625,0.0,0.0,803
|
||||
0.0,-0.6015625,0.0,0.0,823
|
||||
0.0,-0.6015625,0.0,0.0,844
|
||||
0.0,-0.6015625,0.0,0.0,878
|
||||
0.0,-0.6015625,0.0,0.0,893
|
||||
0.0,-0.6015625,0.0,0.0,907
|
||||
0.0,-0.6015625,0.0,0.0,924
|
||||
0.0,-0.609375,0.0,0.0,943
|
||||
0.0,-0.609375,0.0,0.0,963
|
||||
0.0,-0.609375,0.0,0.0,983
|
||||
0.0,-0.609375,0.0,0.0,1004
|
||||
0.0,-0.609375,0.0,0.0,1023
|
||||
0.0,-0.609375,0.0,0.0,1043
|
||||
0.0,-0.609375,0.0,0.0,1064
|
||||
0.0,-0.609375,0.0,0.0,1083
|
||||
0.0,-0.609375,0.0,0.0,1156
|
||||
0.0,-0.609375,0.0,0.0,1172
|
||||
0.0,-0.609375,0.0,0.0,1185
|
||||
0.0,-0.609375,0.0,0.0,1200
|
||||
0.0,-0.609375,0.0,0.0,1215
|
||||
0.0,-0.609375,0.0,0.0,1225
|
||||
0.0,-0.609375,0.0,0.0,1236
|
||||
0.0,-0.609375,0.0,0.0,1249
|
||||
0.0,-0.609375,0.0,0.0,1263
|
||||
0.0,-0.609375,0.0,0.0,1283
|
||||
0.0,-0.609375,0.0,0.0,1303
|
||||
0.0,-0.609375,0.0,0.0,1323
|
||||
0.0,-0.609375,0.0,0.0,1363
|
||||
0.0,-0.6015625,0.0,0.0,1376
|
||||
0.0,-0.6015625,0.0,0.0,1394
|
||||
0.0,-0.6015625,0.0,0.0,1405
|
||||
0.0,-0.6015625,0.0,0.0,1423
|
||||
0.0,-0.6015625,0.0,0.0,1443
|
||||
0.0,-0.6015625,0.0,0.0,1463
|
||||
0.0,-0.6015625,0.0,0.0,1483
|
||||
0.0,-0.6015625,0.0,0.0,1503
|
||||
0.0,-0.6015625,0.0,0.0,1523
|
||||
0.0,-0.6015625,0.0,0.0,1543
|
||||
0.0,-0.6015625,0.0,0.0,1563
|
||||
0.0,-0.6015625,0.0,0.0,1597
|
||||
0.0,-0.6015625,0.0,0.0,1608
|
||||
0.0,-0.6015625,0.0,0.0,1624
|
||||
0.0,-0.6015625,0.0,0.0,1643
|
||||
0.0,-0.6015625,0.0,0.0,1664
|
||||
0.0,-0.5859375,0.0,0.0,1683
|
||||
0.0,-0.5859375,0.0,0.0,1703
|
||||
0.0,-0.5625,0.0,0.0,1723
|
||||
0.0,-0.5625,0.0,0.0,1743
|
||||
0.0,-0.5625,0.0,0.0,1763
|
||||
0.0,-0.5625,0.0,0.0,1783
|
||||
0.0,-0.5625,0.0,0.0,1803
|
||||
0.0,-0.5625,0.0,0.0,1843
|
||||
0.0,-0.5625,0.0,0.0,1855
|
||||
0.0,-0.5625,0.0,0.0,1868
|
||||
0.0,-0.5625,0.0,0.0,1883
|
||||
0.0,-0.5625,0.0,0.0,1903
|
||||
0.0,-0.5625,0.0,0.0,1923
|
||||
0.0,-0.5625,0.0,0.0,1943
|
||||
0.0,-0.5625,0.0,0.0,1963
|
||||
0.0,-0.5625,0.0,0.0,1983
|
||||
0.0,-0.5625,0.0,0.0,2003
|
||||
0.0,-0.5625,0.0,0.0,2024
|
||||
0.0,-0.5625,0.0,0.0,2043
|
||||
0.0,-0.5625,0.0,0.0,2081
|
||||
0.0,-0.5625,0.0,0.0,2093
|
||||
0.0,-0.5625,0.0,0.0,2105
|
||||
0.0,-0.5625,0.0,0.0,2123
|
||||
0.0,-0.5625,0.0,0.0,2143
|
||||
0.0,-0.5625,0.0,0.0,2163
|
||||
0.0,-0.5625,0.0,0.0,2183
|
||||
0.0,-0.5625,0.0,0.0,2203
|
||||
0.0,-0.5625,0.0,0.0,2223
|
||||
0.0,-0.5625,0.0,0.0,2243
|
||||
0.0,-0.5625,0.0,0.0,2263
|
||||
0.0,-0.5625,0.0,0.0,2283
|
||||
0.0,-0.5625,0.0,0.0,2366
|
||||
0.0,-0.5625,0.0,0.0,2377
|
||||
0.0,-0.5625,0.0,0.0,2394
|
||||
0.0,-0.5703125,0.0,0.0,2405
|
||||
0.0,-0.5703125,0.0,0.0,2418
|
||||
0.0,-0.5703125,0.0,0.0,2431
|
||||
0.0,-0.5703125,0.0,0.0,2444
|
||||
0.0,-0.5703125,0.0,0.0,2458
|
||||
0.0,-0.5703125,0.0,0.0,2470
|
||||
0.0,-0.5703125,0.0,0.0,2485
|
||||
0.0,-0.5703125,0.0,0.0,2503
|
||||
0.0,-0.5703125,0.0,0.0,2523
|
||||
0.0,-0.5703125,0.0,0.0,2563
|
||||
0.0,-0.5703125,0.0,0.0,2577
|
||||
0.0,-0.5703125,0.0,0.0,2591
|
||||
0.0,-0.5703125,0.0,0.0,2608
|
||||
0.0,-0.5703125,0.0,0.0,2624
|
||||
0.0,-0.5703125,0.0,0.0,2643
|
||||
0.0,-0.5703125,0.0,0.0,2677
|
||||
0.0,-0.5703125,0.0,0.0,2698
|
||||
0.0,-0.5703125,0.0,0.0,2711
|
||||
0.0,-0.5703125,0.0,0.0,2725
|
||||
0.0,-0.5703125,0.0,0.0,2743
|
||||
0.0,-0.5703125,0.0,0.0,2764
|
||||
0.0,-0.5703125,0.0,0.0,2810
|
||||
0.0,-0.5703125,0.0,0.0,2820
|
||||
0.0,-0.5703125,0.0,0.0,2833
|
||||
0.0,-0.5703125,0.0,0.0,2845
|
||||
0.0,-0.5703125,0.0,0.0,2863
|
||||
0.0,-0.5703125,0.0,0.0,2883
|
||||
0.0,-0.5703125,0.0,0.0,2904
|
||||
0.0,-0.5703125,0.0,0.0,2924
|
||||
0.0,-0.5703125,0.0,0.0,2943
|
||||
0.0,-0.5703125,0.0,0.0,2963
|
||||
0.0,-0.5703125,0.0,0.0,2983
|
||||
0.0,-0.5703125,0.0,0.0,3003
|
||||
0.0,-0.5703125,0.0,0.0,3033
|
||||
0.0,-0.5703125,0.0,0.0,3050
|
||||
0.0,-0.5703125,0.0,0.0,3065
|
||||
0.0,-0.5703125,0.0,0.0,3083
|
||||
0.0,-0.5703125,0.0,0.0,3103
|
||||
0.0,-0.5703125,0.0,0.0,3123
|
||||
0.0,-0.5703125,0.0,0.0,3144
|
||||
0.0,-0.5703125,0.0,0.0,3164
|
||||
0.0,-0.5703125,0.0,0.0,3184
|
||||
0.0,-0.5703125,0.0,0.0,3203
|
||||
0.0,-0.5703125,0.0,0.0,3223
|
||||
0.0,-0.5703125,0.0,0.0,3243
|
||||
0.0,-0.5703125,0.0,0.0,3272
|
||||
0.0,-0.5703125,0.0,0.0,3289
|
||||
0.0,-0.5703125,0.0,0.0,3303
|
||||
0.0,-0.5703125,0.0,0.0,3323
|
||||
0.0,-0.5703125,0.0,0.0,3343
|
||||
0.0,-0.5703125,0.0,0.0,3363
|
||||
0.0,-0.5703125,0.0,0.0,3383
|
||||
0.0,-0.5703125,0.0,0.0,3403
|
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0.0,-0.5703125,0.0,0.0,3423
|
||||
0.0,-0.5703125,0.0,0.0,3443
|
||||
0.0,-0.5703125,0.0,0.0,3463
|
||||
0.0,-0.5703125,0.0,0.0,3483
|
||||
0.0,-0.5703125,0.0,0.0,3566
|
||||
0.0,-0.5703125,0.0,0.0,3578
|
||||
0.0,-0.5703125,0.0,0.0,3596
|
||||
0.0,-0.5703125,0.0,0.0,3610
|
||||
0.0,-0.5703125,0.0,0.0,3623
|
||||
0.0,-0.5703125,0.0,0.0,3640
|
||||
0.0,-0.5703125,0.0,0.0,3651
|
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0.0,-0.5703125,0.0,0.0,3663
|
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0.0,-0.5703125,0.0,0.0,3678
|
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0.0,-0.5703125,0.0,0.0,3691
|
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0.0,-0.5703125,0.0,0.0,3706
|
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0.0,-0.5703125,0.0,0.0,3723
|
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0.0,-0.5703125,0.0,0.0,3766
|
||||
0.0,-0.5703125,0.0,0.0,3778
|
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0.0,-0.5703125,0.0,0.0,3792
|
||||
0.0,-0.5703125,0.0,0.0,3807
|
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0.0,-0.5703125,0.0,0.0,3823
|
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0.0,-0.5703125,0.0,0.0,3843
|
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0.0,-0.53125,0.0,0.0,3863
|
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0.0,-0.53125,0.0,0.0,3884
|
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0.0,-0.421875,0.0,0.0,3904
|
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0.0,0.0,0.0,0.0,3924
|
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0.0,0.0,0.0,0.0,3944
|
||||
0.0,0.0,0.0,0.0,3963
|
||||
0.0,0.0,0.0,0.0,3999
|
||||
0.0,0.0,0.0,0.0,4010
|
||||
0.0,0.0,0.0,0.0,4025
|
||||
0.0,0.0,0.0,0.0,4043
|
||||
0.0,0.0,0.0,0.0,4063
|
||||
0.0,0.0,0.0,0.0,4083
|
||||
0.0,0.0,0.0,0.0,4103
|
||||
0.0,0.0,0.0,0.0,4123
|
||||
0.0,0.0,0.0,0.0,4143
|
||||
0.0,0.0,0.0,0.0,4163
|
||||
0.0,0.0,0.0,0.0,4183
|
||||
0.0,0.0,0.0,0.0,4203
|
||||
0.0,0.0,0.0,0.0,4236
|
||||
0.0,0.0,0.0,0.0,4247
|
||||
0.0,0.0,0.0,0.0,4264
|
||||
0.0,0.0,0.0,0.0,4284
|
||||
0.0,0.0,0.0,0.0,4304
|
||||
0.0,0.0,0.0,0.0,4324
|
||||
0.0,0.0,0.0,0.0,4343
|
||||
0.0,0.0,0.0,0.0,4363
|
||||
@@ -0,0 +1,20 @@
|
||||
AUTO file format
|
||||
|
||||
HEADER static size 0x5
|
||||
0x00 BYTE NUM AXES: defualts to 6
|
||||
0x01 BYTE NUM POV: defualts to 1
|
||||
0x02 BYTE NUM CONTROLLERS: defualts to 2
|
||||
0x03 SHORT FRAMES: any value greator or equal than one.
|
||||
|
||||
FRAME PER CONTROLLER: defualt size 0x34
|
||||
0x00 DOUBLE AXES[NUM AXES]
|
||||
0x30 SHORT BUTTONS
|
||||
0x32 SHORT POVs[NUM POV]
|
||||
|
||||
FRAME: size varrys
|
||||
FRAME PER CONTROLLER[NUM CONTROLLERS]
|
||||
INT UNIXTIMESTAMP
|
||||
|
||||
FILE:
|
||||
HEADER
|
||||
FRAME[FRAMES]
|
||||
@@ -0,0 +1,107 @@
|
||||
// package frc4388.robot.commands.Autos;
|
||||
|
||||
// import java.io.File;
|
||||
// import java.util.ArrayList;
|
||||
// import java.util.HashMap;
|
||||
|
||||
// import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
|
||||
// import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
|
||||
// import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
// import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
|
||||
// import edu.wpi.first.wpilibj2.command.Command;
|
||||
// import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
// import frc4388.robot.commands.Swerve.JoystickPlayback;
|
||||
// import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
// import frc4388.robot.subsystems.SwerveDrive;
|
||||
// import frc4388.utility.controller.VirtualController;
|
||||
|
||||
// public class neoPlaybackChooser {
|
||||
// private final SendableChooser<String> m_teamChosser = new SendableChooser<String>();
|
||||
// private final SendableChooser<String> m_possitionChosser = new SendableChooser<String>();
|
||||
// private final SendableChooser<String> m_autoNameChosser = new SendableChooser<String>();
|
||||
|
||||
// private final SwerveDrive m_swerve;
|
||||
// private final VirtualController[] m_controllers;
|
||||
// // private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
|
||||
// // private SendableChooser<Command> m_playback = null;
|
||||
// private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
|
||||
// // private final HashMap<String, Command> m_commandPool = new HashMap<>();
|
||||
|
||||
// // private final File m_dir = new File("/home/lvuser/autos/");
|
||||
// // private int m_cmdNum = 0;
|
||||
|
||||
// // commands
|
||||
// private Command m_noAuto = new InstantCommand();
|
||||
|
||||
// public neoPlaybackChooser(SwerveDrive swerve, VirtualController[] controllers) {
|
||||
// m_teamChosser.addOption("Red", "red");
|
||||
// m_teamChosser.setDefaultOption("Blue", "blue");
|
||||
// m_teamChosser.addOption("Nuetral", "nuetral");
|
||||
// m_possitionChosser.addOption("AMP", "amp");
|
||||
// m_possitionChosser.setDefaultOption("Center", "center");
|
||||
// m_possitionChosser.addOption("Source", "source");
|
||||
// m_swerve = swerve;
|
||||
// m_controllers = controllers;
|
||||
// }
|
||||
|
||||
// public neoPlaybackChooser addOption(String name, String option) {
|
||||
// m_autoNameChosser.addOption(name, option);
|
||||
// return this;
|
||||
// }
|
||||
|
||||
// // public PlaybackChooser buildDisplay() {
|
||||
// // for (int i = 0; i < 10; i++) {
|
||||
// // appendCommand();
|
||||
// // }
|
||||
// // m_playback = m_choosers.get(0);
|
||||
// // nextChooser();
|
||||
|
||||
// // // ! This does not work, why?
|
||||
// // Shuffleboard.getTab("Auto Chooser")
|
||||
// // .add("Add Sequence", new InstantCommand(() -> nextChooser()))
|
||||
// // .withPosition(4, 0);
|
||||
// // return this;
|
||||
// // }
|
||||
|
||||
// // This will be bound to a button for the time being
|
||||
// public void render() {
|
||||
// // var chooser = new SendableChooser<Command>();
|
||||
// // // chooser.setDefaultOption("No Auto", m_noAuto);
|
||||
|
||||
// // m_choosers.add(chooser);
|
||||
// ComplexWidget widget = Shuffleboard.getTab("Neo Auto Chooser")
|
||||
// .add("Command: " + m_choosers.size(), chooser)
|
||||
// .withSize(4, 1)
|
||||
// .withPosition(0, m_choosers.size() - 1)
|
||||
// .withWidget(BuiltInWidgets.kSplitButtonChooser)
|
||||
// .withWidget(BuiltInWidgets.kComboBoxChooser);
|
||||
|
||||
|
||||
// m_widgets.add(widget);
|
||||
// }
|
||||
|
||||
// // public void nextChooser() {
|
||||
// // SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
|
||||
|
||||
// // String[] dirs = m_dir.list();
|
||||
|
||||
// // if(dirs != null){ // Fix funny error
|
||||
// // for (String auto : dirs) {
|
||||
// // chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
|
||||
// // }
|
||||
// // }
|
||||
|
||||
|
||||
// // for (var cmd_name : m_commandPool.keySet()) {
|
||||
// // chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
|
||||
// // }
|
||||
// // }
|
||||
|
||||
// public String autoName() {
|
||||
// return m_teamChosser.getSelected() + "_" + m_possitionChosser.getSelected() + "_" + m_autoNameChosser.getSelected() + ".auto";
|
||||
// }
|
||||
|
||||
// public Command getCommand() {
|
||||
// return new neoJoystickPlayback(m_swerve, autoName(), m_controllers, true, true);
|
||||
// }
|
||||
// }
|
||||
@@ -0,0 +1,60 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
public abstract class PID extends Command {
|
||||
protected Gains gains;
|
||||
private double output = 0;
|
||||
private double tolerance = 0;
|
||||
|
||||
/** Creates a new PelvicInflammatoryDisease. */
|
||||
public PID(double kp, double ki, double kd, double kf, double tolerance) {
|
||||
gains = new Gains(kp, ki, kd, kf, 0);
|
||||
this.tolerance = tolerance;
|
||||
}
|
||||
|
||||
public PID(Gains gains, double tolerance) {
|
||||
this.gains = gains;
|
||||
this.tolerance = tolerance;
|
||||
}
|
||||
|
||||
/** produces the error from the setpoint */
|
||||
public abstract double getError();
|
||||
|
||||
/** todo: javadoc */
|
||||
public abstract void runWithOutput(double output);
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public final void initialize() {
|
||||
output = 0;
|
||||
}
|
||||
|
||||
private double prevError, cumError = 0;
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public final void execute() {
|
||||
double error = getError();
|
||||
cumError += error * .02; // 20 ms
|
||||
double delta = error - prevError;
|
||||
|
||||
output = error * gains.kP;
|
||||
output += cumError * gains.kI;
|
||||
output += delta * gains.kD;
|
||||
output += gains.kF;
|
||||
|
||||
runWithOutput(output);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public final boolean isFinished() {
|
||||
return Math.abs(getError()) < tolerance;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,145 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.File;
|
||||
import java.io.FileNotFoundException;
|
||||
import java.util.ArrayList;
|
||||
import java.util.Scanner;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.UtilityStructs.TimedOutput;
|
||||
|
||||
public class JoystickPlayback extends Command {
|
||||
private final SwerveDrive swerve;
|
||||
private String filename;
|
||||
private int mult = 1;
|
||||
private Scanner input;
|
||||
private final ArrayList<TimedOutput> outputs = new ArrayList<>();
|
||||
private int counter = 0;
|
||||
private long startTime = 0;
|
||||
private long playbackTime = 0;
|
||||
private int lastIndex;
|
||||
private boolean m_finished = false; // ! find a better way
|
||||
|
||||
/** Creates a new JoystickPlayback. */
|
||||
public JoystickPlayback(SwerveDrive swerve, String filename, int mult) {
|
||||
this.swerve = swerve;
|
||||
this.filename = filename;
|
||||
this.mult = mult;
|
||||
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
/** Creates a new JoystickPlayback. */
|
||||
public JoystickPlayback(SwerveDrive swerve, String filename) {
|
||||
this(swerve, filename, 1);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
outputs.clear();
|
||||
m_finished = false;
|
||||
|
||||
startTime = System.currentTimeMillis();
|
||||
playbackTime = 0;
|
||||
lastIndex = 0;
|
||||
try {
|
||||
input = new Scanner(new File("/home/lvuser/autos/" + filename));
|
||||
|
||||
String line = "";
|
||||
while (input.hasNextLine()) {
|
||||
line = input.nextLine();
|
||||
|
||||
if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
|
||||
continue;
|
||||
}
|
||||
|
||||
String[] values = line.split(",");
|
||||
System.out.println("values: " + values[0] + " " + values[1] + " " + values[2] + " " + values[3]);
|
||||
|
||||
var out = new TimedOutput();
|
||||
out.leftX = Double.parseDouble(values[0]) * mult;
|
||||
out.leftY = Double.parseDouble(values[1]);
|
||||
out.rightX = Double.parseDouble(values[2]);
|
||||
out.rightY = Double.parseDouble(values[3]);
|
||||
|
||||
out.timedOffset = Long.parseLong(values[4]);
|
||||
|
||||
outputs.add(out);
|
||||
}
|
||||
|
||||
input.close();
|
||||
} catch (FileNotFoundException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
if (counter == 0) {
|
||||
startTime = System.currentTimeMillis();
|
||||
playbackTime = 0;
|
||||
} else {
|
||||
playbackTime = System.currentTimeMillis() - startTime;
|
||||
}
|
||||
|
||||
// skip to reasonable time frame
|
||||
// too tired to write comment: ask daniel thomas; it goes to the thing until it's bigger than the other thing
|
||||
{
|
||||
int i = lastIndex == 0 ? 1 : lastIndex;
|
||||
while (i < outputs.size() && outputs.get(i).timedOffset < playbackTime) {
|
||||
i++;
|
||||
}
|
||||
|
||||
if (i >= outputs.size()) {
|
||||
m_finished = true; // ! kind of a hack
|
||||
return;
|
||||
}
|
||||
lastIndex = i;
|
||||
}
|
||||
|
||||
TimedOutput lastOut = outputs.get(lastIndex - 1);
|
||||
TimedOutput out = outputs.get(lastIndex);
|
||||
|
||||
double deltaTime = out.timedOffset - lastOut.timedOffset;
|
||||
double playbackDelta = playbackTime - lastOut.timedOffset;
|
||||
|
||||
double lerpLX = lastOut.leftX + (out.leftX - lastOut.leftX) * (playbackDelta / deltaTime);
|
||||
double lerpLY = lastOut.leftY + (out.leftY - lastOut.leftY) * (playbackDelta / deltaTime);
|
||||
double lerpRX = lastOut.rightX + (out.rightX - lastOut.rightX) * (playbackDelta / deltaTime);
|
||||
double lerpRY = lastOut.rightY + (out.rightY - lastOut.rightY) * (playbackDelta / deltaTime);
|
||||
|
||||
// this.swerve.driveWithInput(new Translation2d(out.leftX, out.leftY),
|
||||
// new Translation2d(out.rightX, out.rightY),
|
||||
// true);
|
||||
|
||||
// this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
|
||||
// new Translation2d(lerpRX, lerpRY),
|
||||
// true);
|
||||
|
||||
this.swerve.playbackDriveWithInput( new Translation2d(lerpLX, lerpLY),
|
||||
new Translation2d(lerpRX, lerpRY),
|
||||
true);
|
||||
|
||||
counter++;
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
input.close();
|
||||
swerve.stopModules();
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return m_finished;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.File;
|
||||
import java.io.IOException;
|
||||
import java.io.PrintWriter;
|
||||
import java.util.ArrayList;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.UtilityStructs.TimedOutput;
|
||||
|
||||
public class JoystickRecorder extends Command {
|
||||
public final SwerveDrive swerve;
|
||||
|
||||
public final Supplier<Double> leftX;
|
||||
public final Supplier<Double> leftY;
|
||||
public final Supplier<Double> rightX;
|
||||
public final Supplier<Double> rightY;
|
||||
private String filename;
|
||||
public final ArrayList<TimedOutput> outputs = new ArrayList<>();
|
||||
private long startTime = -1;
|
||||
|
||||
|
||||
/** Creates a new JoystickRecorder. */
|
||||
public JoystickRecorder(SwerveDrive swerve, Supplier<Double> leftX, Supplier<Double> leftY,
|
||||
Supplier<Double> rightX, Supplier<Double> rightY,
|
||||
String filename)
|
||||
{
|
||||
this.swerve = swerve;
|
||||
this.leftX = leftX;
|
||||
this.leftY = leftY;
|
||||
this.rightX = rightX;
|
||||
this.rightY = rightY;
|
||||
this.filename = filename;
|
||||
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
outputs.clear();
|
||||
|
||||
this.startTime = System.currentTimeMillis();
|
||||
|
||||
outputs.add(new TimedOutput());
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
var inputs = new TimedOutput();
|
||||
inputs.leftX = leftX.get();
|
||||
inputs.leftY = leftY.get();
|
||||
inputs.rightX = rightX.get();
|
||||
inputs.rightY = rightY.get();
|
||||
inputs.timedOffset = System.currentTimeMillis() - startTime;
|
||||
|
||||
outputs.add(inputs);
|
||||
|
||||
swerve.playbackDriveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
|
||||
new Translation2d(inputs.rightX, inputs.rightY),
|
||||
true);
|
||||
|
||||
//System.out.println("RECORDING");
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
File output = new File("/home/lvuser/autos/" + filename);
|
||||
|
||||
try (PrintWriter writer = new PrintWriter(output)) {
|
||||
for (var input : outputs) {
|
||||
writer.println( input.leftX + "," + input.leftY + "," +
|
||||
input.rightX + "," + input.rightY + "," +
|
||||
input.timedOffset);
|
||||
}
|
||||
|
||||
writer.close();
|
||||
} catch (IOException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import frc4388.robot.commands.PID;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
|
||||
public class RotateToAngle extends PID {
|
||||
|
||||
SwerveDrive drive;
|
||||
double targetAngle;
|
||||
|
||||
/** Creates a new RotateToAngle. */
|
||||
public RotateToAngle(SwerveDrive drive, double targetAngle) {
|
||||
super(0.3, 0.0, 0.0, 0.0, 1);
|
||||
|
||||
this.drive = drive;
|
||||
this.targetAngle = targetAngle;
|
||||
|
||||
addRequirements(drive);
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getError() {
|
||||
return targetAngle - drive.getGyroAngle();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void runWithOutput(double output) {
|
||||
drive.driveWithInput(new Translation2d(0.0, 0.0), new Translation2d(output / Math.abs(getError()), 0.0), true);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,197 @@
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileInputStream;
|
||||
import java.util.ArrayList;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.DataUtils;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
|
||||
|
||||
/**
|
||||
* The NEO autonomus playback system, designed based the old {@link JoystickPlayback} System but with {@link VirtualController}s
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class neoJoystickPlayback extends Command {
|
||||
private final SwerveDrive swerve;
|
||||
private final VirtualController[] controllers;
|
||||
private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
|
||||
private final Supplier<String> filenameGetter;
|
||||
private String filename;
|
||||
private int frame_index = 0;
|
||||
private long startTime = 0;
|
||||
private long playbackTime = 0;
|
||||
private boolean m_finished = false; // ! There is no better way.
|
||||
private boolean m_shouldfree = false; // should free memory on ending
|
||||
|
||||
private byte m_numAxes = 0;
|
||||
private byte m_numPOVs = 0;
|
||||
private byte m_numControllers = 0;
|
||||
private short m_numFrames = -1;
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param shouldfree Unloads the auto on compleation or intruption.
|
||||
* @param instantload Load the auto on object instantiation
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
|
||||
this.swerve = swerve;
|
||||
this.filenameGetter = filenameGetter;
|
||||
this.controllers = controllers;
|
||||
this.m_shouldfree = shouldfree;
|
||||
|
||||
if (instantload) loadAuto();
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filename a String containing the name of the auto file you wish to playback.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param shouldfree unloads the auto on compleation or intruption.
|
||||
* @param instantload load the auto on object instantiation
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
|
||||
this(swerve, () -> filename, controllers, shouldfree, instantload);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers) {
|
||||
this(swerve, filenameGetter, controllers, true, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param filename a String containing the name of the auto file you wish to playback.
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
*/
|
||||
public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers) {
|
||||
this(swerve, () -> filename, controllers, true, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* Load the auto file from disk into memory
|
||||
* @return Returns true if loading was successful, else wise; return false
|
||||
* @implNote if the auto is already loaded, it will return true.
|
||||
*/
|
||||
public boolean loadAuto() {
|
||||
filename = filenameGetter.get();
|
||||
try (FileInputStream stream = new FileInputStream("/home/lvuser/autos/" + filename)) {
|
||||
if (m_numFrames != -1 && m_numFrames == frames.size()) {
|
||||
System.out.println("AUTOPLAYBACK: Auto Already loaded.");
|
||||
return true;
|
||||
}
|
||||
|
||||
m_numAxes = stream.readNBytes(1)[0];
|
||||
m_numPOVs = stream.readNBytes(1)[0];
|
||||
m_numControllers = stream.readNBytes(1)[0];
|
||||
m_numFrames = DataUtils.byteArrayToShort(stream.readNBytes(2));
|
||||
|
||||
if (m_numControllers > controllers.length) {
|
||||
System.out.println("AUTOPLAYBACK: The auto file `" + filename + "` wants " + m_numControllers
|
||||
+ " virtual controllers but only " + controllers.length + " were given");
|
||||
return false;
|
||||
}
|
||||
|
||||
for (int i = 0; i < m_numFrames; i++) {
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
for (int j = 0; j < m_numControllers; j++) {
|
||||
AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame();
|
||||
double[] axes = new double[m_numAxes];
|
||||
for (int k = 0; k < m_numAxes; k++) { // we love third level for loops.
|
||||
axes[k] = DataUtils.byteArrayToDouble(stream.readNBytes(8));
|
||||
}
|
||||
short button = DataUtils.byteArrayToShort(stream.readNBytes(2));
|
||||
short[] POV = new short[m_numPOVs];
|
||||
for (int k = 0; k < m_numPOVs; k++) {
|
||||
POV[k] = DataUtils.byteArrayToShort(stream.readNBytes(2));
|
||||
}
|
||||
controllerFrame.axes = axes;
|
||||
controllerFrame.button = button;
|
||||
controllerFrame.POV = POV;
|
||||
frame.controllerFrames[j] = controllerFrame;
|
||||
}
|
||||
frame.timeStamp = DataUtils.byteArrayToInt(stream.readNBytes(4));
|
||||
frames.add(frame);
|
||||
}
|
||||
|
||||
System.out.println("AUTOPLAYBACK: Read Auto `" + filename + "` that is " + m_numFrames + " frames long");
|
||||
return true;
|
||||
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
System.out.println("AUTOPLAYBACK: Unable to read auto file `" + filename + '`');
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Unloads the auto.
|
||||
*/
|
||||
public void unloadAuto() {
|
||||
System.out.println("AUTOPLAYBACK: Auto unloaded");
|
||||
frames.clear();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
startTime = System.currentTimeMillis();
|
||||
playbackTime = 0;
|
||||
frame_index = 0;
|
||||
|
||||
m_finished = !loadAuto();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
if (frame_index >= m_numFrames) m_finished = true;
|
||||
if (m_finished) return;
|
||||
|
||||
// if (frame_index == 0) {
|
||||
// startTime = System.currentTimeMillis();
|
||||
// playbackTime = 0;
|
||||
// } else {
|
||||
// playbackTime = System.currentTimeMillis() - startTime;
|
||||
// }
|
||||
|
||||
AutoRecordingFrame frame = frames.get(frame_index);
|
||||
for (int i = 0; i < controllers.length; i++) {
|
||||
AutoRecordingControllerFrame controllerFrame = frame.controllerFrames[i];
|
||||
controllers[i].setFrame(controllerFrame.axes, controllerFrame.button, controllerFrame.POV);
|
||||
if (i == 0) {
|
||||
this.swerve.driveWithInput(
|
||||
new Translation2d(controllers[i].getRawAxis(0), controllers[i].getRawAxis(1)),
|
||||
new Translation2d(controllers[i].getRawAxis(4), controllers[i].getRawAxis(5)),
|
||||
true);
|
||||
}
|
||||
}
|
||||
frame_index++;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
for (VirtualController controller : controllers) controller.zeroControls();
|
||||
swerve.stopModules();
|
||||
if (m_shouldfree) unloadAuto();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return m_finished;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,129 @@
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileOutputStream;
|
||||
import java.util.ArrayList;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.DataUtils;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
|
||||
/**
|
||||
* The NEO autonomus recording system, designed based the old {@link JoystickRecorder} System but with {@link frc4388.utility.controller.VirtualController VirtualController}s
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class neoJoystickRecorder extends Command {
|
||||
private final SwerveDrive swerve;
|
||||
private final XboxController[] controllers;
|
||||
private String filename;
|
||||
private final Supplier<String> filenameGetter;
|
||||
private long startTime = -1;
|
||||
private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
|
||||
*/
|
||||
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, Supplier<String> filenameGetter) {
|
||||
this.swerve = swerve;
|
||||
this.controllers = controllers;
|
||||
this.filenameGetter = filenameGetter;
|
||||
this.filename = "";
|
||||
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an new NEO Joystick Playback with specifyed pramiters.
|
||||
* @param swerve m_robotSwerveDrive
|
||||
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
|
||||
* @param filename a String containing the name of the auto file you wish to playback.
|
||||
*/
|
||||
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, String filename) {
|
||||
this(swerve, controllers, () -> filename);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
frames.clear();
|
||||
|
||||
this.startTime = System.currentTimeMillis();
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
frame.controllerFrames = new AutoRecordingControllerFrame[] {new AutoRecordingControllerFrame(), new AutoRecordingControllerFrame()};
|
||||
frames.add(frame);
|
||||
this.filename = this.filenameGetter.get();
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
System.out.println("AUTORECORD: RECORDING");
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
frame.timeStamp = (int) (System.currentTimeMillis() - startTime);
|
||||
for (int i = 0; i < controllers.length; i++) {
|
||||
XboxController controller = controllers[i];
|
||||
AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame();
|
||||
double[] axes = {controller.getLeftX(), controller.getLeftY(),
|
||||
controller.getLeftTriggerAxis(), controller.getRightTriggerAxis(),
|
||||
controller.getRightX(), controller.getRightY()};
|
||||
short button = 0;
|
||||
for (int j = 0; j < 10; j++)
|
||||
if (controller.getRawButton(j+1))
|
||||
button |= 1 << j;
|
||||
short[] POV = {(short)(controller.getPOV())};
|
||||
controllerFrame.axes = axes;
|
||||
controllerFrame.button = button;
|
||||
controllerFrame.POV = POV;
|
||||
frame.controllerFrames[i] = controllerFrame;
|
||||
}
|
||||
|
||||
frames.add(frame);
|
||||
|
||||
swerve.driveWithInput(new Translation2d(frame.controllerFrames[0].axes[0], frame.controllerFrames[0].axes[1]),
|
||||
new Translation2d(frame.controllerFrames[0].axes[4], frame.controllerFrames[0].axes[5]),
|
||||
true); // Really jank way of doing this.
|
||||
|
||||
}
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
try (FileOutputStream stream = new FileOutputStream("/home/lvuser/autos/" + filename)) {
|
||||
// header: size of 0x5
|
||||
// byte Number of axes per controller
|
||||
// byte Number of POVs per controller
|
||||
// byte Number of controllers
|
||||
// short Number of frames
|
||||
stream.write(new byte[]{6, 1, (byte) controllers.length});
|
||||
stream.write(DataUtils.shortToByteArray((short) frames.size()));
|
||||
|
||||
// frame
|
||||
// controller frame * number of controllers
|
||||
// int unix time stamp.
|
||||
for (AutoRecordingFrame frame : frames) {
|
||||
// controller frame
|
||||
// double axis * Number of axes per controller
|
||||
// short button states
|
||||
// short POV * Number of POVs per controller
|
||||
for (AutoRecordingControllerFrame controllerFrame: frame.controllerFrames) {
|
||||
for (double axis: controllerFrame.axes) {
|
||||
stream.write(DataUtils.doubleToByteArray(axis));
|
||||
}
|
||||
stream.write(DataUtils.shortToByteArray(controllerFrame.button));
|
||||
for (short POV: controllerFrame.POV) {
|
||||
stream.write(DataUtils.shortToByteArray(POV));
|
||||
}
|
||||
}
|
||||
stream.write(DataUtils.intToByteArray(frame.timeStamp));
|
||||
}
|
||||
System.out.println("AUTORECORD: Wrote auto `" + filename + "` that is " + frames.size() + " frames long.");
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,36 @@
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
//import edu.wpi.first.apriltag.AprilTag;
|
||||
//import edu.wpi.first.math.geometry.Pose3d;
|
||||
//import edu.wpi.first.math.geometry.Rotation3d;
|
||||
//import edu.wpi.first.networktables.NetworkTable;
|
||||
//import edu.wpi.first.networktables.NetworkTableEntry;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
|
||||
public class Apriltags {
|
||||
public static class Tag {
|
||||
public boolean visible = true;
|
||||
public double x, y, z = 0;
|
||||
public double ry, rp, rr = 0;
|
||||
}
|
||||
|
||||
public Tag getTagPosRot() {
|
||||
final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
|
||||
|
||||
final Tag tag = new Tag();
|
||||
tag.visible = isAprilTag();
|
||||
tag.x = tagTable.getEntry("TagPosX").getDouble(0);
|
||||
tag.y = tagTable.getEntry("TagPosY").getDouble(0);
|
||||
tag.z = tagTable.getEntry("TagPosZ").getDouble(0);
|
||||
tag.ry = tagTable.getEntry("TagRotY").getDouble(0);
|
||||
tag.rp = tagTable.getEntry("TagRotP").getDouble(0);
|
||||
tag.rr = tagTable.getEntry("TagRotR").getDouble(0);
|
||||
|
||||
return tag;
|
||||
}
|
||||
|
||||
public boolean isAprilTag() {
|
||||
final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
|
||||
return tagTable.getEntry("IsTag").getBoolean(false);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,88 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.phoenix6.controls.Follower;
|
||||
import com.ctre.phoenix6.hardware.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 DiffDrive extends SubsystemBase {
|
||||
// Put methods for controlling this subsystem
|
||||
// here. Call these from Commands.
|
||||
|
||||
private RobotTime m_robotTime = RobotTime.getInstance();
|
||||
|
||||
private TalonFX m_leftFrontMotor;
|
||||
private TalonFX m_rightFrontMotor;
|
||||
private TalonFX m_leftBackMotor;
|
||||
private TalonFX m_rightBackMotor;
|
||||
private DifferentialDrive m_driveTrain;
|
||||
private RobotGyro m_gyro;
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
|
||||
TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
|
||||
|
||||
m_leftFrontMotor = leftFrontMotor;
|
||||
m_rightFrontMotor = rightFrontMotor;
|
||||
m_leftBackMotor = leftBackMotor;
|
||||
m_rightBackMotor = rightBackMotor;
|
||||
m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), false));
|
||||
m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false));
|
||||
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 +1,90 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.AddressableLED;
|
||||
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
|
||||
import edu.wpi.first.wpilibj.motorcontrol.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 {
|
||||
|
||||
static AddressableLED m_led;
|
||||
static AddressableLEDBuffer m_ledBuffer;
|
||||
static LED m_self;
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
|
||||
public LED(){
|
||||
if(m_self != null)
|
||||
return;
|
||||
m_led = new AddressableLED(9);
|
||||
m_ledBuffer = new AddressableLEDBuffer(10);
|
||||
m_led.setLength(m_ledBuffer.getLength());
|
||||
m_led.setData(m_ledBuffer);
|
||||
m_led.start();
|
||||
System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
|
||||
}
|
||||
public static LED getInstance() {
|
||||
if(m_self == null)
|
||||
m_self = new LED();
|
||||
return m_self;
|
||||
}
|
||||
@Override
|
||||
public void periodic(){
|
||||
//gamermode();
|
||||
//SmartDashboard.putNumber("LED", m_currentPattern.getValue());
|
||||
return;
|
||||
}
|
||||
static int firstcolor = 0;
|
||||
static void gamermode() {
|
||||
for(int i = 0; i < m_ledBuffer.getLength(); i++) {
|
||||
final int hue = (firstcolor + (i * 180 / m_ledBuffer.getLength())) % 180;
|
||||
setLEDHSV(i, hue, 255, 128);
|
||||
}
|
||||
firstcolor +=3;
|
||||
firstcolor %= 180;
|
||||
}
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public static void updateLED (){
|
||||
gamermode();
|
||||
// m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public static void setLEDRGB(int lednum, int r, int g, int b){
|
||||
m_ledBuffer.setRGB(lednum, r, g, b);
|
||||
//m_currentPattern = pattern;
|
||||
// m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
public static void setLEDHSV(int lednum, int hue, int sat, int val){
|
||||
m_ledBuffer.setRGB(lednum, hue, sat, val);
|
||||
//m_currentPattern = pattern;
|
||||
// m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
/**
|
||||
* Add your docs here.
|
||||
* @return
|
||||
*/
|
||||
public AddressableLEDBuffer getBuffer() {
|
||||
return m_ledBuffer;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,333 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
|
||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
|
||||
import frc4388.utility.RobotGyro;
|
||||
import frc4388.utility.RobotUnits;
|
||||
|
||||
public class SwerveDrive extends SubsystemBase {
|
||||
|
||||
private SwerveModule leftFront;
|
||||
private SwerveModule rightFront;
|
||||
private SwerveModule leftBack;
|
||||
private SwerveModule rightBack;
|
||||
|
||||
private SwerveModule[] modules;
|
||||
|
||||
private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
private Translation2d rightFrontLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
private Translation2d leftBackLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
|
||||
|
||||
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
|
||||
|
||||
private RobotGyro gyro;
|
||||
|
||||
private int gear_index;
|
||||
private boolean stopped = false;
|
||||
|
||||
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
|
||||
public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
|
||||
public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
|
||||
|
||||
public double rotTarget = 0.0;
|
||||
public Rotation2d orientRotTarget = new Rotation2d();
|
||||
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
|
||||
|
||||
/** Creates a new SwerveDrive. */
|
||||
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
|
||||
this.leftFront = leftFront;
|
||||
this.rightFront = rightFront;
|
||||
this.leftBack = leftBack;
|
||||
this.rightBack = rightBack;
|
||||
|
||||
this.gyro = gyro;
|
||||
reset_index();
|
||||
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
|
||||
}
|
||||
|
||||
public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
|
||||
// double ang = Math.atan2(rightStick.getY(), rightStick.getX());
|
||||
// rightStick.getAngle()
|
||||
double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2));
|
||||
// System.out.println(ang);
|
||||
// module.go(ang);
|
||||
// Rotation2d rot = Rotation2d.fromRadians(ang);
|
||||
Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
|
||||
SwerveModuleState state = new SwerveModuleState(speed, rot);
|
||||
module.setDesiredState(state);
|
||||
}
|
||||
|
||||
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
|
||||
double rot_correction = RobotUnits.degreesToRadians(gyro.getRotation2d().getDegrees() - rotTarget) * 0.0;
|
||||
SmartDashboard.putNumber("Rot_correct", RobotUnits.radiansToDegrees(rot_correction));
|
||||
|
||||
if (fieldRelative) {
|
||||
|
||||
double rot = 0;
|
||||
|
||||
// ! drift correction
|
||||
if (rightStick.getNorm() > 0.05) {
|
||||
rotTarget = gyro.getAngle();
|
||||
rot_correction = 0;
|
||||
// rot = rightStick.getX();
|
||||
// SmartDashboard.putBoolean("drift correction", false);
|
||||
stopped = false;
|
||||
} else if(leftStick.getNorm() > 0.05) {
|
||||
if (!stopped) {
|
||||
stopModules();
|
||||
stopped = true;
|
||||
}
|
||||
|
||||
// SmartDashboard.putBoolean("drift correction", true);
|
||||
|
||||
// rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
|
||||
|
||||
}
|
||||
|
||||
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
|
||||
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
|
||||
// Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
|
||||
|
||||
// Convert field-relative speeds to robot-relative speeds.
|
||||
// chassisSpeeds = chassisSpeeds.
|
||||
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1));
|
||||
} else { // Create robot-relative speeds.
|
||||
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
|
||||
}
|
||||
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
}
|
||||
|
||||
public void playbackDriveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
if (fieldRelative) {
|
||||
|
||||
double rot = 0;
|
||||
|
||||
// ! drift correction
|
||||
if (rightStick.getNorm() > 0.05) {
|
||||
rotTarget = gyro.getAngle();
|
||||
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
|
||||
// SmartDashboard.putBoolean("drift correction", false);
|
||||
stopped = false;
|
||||
} else if(leftStick.getNorm() > 0.05) {
|
||||
if (!stopped) {
|
||||
stopModules();
|
||||
stopped = true;
|
||||
}
|
||||
|
||||
// SmartDashboard.putBoolean("drift correction", true);
|
||||
// double rot_correction = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
|
||||
Translation2d speed = leftStick.times(leftStick.getNorm() * autoSpeedAdjust);
|
||||
// Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
|
||||
|
||||
// Convert field-relative speeds to robot-relative speeds.
|
||||
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
|
||||
} else { // Create robot-relative speeds.
|
||||
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.PLAYBACK_ROTATION_SPEED);
|
||||
}
|
||||
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
}
|
||||
|
||||
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
|
||||
// Translation2d rightStick = new Translation2d(-rightX, rightY);
|
||||
double rightX = rightStick.getX();
|
||||
double rightY = rightStick.getY();
|
||||
|
||||
double rot_correction = 0;
|
||||
|
||||
// double rot_correction = ((rightStick.getAngle().getDegrees() - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
|
||||
|
||||
if(fieldRelative) {
|
||||
double rot = 0;
|
||||
if(rightStick.getNorm() > 0.5) {
|
||||
orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
|
||||
|
||||
Rotation2d tmp = orientRotTarget.minus(gyro.getRotation2d().minus(new Rotation2d(Math.PI)).interpolate(orientRotTarget, 0.5));
|
||||
double min = tmp.getDegrees();
|
||||
min = Math.max(Math.abs(min), 2);
|
||||
if(tmp.getDegrees() < 0)
|
||||
min*=-1;
|
||||
tmp = new Rotation2d(min * Math.PI / 180);
|
||||
rot = tmp.getRadians(); // x x - y/x
|
||||
}
|
||||
|
||||
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
|
||||
|
||||
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), ((-1 * rightStick.getX()) * SwerveDriveConstants.ROTATION_SPEED) + rot_correction, gyro.getRotation2d()).times(1);
|
||||
} else { // Create robot-relative speeds.
|
||||
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
|
||||
}
|
||||
// setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
|
||||
}
|
||||
|
||||
/**
|
||||
* Set each module of the swerve drive to the corresponding desired state.
|
||||
* @param desiredStates Array of module states to set.
|
||||
*/
|
||||
public void setModuleStates(SwerveModuleState[] desiredStates) {
|
||||
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
|
||||
for (int i = 0; i < desiredStates.length; i++) {
|
||||
SwerveModule module = modules[i];
|
||||
SwerveModuleState state = desiredStates[i];
|
||||
module.setDesiredState(state);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean rotateToTarget(double angle) {
|
||||
double currentAngle = getGyroAngle();
|
||||
double error = angle - currentAngle;
|
||||
|
||||
driveWithInput(new Translation2d(0, 0), new Translation2d(error / Math.abs(error) * 0.3, 0), true);
|
||||
|
||||
if (Math.abs(angle - getGyroAngle()) < 5.0) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public double getGyroAngle() {
|
||||
return -gyro.getAngle();
|
||||
}
|
||||
|
||||
public void add180() {
|
||||
gyro.reset(gyro.getAngle()+180);
|
||||
rotTarget = gyro.getAngle();
|
||||
|
||||
}
|
||||
|
||||
public void resetGyro() {
|
||||
gyro.reset();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyroFlip() {
|
||||
gyro.resetFlip();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyroRightBlue() {
|
||||
gyro.resetRightSideBlue();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void resetGyroRightAmp() {
|
||||
gyro.resetAmpSide();
|
||||
rotTarget = gyro.getAngle();
|
||||
}
|
||||
|
||||
public void stopModules() {
|
||||
for (SwerveModule module : this.modules) {
|
||||
module.stop();
|
||||
}
|
||||
}
|
||||
|
||||
public SwerveDriveKinematics getKinematics() {
|
||||
return this.kinematics;
|
||||
}
|
||||
|
||||
public boolean getSpeedState() {
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run\
|
||||
SmartDashboard.putNumber("Gyro", getGyroAngle());
|
||||
SmartDashboard.putNumber("RotTartget", rotTarget);
|
||||
}
|
||||
|
||||
private void reset_index() {
|
||||
gear_index = 0; // however we wish to initialize the gear (What gear does the robot start in?)
|
||||
}
|
||||
|
||||
public void shiftDown() {
|
||||
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
|
||||
int i = gear_index - 1;
|
||||
if (i == -1) i = 0;
|
||||
setPercentOutput(SwerveDriveConstants.GEARS[i]);
|
||||
gear_index = i;
|
||||
}
|
||||
|
||||
public void shiftUp() {
|
||||
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
|
||||
int i = gear_index + 1;
|
||||
if (i == SwerveDriveConstants.GEARS.length) i = SwerveDriveConstants.GEARS.length - 1;
|
||||
setPercentOutput(SwerveDriveConstants.GEARS[i]);
|
||||
gear_index = i;
|
||||
}
|
||||
|
||||
public void setPercentOutput(double speed) {
|
||||
speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * speed;
|
||||
gear_index = -1;
|
||||
}
|
||||
|
||||
public void setToSlow() {
|
||||
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.SLOW_SPEED;
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
System.out.println("SLOW");
|
||||
}
|
||||
|
||||
public void setToFast() {
|
||||
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.FAST_SPEED;
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
System.out.println("FAST");
|
||||
}
|
||||
|
||||
public void setToTurbo() {
|
||||
this.speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * SwerveDriveConstants.TURBO_SPEED;
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
System.out.println("TURBO");
|
||||
}
|
||||
|
||||
public void toggleGear(double angle) {
|
||||
if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
|
||||
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
|
||||
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
|
||||
} else {
|
||||
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
|
||||
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
|
||||
}
|
||||
}
|
||||
|
||||
public void shiftUpRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
|
||||
}
|
||||
|
||||
public void shiftDownRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,242 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import com.ctre.phoenix6.StatusSignal;
|
||||
import com.ctre.phoenix6.Utils;
|
||||
import com.ctre.phoenix6.configs.CANcoderConfiguration;
|
||||
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
|
||||
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
|
||||
import com.ctre.phoenix6.configs.FeedbackConfigs;
|
||||
import com.ctre.phoenix6.configs.MotorOutputConfigs;
|
||||
import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.controls.DutyCycleOut;
|
||||
import com.ctre.phoenix6.controls.Follower;
|
||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
|
||||
import com.ctre.phoenix6.signals.InvertedValue;
|
||||
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||
import com.ctre.phoenix6.signals.SensorDirectionValue;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.kinematics.SwerveModulePosition;
|
||||
import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.SwerveDriveConstants;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
public class SwerveModule extends SubsystemBase {
|
||||
private TalonFX driveMotor;
|
||||
private TalonFX angleMotor;
|
||||
private CANcoder encoder;
|
||||
// private final StatusSignal<Double> cc_pos;
|
||||
// private final StatusSignal<Double> cc_vel;
|
||||
// private int selfid;
|
||||
// private ConfigurableDouble offsetGetter;
|
||||
private static int swerveId = 0;
|
||||
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
|
||||
|
||||
|
||||
/** Creates a new SwerveModule. */
|
||||
public SwerveModule(TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
|
||||
this.driveMotor = driveMotor;
|
||||
this.angleMotor = angleMotor;
|
||||
this.encoder = encoder;
|
||||
|
||||
var motorCfg = new TalonFXConfiguration()
|
||||
.withOpenLoopRamps(
|
||||
new OpenLoopRampsConfigs()
|
||||
.withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
|
||||
).withClosedLoopRamps(
|
||||
new ClosedLoopRampsConfigs()
|
||||
.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
|
||||
).withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withNeutralMode(NeutralModeValue.Brake)
|
||||
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
|
||||
).withCurrentLimits(
|
||||
new CurrentLimitsConfigs()
|
||||
.withStatorCurrentLimit(100)
|
||||
.withStatorCurrentLimitEnable(true)
|
||||
.withSupplyCurrentLimit(100)
|
||||
.withSupplyCurrentLimitEnable(true)
|
||||
);
|
||||
|
||||
driveMotor.getConfigurator().apply(motorCfg);
|
||||
|
||||
TalonFXConfiguration angleConfig = new TalonFXConfiguration()
|
||||
.withOpenLoopRamps(
|
||||
new OpenLoopRampsConfigs()
|
||||
.withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
|
||||
).withClosedLoopRamps(
|
||||
new ClosedLoopRampsConfigs()
|
||||
.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
|
||||
).withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withNeutralMode(NeutralModeValue.Brake)
|
||||
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
|
||||
);
|
||||
|
||||
angleConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
|
||||
|
||||
angleConfig.Slot0.kP = swerveGains.kP;
|
||||
angleConfig.Slot0.kI = swerveGains.kI;
|
||||
angleConfig.Slot0.kD = swerveGains.kD;
|
||||
|
||||
angleConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
|
||||
angleConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
|
||||
angleMotor.getConfigurator().apply(angleConfig);
|
||||
|
||||
CANcoderConfiguration canconfig = new CANcoderConfiguration();
|
||||
canconfig.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
|
||||
canconfig.MagnetSensor.MagnetOffset = offset;
|
||||
encoder.getConfigurator().apply(canconfig);
|
||||
|
||||
rotateToAngle(0);
|
||||
}
|
||||
|
||||
// public void go(double ang){
|
||||
// // double curang = this.encoder.getAbsolutePosition().getValue();
|
||||
// System.out.println(getAngle().getDegrees());
|
||||
// rotateToAngle(ang);
|
||||
// }
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
//encoder.configMagnetOffset(offsetGetter.get());
|
||||
//SmartDashboard.putString("Error Code: " + selfid, getstuff());
|
||||
// SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees());
|
||||
// SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel());
|
||||
// SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos());
|
||||
// SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel());
|
||||
}
|
||||
/**
|
||||
* Get the drive motor of the SwerveModule
|
||||
* @return the drive motor of the SwerveModule
|
||||
*/
|
||||
public TalonFX getDriveMotor() {
|
||||
return this.driveMotor;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the angle motor of the SwerveModule
|
||||
* @return the angle motor of the SwerveModule
|
||||
*/
|
||||
public TalonFX getAngleMotor() {
|
||||
return this.angleMotor;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the CANcoder of the SwerveModule
|
||||
* @return the CANcoder of the SwerveModule
|
||||
*/
|
||||
public CANcoder getEncoder() {
|
||||
return this.encoder;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the angle of a SwerveModule as a Rotation2d
|
||||
* @return the angle of a SwerveModule as a Rotation2d
|
||||
*/
|
||||
public Rotation2d getAngle() {
|
||||
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
|
||||
// return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
|
||||
return Rotation2d.fromRotations(encoder.getPosition().getValue());
|
||||
}
|
||||
|
||||
public double getAngularVel() {
|
||||
// return this.angleMotor.getSelectedSensorVelocity();
|
||||
return angleMotor.getVelocity().getValueAsDouble();
|
||||
}
|
||||
|
||||
public double getDrivePos() {
|
||||
// return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
|
||||
return driveMotor.getPosition().getValueAsDouble();
|
||||
}
|
||||
|
||||
public double getDriveVel() {
|
||||
// return this.driveMotor.getSelectedSensorVelocity(0);
|
||||
return driveMotor.getVelocity().getValueAsDouble();
|
||||
}
|
||||
|
||||
public void stop() {
|
||||
driveMotor.set(0);
|
||||
angleMotor.set(0);
|
||||
}
|
||||
|
||||
public void rotateToAngle(double angle) {
|
||||
final PositionVoltage m_request = new PositionVoltage(angle);
|
||||
angleMotor.setControl(m_request);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get state of swerve module
|
||||
* @return speed in m/s and angle in degrees
|
||||
*/
|
||||
public SwerveModuleState getState() {
|
||||
return new SwerveModuleState(
|
||||
Units.inchesToMeters(driveMotor.getVelocity().getValue() *
|
||||
SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV *
|
||||
SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV),
|
||||
getAngle()
|
||||
);
|
||||
}
|
||||
|
||||
// private SwerveModuleState optimizeState(SwerveModuleState desiredState) {
|
||||
// Rotation2d curRot = this.getAngle();
|
||||
|
||||
// }
|
||||
|
||||
/**
|
||||
* Returns the current position of the SwerveModule
|
||||
* @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
|
||||
// */
|
||||
// public SwerveModulePosition getPosition() {
|
||||
// return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle());
|
||||
// }
|
||||
|
||||
/**
|
||||
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
|
||||
* @param desiredState a SwerveModuleState representing the desired new state of the module
|
||||
// */
|
||||
public void setDesiredState(SwerveModuleState desiredState) {
|
||||
Rotation2d currentRotation = this.getAngle();
|
||||
|
||||
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
|
||||
// calculate the difference between our current rotational position and our new rotational position
|
||||
Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
||||
|
||||
double speed = Units.metersToFeet(state.speedMetersPerSecond) / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND;
|
||||
|
||||
rotateToAngle(rotationDelta.getRotations() + currentRotation.getRotations());
|
||||
|
||||
driveMotor.set(Math.max(Math.min(speed, 1.), -1.));
|
||||
}
|
||||
|
||||
public void reset() {
|
||||
// encoder.setPosition(0);
|
||||
}
|
||||
|
||||
// public double getCurrent() {
|
||||
// return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
|
||||
// }
|
||||
|
||||
// public double getVoltage() {
|
||||
// return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
|
||||
// }
|
||||
|
||||
// public String getstuff() {
|
||||
// encoder.getPosition();
|
||||
// return "" + encoder.getLastError().value;
|
||||
// }
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.apriltag.AprilTag;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Rotation3d;
|
||||
import edu.wpi.first.networktables.NetworkTableEntry;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
|
||||
public class Vision {
|
||||
private final NetworkTableEntry m_isTags;
|
||||
private final NetworkTableEntry m_xPoses;
|
||||
private final NetworkTableEntry m_yPoses;
|
||||
private final NetworkTableEntry m_zPoses;
|
||||
|
||||
public Vision() {
|
||||
final var tagTable = NetworkTableInstance.getDefault().getTable("apriltag");
|
||||
|
||||
m_isTags = tagTable.getEntry("IsTag");
|
||||
m_xPoses = tagTable.getEntry("TagPosX");
|
||||
m_yPoses = tagTable.getEntry("TagPosY");
|
||||
m_zPoses = tagTable.getEntry("TagPosZ");
|
||||
}
|
||||
|
||||
public AprilTag[] getAprilTags() {
|
||||
if (!m_isTags.getBoolean(false)) return new AprilTag[0];
|
||||
|
||||
double xarr[] = m_xPoses.getDoubleArray(new double[] {});
|
||||
double yarr[] = m_yPoses.getDoubleArray(new double[] {});
|
||||
double zarr[] = m_zPoses.getDoubleArray(new double[] {});
|
||||
|
||||
AprilTag tags[] = new AprilTag[xarr.length];
|
||||
for (int i = 0; i < tags.length; i++) {
|
||||
tags[i] = new AprilTag(0, new Pose3d(xarr[i], yarr[i], zarr[i], new Rotation3d()));
|
||||
}
|
||||
|
||||
return tags;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
package frc4388.utility;
|
||||
|
||||
// This is a seperate class in case I want to encode rotation or other
|
||||
// information about the tag
|
||||
public class AprilTag {
|
||||
public final double x, y, z;
|
||||
|
||||
public AprilTag(double _x, double _y, double _z) {
|
||||
x = _x;
|
||||
y = _y;
|
||||
z = _z;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
package frc4388.utility;
|
||||
|
||||
import java.nio.ByteBuffer;
|
||||
|
||||
public class DataUtils {
|
||||
public static byte[] doubleToByteArray(double value) {
|
||||
byte[] bytes = new byte[8];
|
||||
ByteBuffer.wrap(bytes).putDouble(value);
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static double byteArrayToDouble(byte[] bytes) {
|
||||
return ByteBuffer.wrap(bytes).getDouble();
|
||||
}
|
||||
|
||||
public static byte[] intToByteArray(int value) {
|
||||
byte[] bytes = new byte[4];
|
||||
ByteBuffer.wrap(bytes).putInt(value);
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static int byteArrayToInt(byte[] bytes) {
|
||||
return ByteBuffer.wrap(bytes).getInt();
|
||||
}
|
||||
|
||||
public static byte[] shortToByteArray(short value) {
|
||||
byte[] bytes = new byte[2];
|
||||
ByteBuffer.wrap(bytes).putShort(value);
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static short byteArrayToShort(byte[] bytes) {
|
||||
return ByteBuffer.wrap(bytes).getShort();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
package frc4388.utility;
|
||||
|
||||
import java.util.ArrayList;
|
||||
|
||||
public class DeferredBlock {
|
||||
private static ArrayList<Runnable> m_blocks = new ArrayList<>();
|
||||
private static boolean m_hasRun = false;
|
||||
|
||||
public DeferredBlock(Runnable block) {
|
||||
m_blocks.add(block);
|
||||
}
|
||||
|
||||
public static void execute() {
|
||||
if (m_hasRun) return;
|
||||
|
||||
for (Runnable block : m_blocks) {
|
||||
block.run();
|
||||
}
|
||||
|
||||
m_blocks.clear(); // for garbage collection
|
||||
m_hasRun = true;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,83 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.utility;
|
||||
|
||||
/** Add your docs here. */
|
||||
public class Gains {
|
||||
public double kP;
|
||||
public double kI;
|
||||
public double kD;
|
||||
public double kF;
|
||||
public int kIZone;
|
||||
public double kPeakOutput;
|
||||
public double kMaxOutput;
|
||||
public double kMinOutput;
|
||||
|
||||
/**
|
||||
* Creates Gains object for PIDs
|
||||
* @param kP The P value.
|
||||
* @param kI The I value.
|
||||
* @param kD The D value.
|
||||
* @param kF The F value.
|
||||
* @param kIZone The zone of the I value.
|
||||
* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
|
||||
*/
|
||||
public Gains(double kP, double kI, double kD, double kF, int kIZone, double kPeakOutput) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
this.kF = kF;
|
||||
this.kIZone = kIZone;
|
||||
this.kPeakOutput = kPeakOutput;
|
||||
this.kMaxOutput = kPeakOutput;
|
||||
this.kMinOutput = -kPeakOutput;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates Gains object for PIDs
|
||||
* @param kP The P value.
|
||||
* @param kI The I value.
|
||||
* @param kD The D value.
|
||||
* @param kF The F value.
|
||||
* @param kIZone The zone of the I value.
|
||||
*/
|
||||
public Gains(double kP, double kI, double kD, double kF, int kIZone) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
this.kF = kF;
|
||||
this.kIZone = kIZone;
|
||||
this.kPeakOutput = 1.0;
|
||||
this.kMaxOutput = 1.0;
|
||||
this.kMinOutput = -1.0;
|
||||
}
|
||||
|
||||
public Gains(double kP, double kI, double kD) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates Gains object for PIDs
|
||||
* @param kP The P value.
|
||||
* @param kI The I value.
|
||||
* @param kD The D value.
|
||||
* @param kF The F value.
|
||||
* @param kIZone The zone of the I value.
|
||||
* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
|
||||
* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
|
||||
*/
|
||||
public Gains(double kP, double kI, double kD, double kF, int kIZone, double kMaxOutput, double kMinOutput) {
|
||||
this.kP = kP;
|
||||
this.kI = kI;
|
||||
this.kD = kD;
|
||||
this.kF = kF;
|
||||
this.kIZone = kIZone;
|
||||
this.kMaxOutput = kMaxOutput;
|
||||
this.kMinOutput = kMinOutput;
|
||||
this.kPeakOutput = (Math.abs(kMinOutput) > Math.abs(kMaxOutput)) ? Math.abs(kMinOutput) : Math.abs(kMaxOutput);
|
||||
}
|
||||
}
|
||||
@@ -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 +1,269 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.WPI_Pigeon2;
|
||||
import com.ctre.phoenix6.hardware.Pigeon2;
|
||||
import com.kauailabs.navx.frc.AHRS;
|
||||
|
||||
// import edu.wpi.first.wpilibj.GyroBase;
|
||||
// import edu.wpi.first.wpilibj.interfaces.Gyro;
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
|
||||
/**
|
||||
* Gyro class that allows for interchangeable use between a pigeon and a navX
|
||||
*/
|
||||
public class RobotGyro {
|
||||
private RobotTime m_robotTime = RobotTime.getInstance();
|
||||
|
||||
private Pigeon2 m_pigeon = null;
|
||||
private AHRS m_navX = null;
|
||||
public boolean m_isGyroAPigeon; //true if pigeon, false if navX
|
||||
|
||||
private double m_lastPigeonAngle;
|
||||
private double m_deltaPigeonAngle;
|
||||
|
||||
private double pitchZero = 0;
|
||||
private double rollZero = 0;
|
||||
|
||||
/**
|
||||
* Creates a Gyro based on a pigeon
|
||||
* @param gyro the gyroscope to use for Gyro
|
||||
*/
|
||||
public RobotGyro(Pigeon2 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;
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets yaw, pitch, and roll.
|
||||
*/
|
||||
public void resetZeroValues() {
|
||||
if (!m_isGyroAPigeon) return;
|
||||
|
||||
// pitchZero = m_pigeon.getPitch();
|
||||
// rollZero = m_pigeon.getRoll();
|
||||
}
|
||||
|
||||
/**
|
||||
* Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
|
||||
* that the getRate() method for a navX will likely be much more accurate than for a pigeon.
|
||||
*/
|
||||
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.
|
||||
*/
|
||||
public void calibrate() {
|
||||
return;
|
||||
// if (m_isGyroAPigeon) {
|
||||
// m_pigeon.calibrate();
|
||||
// } else {
|
||||
// m_navX.calibrate();
|
||||
// }
|
||||
}
|
||||
|
||||
public void reset() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(0);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void reset(double val) {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(val);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetFlip() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(180);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetNinety() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(90);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetTwoSeventy() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(270);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetRightSideBlue() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(60);
|
||||
} else {
|
||||
m_navX.reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetAmpSide() {
|
||||
resetZeroValues();
|
||||
|
||||
if (m_isGyroAPigeon) {
|
||||
m_pigeon.setYaw(-60);
|
||||
} 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() {
|
||||
m_pigeon.getAngle();
|
||||
var rotation = m_pigeon.getRotation3d();
|
||||
|
||||
return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
|
||||
}
|
||||
|
||||
public Rotation2d getRotation2d() {
|
||||
return m_pigeon.getRotation2d();
|
||||
}
|
||||
|
||||
public double getAngle() {
|
||||
if (m_isGyroAPigeon) {
|
||||
return getPigeonAngles()[2];
|
||||
} else {
|
||||
return m_navX.getAngle();
|
||||
}
|
||||
}
|
||||
|
||||
public double getYaw() {
|
||||
return this.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);
|
||||
}
|
||||
}
|
||||
|
||||
public double getRate() {
|
||||
if (m_isGyroAPigeon) {
|
||||
return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
|
||||
} else {
|
||||
return m_navX.getRate();
|
||||
}
|
||||
}
|
||||
|
||||
public Pigeon2 getPigeon(){
|
||||
return m_pigeon;
|
||||
}
|
||||
|
||||
public AHRS getNavX(){
|
||||
return m_navX;
|
||||
}
|
||||
|
||||
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 +1,27 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.utility;
|
||||
|
||||
/** Aarav's good units class (better than WPILib)
|
||||
* @author Aarav Shah */
|
||||
|
||||
public class RobotUnits {
|
||||
// constants
|
||||
|
||||
// angle conversions
|
||||
public static double degreesToRadians(final double degrees) {return degrees * Math.PI / 180;}
|
||||
|
||||
public static double radiansToDegrees(final double radians) {return radians / Math.PI * 180;}
|
||||
|
||||
// falcon conversions
|
||||
public static double falconTicksToRotations(final double ticks) {return ticks / 2048;}
|
||||
|
||||
public static double falconRotationsToTicks(final double rotations) {return rotations * 2048;}
|
||||
|
||||
// distance conversions
|
||||
public static double metersToFeet(final double meters) {return meters * 3.28084;}
|
||||
|
||||
public static double feetToMeters(final double feet) {return feet / 3.28084;}
|
||||
}
|
||||
@@ -0,0 +1,26 @@
|
||||
package frc4388.utility;
|
||||
|
||||
public class UtilityStructs {
|
||||
public static class TimedOutput {
|
||||
public double leftX = 0.0;
|
||||
public double leftY = 0.0;
|
||||
public double rightX = 0.0;
|
||||
public double rightY = 0.0;
|
||||
|
||||
public boolean OPLB;
|
||||
public boolean OPRB;
|
||||
|
||||
|
||||
public long timedOffset = 0;
|
||||
}
|
||||
public static class AutoRecordingControllerFrame {
|
||||
public double[] axes = new double[6];
|
||||
public short button = 0;
|
||||
public short[] POV = new short[1];
|
||||
|
||||
}
|
||||
public static class AutoRecordingFrame {
|
||||
public AutoRecordingControllerFrame[] controllerFrames = new AutoRecordingControllerFrame[2];
|
||||
public int timeStamp;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
package frc4388.utility.configurable;
|
||||
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
public class ConfigurableDouble {
|
||||
private double defualtValue;
|
||||
private String name;
|
||||
|
||||
/**
|
||||
* Creates an new ConfigurableDouble through Smart Dashboard.
|
||||
* @param name the name of the Smart Dashboard key.
|
||||
* @param defualtValue the initilization value
|
||||
*/
|
||||
public ConfigurableDouble(String name, double defualtValue) {
|
||||
this.name = name;
|
||||
this.defualtValue = defualtValue;
|
||||
SmartDashboard.putNumber(name, defualtValue);
|
||||
}
|
||||
|
||||
public double get() {
|
||||
return SmartDashboard.getNumber(name, defualtValue);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,23 @@
|
||||
package frc4388.utility.configurable;
|
||||
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
public class ConfigurableString {
|
||||
private String defualtValue;
|
||||
private String name;
|
||||
|
||||
/**
|
||||
* Creates an new ConfigurableString through Smart Dashboard.
|
||||
* @param name the name of the Smart Dashboard key.
|
||||
* @param defualtValue the initilization value
|
||||
*/
|
||||
public ConfigurableString(String name, String defualtValue) {
|
||||
this.name = name;
|
||||
this.defualtValue = defualtValue;
|
||||
SmartDashboard.putString(name, defualtValue);
|
||||
}
|
||||
|
||||
public String get() {
|
||||
return SmartDashboard.getString(name, defualtValue);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
|
||||
public class DeadbandedXboxController extends XboxController {
|
||||
public DeadbandedXboxController(int port) { super(port); }
|
||||
|
||||
@Override public double getLeftX() { return getLeft().getX(); }
|
||||
@Override public double getLeftY() { return getLeft().getY(); }
|
||||
@Override public double getRightX() { return getRight().getX(); }
|
||||
@Override public double getRightY() { return getRight().getY(); }
|
||||
|
||||
public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
|
||||
public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
|
||||
|
||||
public static Translation2d skewToDeadzonedCircle(double x, double y) {
|
||||
Translation2d translation2d = new Translation2d(x, y);
|
||||
double magnitude = translation2d.getNorm();
|
||||
|
||||
if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
|
||||
|
||||
return translation2d;
|
||||
}
|
||||
}
|
||||
@@ -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 +1,145 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
|
||||
/**
|
||||
* A virtual controller that can be bound like an standard controller.
|
||||
* @author Zachary Wilke
|
||||
*/
|
||||
public class VirtualController extends GenericHID {
|
||||
private short m_buttonStates = 0;
|
||||
private short m_buttonStatesLastFrame = 0;
|
||||
private double[] m_axes = new double[6];
|
||||
private short[] m_pov = new short[1];
|
||||
|
||||
/**
|
||||
* Create an virtual controller
|
||||
* @param port virtual port (merely a formality).
|
||||
*/
|
||||
public VirtualController(int port) {
|
||||
super(port);
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the curent inputs to the new frames.
|
||||
* @param axes joystick axes, (i.e. joysticks and triggers).
|
||||
* @param buttonFlags the bit packed button states.
|
||||
* @param pov the array of dpads.
|
||||
*/
|
||||
public void setFrame(double[] axes, short buttonFlags, short[] pov) {
|
||||
m_axes = axes;
|
||||
setOutputs(buttonFlags);
|
||||
m_pov = pov;
|
||||
}
|
||||
|
||||
/**
|
||||
* Zero outs the controls.
|
||||
*/
|
||||
public void zeroControls() {
|
||||
m_axes = new double[6];
|
||||
m_buttonStates = 0;
|
||||
m_buttonStatesLastFrame = 0;
|
||||
m_pov = new short[] {-1};
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the value of a bitflag from an int
|
||||
* @param value int to search
|
||||
* @param index index of bit
|
||||
* @return if the bit is set
|
||||
*/
|
||||
public static boolean getFlag(int value, int index) {
|
||||
return ((value & 1 << index) != 0);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean getRawButton(int button) { // man why are buttons indexed at 1.
|
||||
return getFlag(m_buttonStates, button - 1);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean getRawButtonPressed(int button) {
|
||||
return (!getFlag(m_buttonStatesLastFrame, button - 1) && getRawButton(button));
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean getRawButtonReleased(int button) {
|
||||
return (getFlag(m_buttonStatesLastFrame, button - 1) && !getRawButton(button));
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getRawAxis(int axis) {
|
||||
return m_axes[axis];
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getPOV(int pov) {
|
||||
return m_pov[pov];
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getAxisCount() {
|
||||
return m_axes.length;
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getPOVCount() {
|
||||
return m_pov.length;
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getButtonCount() {
|
||||
return 10;
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isConnected() {
|
||||
return true;
|
||||
}
|
||||
|
||||
@Override
|
||||
public HIDType getType() {
|
||||
return HIDType.kXInputGamepad;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "Virtual Controller";
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getAxisType(int axis) {
|
||||
return 1; /* ! Warning, does not return accurate data.
|
||||
Hopefully this isn't a problem */
|
||||
}
|
||||
|
||||
/**
|
||||
* Use {@link VirtualController#setFrame} or {@link VirtualController#setOutputs}.
|
||||
* this is an no-op overide.
|
||||
*/
|
||||
@Override
|
||||
public void setOutput(int outputNumber, boolean value) {
|
||||
// do not use
|
||||
//m_buttonStatesLastFrame[outputNumber - 1] = m_buttonStates[outputNumber - 1];
|
||||
//m_buttonStates[outputNumber - 1] = value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set buttons from a packed int, if you want to set joysticks and dpad use {@link VirtualController#SetFrame}
|
||||
*/
|
||||
@Override
|
||||
public void setOutputs(int value) {
|
||||
m_buttonStatesLastFrame = m_buttonStates;
|
||||
m_buttonStates = (short) value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Why are you Setting rumble on an virtual controller?
|
||||
* @param type the rumble type (even though it won't do anything)
|
||||
* @param value the rumble strength (always multiplyed by 0.0)
|
||||
*/
|
||||
@Override
|
||||
public void setRumble(RumbleType type, double value) {
|
||||
System.out.println("Why are you Setting rumble on an virtual controller?");
|
||||
}
|
||||
}
|
||||
@@ -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 +1,68 @@
|
||||
package frc4388.utility.controller;
|
||||
|
||||
//import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
|
||||
/**
|
||||
* 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 Trigger {
|
||||
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 +1,40 @@
|
||||
{
|
||||
"fileName": "NavX.json",
|
||||
"name": "NavX",
|
||||
"version": "2024.1.0",
|
||||
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
|
||||
"frcYear": "2024",
|
||||
"mavenUrls": [
|
||||
"https://dev.studica.com/maven/release/2024/"
|
||||
],
|
||||
"jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.kauailabs.navx.frc",
|
||||
"artifactId": "navx-frc-java",
|
||||
"version": "2024.1.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.kauailabs.navx.frc",
|
||||
"artifactId": "navx-frc-cpp",
|
||||
"version": "2024.1.0",
|
||||
"headerClassifier": "headers",
|
||||
"sourcesClassifier": "sources",
|
||||
"sharedLibrary": false,
|
||||
"libName": "navx_frc",
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"linuxraspbian",
|
||||
"linuxarm32",
|
||||
"linuxarm64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal",
|
||||
"windowsx86-64"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,339 @@
|
||||
{
|
||||
"fileName": "Phoenix6.json",
|
||||
"name": "CTRE-Phoenix (v6)",
|
||||
"version": "24.3.0",
|
||||
"frcYear": 2024,
|
||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||
"mavenUrls": [
|
||||
"https://maven.ctr-electronics.com/release/"
|
||||
],
|
||||
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
|
||||
"conflictsWith": [
|
||||
{
|
||||
"uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
|
||||
"errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
|
||||
"offlineFileName": "Phoenix6And5.json"
|
||||
}
|
||||
],
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "24.3.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonFX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "24.3.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_Phoenix6_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_PhoenixTools",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"linuxathena"
|
||||
],
|
||||
"simMode": "hwsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_Phoenix6_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_PhoenixTools_Sim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimTalonSRX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonFX",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimVictorSPX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimPigeonIMU",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simCANCoder",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimCANCoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimProTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimProCANcoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "24.3.0",
|
||||
"libName": "CTRE_SimProPigeon2",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
],
|
||||
"simMode": "swsim"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
{
|
||||
"fileName": "WPILibNewCommands.json",
|
||||
"name": "WPILib-New-Commands",
|
||||
"version": "1.0.0",
|
||||
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
|
||||
"frcYear": "2024",
|
||||
"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",
|
||||
"linuxarm32",
|
||||
"linuxarm64",
|
||||
"windowsx86-64",
|
||||
"windowsx86",
|
||||
"linuxx86-64",
|
||||
"osxuniversal"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -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