From 6872dbfc1fbcb7c40deaedb30318fbdf75fabd9d Mon Sep 17 00:00:00 2001 From: Alvin Zhang <41vin2h4n9@gmail.com> Date: Wed, 3 Jan 2024 22:55:33 -0800 Subject: [PATCH] initial commit --- .github/workflows/build.yml | 18 + .gitignore | 175 +++++ .vscode/extensions.json | 6 + .vscode/launch.json | 17 + .vscode/settings.json | 41 ++ .wpilib/wpilib_preferences.json | 6 + AdvantageKit-License.md | 674 ++++++++++++++++++ WPILib-License.md | 24 + build.gradle | 142 ++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 63721 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 +++++++ gradlew.bat | 92 +++ settings.gradle | 30 + .../advantagekitdemo/BuildConstants.java | 19 + .../team1540/advantagekitdemo/Constants.java | 87 +++ .../org/team1540/advantagekitdemo/Main.java | 34 + .../org/team1540/advantagekitdemo/Robot.java | 188 +++++ .../advantagekitdemo/RobotContainer.java | 66 ++ .../auto/PathPlannerDriveCommand.java | 16 + .../subsystems/drivetrain/Drivetrain.java | 126 ++++ .../subsystems/drivetrain/DrivetrainIO.java | 25 + .../drivetrain/DrivetrainIOReal.java | 111 +++ .../drivetrain/DrivetrainIOSim.java | 46 ++ .../subsystems/elevator/Elevator.java | 52 ++ .../subsystems/elevator/ElevatorIO.java | 18 + .../subsystems/elevator/ElevatorIOSim.java | 38 + .../advantagekitdemo/util/AutoCommand.java | 34 + .../advantagekitdemo/util/Conversions.java | 71 ++ vendordeps/AdvantageKit.json | 42 ++ vendordeps/PathplannerLib.json | 38 + vendordeps/Phoenix6.json | 339 +++++++++ vendordeps/REVLib.json | 74 ++ vendordeps/WPILibNewCommands.json | 38 + 34 files changed, 2943 insertions(+) create mode 100644 .github/workflows/build.yml create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 AdvantageKit-License.md create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100644 gradlew create mode 100644 gradlew.bat create mode 100644 settings.gradle create mode 100644 src/main/java/org/team1540/advantagekitdemo/BuildConstants.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/Constants.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/Main.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/Robot.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/RobotContainer.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/commands/auto/PathPlannerDriveCommand.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/Drivetrain.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIO.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOReal.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOSim.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/Elevator.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIO.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIOSim.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/util/AutoCommand.java create mode 100644 src/main/java/org/team1540/advantagekitdemo/util/Conversions.java create mode 100644 vendordeps/AdvantageKit.json create mode 100644 vendordeps/PathplannerLib.json create mode 100644 vendordeps/Phoenix6.json create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..ba0370f --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,18 @@ +name: Build + +on: + push: + pull_request: + +jobs: + build: + name: Build + runs-on: ubuntu-latest + container: wpilib/roborio-cross-ubuntu:2024-22.04 + steps: + - name: Checkout repository + uses: actions/checkout@v2 + - name: Grant execute permission + run: chmod +x gradlew + - name: Build robot code + run: ./gradlew build diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..d1e3427 --- /dev/null +++ b/.gitignore @@ -0,0 +1,175 @@ +# 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 +simgui*.json + +# Version file +src/main/java/frc/robot/BuildConstants.java \ No newline at end of file diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..e7ca395 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,6 @@ +{ + "recommendations": [ + "mechanical-advantage.event-deploy-wpilib", + "richardwillis.vscode-spotless-gradle" + ] +} diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..b8c1920 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,17 @@ +{ + "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 + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..6543015 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,41 @@ +{ + "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" + } + }, + null + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "spotlessGradle.format.enable": true, + "spotlessGradle.diagnostics.enable": false, + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", + "[json]": { + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" + }, + "[java]": { + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" + } +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..f4348f2 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024beta", + "teamNumber": 1540 +} diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/AdvantageKit-License.md @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..3d5a824 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2021 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..e8b37e1 --- /dev/null +++ b/build.gradle @@ -0,0 +1,142 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4" + id "com.peterabeles.gversion" version "1.10" + id "com.diffplug.spotless" version "6.12.0" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "org.team1540.advantagekitdemo.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 = true + +// Configuration for AdvantageKit +repositories { + maven { + url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit") + credentials { + username = "Mechanical-Advantage-Bot" + password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051" + } + } + mavenLocal() +} + +configurations.all { + exclude group: "edu.wpi.first.wpilibj" +} + +task(checkAkitInstall, dependsOn: "classes", type: JavaExec) { + mainClass = "org.littletonrobotics.junction.CheckInstall" + classpath = sourceSets.main.runtimeClasspath +} +compileJava.finalizedBy checkAkitInstall + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 4. +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-api:5.8.2' + testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2' + testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2' + + implementation "gov.nist.math:jama:1.0.3" + + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui() +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' +} + +// Create version file +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "org.team1540.advantagekitdemo" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/Los_Angeles" + indent = " " +} \ No newline at end of file diff --git a/gradle/wrapper/gradle-wrapper.jar 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+zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -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 "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..93e3f59 --- /dev/null +++ b/gradlew.bat @@ -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 diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..e23ea1a --- /dev/null +++ b/settings.gradle @@ -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") diff --git a/src/main/java/org/team1540/advantagekitdemo/BuildConstants.java b/src/main/java/org/team1540/advantagekitdemo/BuildConstants.java new file mode 100644 index 0000000..2bfbbbf --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/BuildConstants.java @@ -0,0 +1,19 @@ +package org.team1540.advantagekitdemo; + +/** + * Automatically generated file containing build version information. + */ +public final class BuildConstants { + public static final String MAVEN_GROUP = ""; + public static final String MAVEN_NAME = "advantageKitDemo"; + public static final String VERSION = "unspecified"; + public static final int GIT_REVISION = -1; + public static final String GIT_SHA = "UNKNOWN"; + public static final String GIT_DATE = "UNKNOWN"; + public static final String GIT_BRANCH = "UNKNOWN"; + public static final String BUILD_DATE = "2024-01-03 22:28:19 PST"; + public static final long BUILD_UNIX_TIME = 1704349699908L; + public static final int DIRTY = 129; + + private BuildConstants(){} +} diff --git a/src/main/java/org/team1540/advantagekitdemo/Constants.java b/src/main/java/org/team1540/advantagekitdemo/Constants.java new file mode 100644 index 0000000..c135f96 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/Constants.java @@ -0,0 +1,87 @@ +// Copyright 2021-2023 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package org.team1540.advantagekitdemo; + +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; + +/** + * 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. + * + *

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 SimulationMode simulationMode = SimulationMode.SIM; + + public enum SimulationMode { + /** + * Running a physics simulator. + */ + SIM, + + /** + * Replaying from a log file. + */ + REPLAY + } + + public static final class DrivetrainConstants { + public static final int FL_ID = 1; + public static final int BL_ID = 2; + public static final int FR_ID = 3; + public static final int BR_ID = 4; + + public static final double CURRENT_LIMIT = 40; + + public static final double GEAR_RATIO = 6.0; + public static final double WHEEL_DIAMETER_METERS = Units.inchesToMeters(4.0); + public static final double TRACK_WIDTH_METERS = 26.5; + + public static final double ROBOT_WEIGHT_KG = Units.lbsToKilograms(118); // omg its tem 118 teh robnots + public static final double ROBOT_MOI = 2.54; // omg its tem 254 teh chezy pofs + + public static final double VELOCITY_KP = 3.2925; + public static final double VELOCITY_KI = 0; + public static final double VELOCITY_KD = 0; + + public static final double KS = 0.650; + public static final double KV = 2.81; + public static final double KA = 0.224; + + public static final SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(KS, KV, KA); + public static final DifferentialDriveKinematics driveKinematics = + new DifferentialDriveKinematics(TRACK_WIDTH_METERS); + } + + public static final class ElevatorConstants { + public static final double GEAR_RATIO = 4.21; + public static final double DRUM_RADIUS_METERS = Units.inchesToMeters(0.75); + public static final double MAX_HEIGHT_METERS = Units.inchesToMeters(86); + public static final double CARRIAGE_MASS_KG = 20; + + public static final double KP = 1; + public static final double KI = 0; + public static final double KD = 0; + public static final TrapezoidProfile.Constraints MOTION_CONSTRAINTS = new TrapezoidProfile.Constraints(2.5, 12.5); + + public static final double KS = 0; + public static final double KG = 0.38; + public static final double KV = 0.19; + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/Main.java b/src/main/java/org/team1540/advantagekitdemo/Main.java new file mode 100644 index 0000000..2d8b09d --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/Main.java @@ -0,0 +1,34 @@ +// Copyright 2021-2023 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package org.team1540.advantagekitdemo; + +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. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/Robot.java b/src/main/java/org/team1540/advantagekitdemo/Robot.java new file mode 100644 index 0000000..0591314 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/Robot.java @@ -0,0 +1,188 @@ +// Copyright 2021-2023 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package org.team1540.advantagekitdemo; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import org.littletonrobotics.junction.LogFileUtil; +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGReader; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; + +/** + * 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 LoggedRobot { + private Command autonomousCommand; + private RobotContainer robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Record metadata + Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0: + Logger.recordMetadata("GitStatus", "All changes committed"); + break; + case 1: + Logger.recordMetadata("GitStatus", "Uncomitted changes"); + break; + default: + Logger.recordMetadata("GitStatus", "Unknown"); + break; + } + + // Set up data receivers & replay source + if (Robot.isReal()) { + Logger.addDataReceiver(new WPILOGWriter("/U/logs")); + Logger.addDataReceiver(new NT4Publisher()); + } else { + switch (Constants.simulationMode) { + case SIM: + // Running a physics simulator, log to NT + Logger.addDataReceiver(new NT4Publisher()); + break; + + case REPLAY: + // Replaying a log, set up replay source + setUseTiming(false); // Run as fast as possible + String logPath = LogFileUtil.findReplayLog(); + Logger.setReplaySource(new WPILOGReader(logPath)); + Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); + break; + } + } + + // See http://bit.ly/3YIzFZ6 for more information on timestamps in AdvantageKit. + // Logger.disableDeterministicTimestamps() + + // Start AdvantageKit logger + Logger.start(); + + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our autonomous chooser on the dashboard. + robotContainer = new RobotContainer(); + } + + /** + * This function is called periodically during all modes. + */ + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding + // newly-scheduled commands, running already-scheduled commands, removing + // finished or interrupted commands, and running subsystem periodic() methods. + // This must be called from the robot's periodic block in order for anything in + // the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** + * This function is called once when the robot is disabled. + */ + @Override + public void disabledInit() { + } + + /** + * This function is called periodically when disabled. + */ + @Override + public void disabledPeriodic() { + } + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + autonomousCommand = robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (autonomousCommand != null) { + autonomousCommand.schedule(); + } + } + + /** + * This function is called periodically during autonomous. + */ + @Override + public void autonomousPeriodic() { + } + + /** + * This function is called once when teleop is enabled. + */ + @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 (autonomousCommand != null) { + autonomousCommand.cancel(); + } + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + } + + /** + * This function is called once when test mode is enabled. + */ + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() { + } + + /** + * This function is called once when the robot is first started up. + */ + @Override + public void simulationInit() { + } + + /** + * This function is called periodically whilst in simulation. + */ + @Override + public void simulationPeriodic() { + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/RobotContainer.java b/src/main/java/org/team1540/advantagekitdemo/RobotContainer.java new file mode 100644 index 0000000..1bb619f --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/RobotContainer.java @@ -0,0 +1,66 @@ +// Copyright 2021-2023 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package org.team1540.advantagekitdemo; + +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import org.team1540.advantagekitdemo.subsystems.drivetrain.Drivetrain; +import org.team1540.advantagekitdemo.subsystems.drivetrain.DrivetrainIOReal; +import org.team1540.advantagekitdemo.subsystems.drivetrain.DrivetrainIOSim; + +/** + * 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 { + // Controller + private final CommandXboxController controller = new CommandXboxController(0); + + final Drivetrain drivetrain; + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + if (Robot.isReal()) { + drivetrain = new Drivetrain(new DrivetrainIOReal()); + } else { + drivetrain = new Drivetrain(new DrivetrainIOSim()); + } + configureButtonBindings(); + } + + /** + * 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() { + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return new InstantCommand(); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/commands/auto/PathPlannerDriveCommand.java b/src/main/java/org/team1540/advantagekitdemo/commands/auto/PathPlannerDriveCommand.java new file mode 100644 index 0000000..54afcc4 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/commands/auto/PathPlannerDriveCommand.java @@ -0,0 +1,16 @@ +package org.team1540.advantagekitdemo.commands.auto; + +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.util.PathPlannerLogging; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import org.team1540.advantagekitdemo.subsystems.drivetrain.Drivetrain; + +public class PathPlannerDriveCommand extends SequentialCommandGroup { + public PathPlannerDriveCommand(Drivetrain drivetrain, PathPlannerPath path, boolean resetToPath) { + PathPlannerLogging.logActivePath(path); + Command pathCommand = drivetrain.getPathCommand(path, resetToPath); + addRequirements(drivetrain); + addCommands(pathCommand); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/Drivetrain.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/Drivetrain.java new file mode 100644 index 0000000..e9973e1 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/Drivetrain.java @@ -0,0 +1,126 @@ +package org.team1540.advantagekitdemo.subsystems.drivetrain; + +import com.pathplanner.lib.commands.FollowPathRamsete; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.util.PathPlannerLogging; +import com.pathplanner.lib.util.ReplanningConfig; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions; +import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import org.littletonrobotics.junction.AutoLogOutput; +import org.littletonrobotics.junction.Logger; + +import static org.team1540.advantagekitdemo.Constants.DrivetrainConstants.*; + +public class Drivetrain extends SubsystemBase { + private final DrivetrainIO io; + private final DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); + private final DifferentialDrivePoseEstimator poseEstimator = + new DifferentialDrivePoseEstimator( + driveKinematics, + getYaw(), + getWheelPositions().leftMeters, + getWheelPositions().rightMeters, + new Pose2d() + ); + private final PIDController velocityPID = new PIDController(VELOCITY_KP, VELOCITY_KI, VELOCITY_KD); + + private boolean isClosedLoop = false; + private DifferentialDriveWheelSpeeds closedLoopSetpoint; + + public Drivetrain(DrivetrainIO io) { + this.io = io; + PathPlannerLogging.setLogActivePathCallback( + activePath -> { + Logger.recordOutput("odometry/activePath", activePath.toArray(new Pose2d[activePath.size()])); + } + ); + } + + @Override + public void periodic() { + poseEstimator.update(getYaw(), getWheelPositions()); + if (isClosedLoop && closedLoopSetpoint != null) { + setVoltage( + velocityPID.calculate(getWheelSpeeds().leftMetersPerSecond, closedLoopSetpoint.leftMetersPerSecond), + velocityPID.calculate(getWheelSpeeds().rightMetersPerSecond, closedLoopSetpoint.rightMetersPerSecond) + ); + } + + io.updateInputs(inputs); + Logger.processInputs("Drivetrain", inputs); + } + + public void drivePercent(double leftPercent, double rightPercent) { + isClosedLoop = false; + setVoltage(12 * leftPercent, 12 * rightPercent); + } + + private void setVoltage(double leftVoltage, double rightVoltage) { + io.setVoltage(leftVoltage, rightVoltage); + } + + public void setChassisSpeeds(ChassisSpeeds chassisSpeeds) { + setWheelSpeeds(driveKinematics.toWheelSpeeds(chassisSpeeds)); + } + + public void setWheelSpeeds(DifferentialDriveWheelSpeeds wheelSpeeds) { + isClosedLoop = true; + velocityPID.reset(); + closedLoopSetpoint = wheelSpeeds; + } + + public void stop() { + isClosedLoop = false; + io.setVoltage(0.0, 0.0); + } + + public Command getPathCommand(PathPlannerPath path, boolean resetToPath) { + return Commands.sequence( + new InstantCommand(() -> { + if (resetToPath) resetOdometry(path.getStartingDifferentialPose()); + }), + new FollowPathRamsete( + path, + this::getPose, + this::getChassisSpeeds, + this::setChassisSpeeds, + new ReplanningConfig(), + this + ) + ); + } + + public Rotation2d getYaw() { + return inputs.gyroYaw; + } + + @AutoLogOutput + public Pose2d getPose() { + return poseEstimator.getEstimatedPosition(); + } + + public void resetOdometry(Pose2d pose) { + poseEstimator.resetPosition(inputs.gyroYaw, getWheelPositions(), pose); + } + + public ChassisSpeeds getChassisSpeeds() { + return driveKinematics.toChassisSpeeds(getWheelSpeeds()); + } + + public DifferentialDriveWheelPositions getWheelPositions() { + return new DifferentialDriveWheelPositions(inputs.leftPositionMeters, inputs.rightPositionMeters); + } + + public DifferentialDriveWheelSpeeds getWheelSpeeds() { + return new DifferentialDriveWheelSpeeds(inputs.leftVelocityMPS, inputs.rightVelocityMPS); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIO.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIO.java new file mode 100644 index 0000000..ca59624 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIO.java @@ -0,0 +1,25 @@ +package org.team1540.advantagekitdemo.subsystems.drivetrain; + +import edu.wpi.first.math.geometry.Rotation2d; +import org.littletonrobotics.junction.AutoLog; + +public interface DrivetrainIO { + @AutoLog + class DrivetrainIOInputs { + public double leftPositionMeters = 0.0; + public double leftVelocityMPS = 0.0; + public double leftAppliedVolts = 0.0; + public double[] leftCurrentAmps = new double[] {}; + + public double rightPositionMeters = 0.0; + public double rightVelocityMPS = 0.0; + public double rightAppliedVolts = 0.0; + public double[] rightCurrentAmps = new double[] {}; + + public Rotation2d gyroYaw = new Rotation2d(); + } + + default void updateInputs(DrivetrainIOInputs inputs) {} + + default void setVoltage(double leftVolts, double rightVolts) {} +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOReal.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOReal.java new file mode 100644 index 0000000..914282c --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOReal.java @@ -0,0 +1,111 @@ +package org.team1540.advantagekitdemo.subsystems.drivetrain; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.Pigeon2; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import org.team1540.advantagekitdemo.util.Conversions; + +import static org.team1540.advantagekitdemo.Constants.DrivetrainConstants.*; + +public class DrivetrainIOReal implements DrivetrainIO { + + private final TalonFX leftLeader = new TalonFX(FL_ID); + private final TalonFX leftFollower = new TalonFX(BL_ID); + private final TalonFX rightLeader = new TalonFX(FR_ID); + private final TalonFX rightFollower = new TalonFX(BR_ID); + + private final StatusSignal leftPosition = leftLeader.getPosition(); + private final StatusSignal leftVelocity = leftLeader.getVelocity(); + private final StatusSignal leftAppliedVolts = leftLeader.getMotorVoltage(); + private final StatusSignal leftLeaderCurrent = leftLeader.getStatorCurrent(); + private final StatusSignal leftFollowerCurrent = leftFollower.getStatorCurrent(); + + private final StatusSignal rightPosition = rightLeader.getPosition(); + private final StatusSignal rightVelocity = rightLeader.getVelocity(); + private final StatusSignal rightAppliedVolts = rightLeader.getMotorVoltage(); + private final StatusSignal rightLeaderCurrent = rightLeader.getStatorCurrent(); + private final StatusSignal rightFollowerCurrent = rightFollower.getStatorCurrent(); + + private final Pigeon2 pigeon = new Pigeon2(20); + private final StatusSignal yaw = pigeon.getYaw(); + + public DrivetrainIOReal() { + var config = new TalonFXConfiguration(); + config.CurrentLimits.StatorCurrentLimit = 30.0; + config.CurrentLimits.StatorCurrentLimitEnable = true; + config.MotorOutput.NeutralMode = NeutralModeValue.Brake; + leftLeader.getConfigurator().apply(config); + leftFollower.getConfigurator().apply(config); + rightLeader.getConfigurator().apply(config); + rightFollower.getConfigurator().apply(config); + leftFollower.setControl(new Follower(leftLeader.getDeviceID(), false)); + rightFollower.setControl(new Follower(rightLeader.getDeviceID(), false)); + + BaseStatusSignal.setUpdateFrequencyForAll( + 100.0, leftPosition, rightPosition, yaw); // Required for odometry, use faster rate + BaseStatusSignal.setUpdateFrequencyForAll( + 50.0, + leftVelocity, + leftAppliedVolts, + leftLeaderCurrent, + leftFollowerCurrent, + rightVelocity, + rightAppliedVolts, + rightLeaderCurrent, + rightFollowerCurrent); + leftLeader.optimizeBusUtilization(); + leftFollower.optimizeBusUtilization(); + rightLeader.optimizeBusUtilization(); + rightFollower.optimizeBusUtilization(); + pigeon.optimizeBusUtilization(); + } + + @Override + public void updateInputs(DrivetrainIOInputs inputs) { + BaseStatusSignal.refreshAll( + leftPosition, + leftVelocity, + leftAppliedVolts, + leftLeaderCurrent, + leftFollowerCurrent, + rightPosition, + rightVelocity, + rightAppliedVolts, + rightLeaderCurrent, + rightFollowerCurrent, + yaw); + + inputs.leftPositionMeters = Conversions.motorRotsToMeters( + leftPosition.getValue(), WHEEL_DIAMETER_METERS, GEAR_RATIO); + inputs.leftVelocityMPS = Conversions.motorRotsToMeters( + leftVelocity.getValue(), WHEEL_DIAMETER_METERS, GEAR_RATIO + ); + inputs.leftAppliedVolts = leftAppliedVolts.getValueAsDouble(); + inputs.leftCurrentAmps = + new double[]{leftLeaderCurrent.getValueAsDouble(), leftFollowerCurrent.getValueAsDouble()}; + + inputs.rightPositionMeters = Conversions.motorRotsToMeters( + rightPosition.getValue(), WHEEL_DIAMETER_METERS, GEAR_RATIO); + inputs.rightVelocityMPS = Conversions.motorRotsToMeters( + rightVelocity.getValue(), WHEEL_DIAMETER_METERS, GEAR_RATIO + ); + inputs.rightAppliedVolts = rightAppliedVolts.getValueAsDouble(); + inputs.rightCurrentAmps = + new double[]{rightLeaderCurrent.getValueAsDouble(), rightFollowerCurrent.getValueAsDouble()}; + + inputs.gyroYaw = Rotation2d.fromDegrees(yaw.getValueAsDouble()); + } + + @Override + public void setVoltage(double leftVolts, double rightVolts) { + leftLeader.setControl(new VoltageOut(MathUtil.clamp(leftVolts, -12, 12))); + rightLeader.setControl(new VoltageOut(MathUtil.clamp(rightVolts, -12, 12))); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOSim.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOSim.java new file mode 100644 index 0000000..2dd6d77 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/drivetrain/DrivetrainIOSim.java @@ -0,0 +1,46 @@ +package org.team1540.advantagekitdemo.subsystems.drivetrain; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; + +import static org.team1540.advantagekitdemo.Constants.DrivetrainConstants.*; + +public class DrivetrainIOSim implements DrivetrainIO { + private final DifferentialDrivetrainSim sim = + new DifferentialDrivetrainSim( + DCMotor.getFalcon500(2), + GEAR_RATIO, + ROBOT_MOI, + ROBOT_WEIGHT_KG, + WHEEL_DIAMETER_METERS / 2, + TRACK_WIDTH_METERS, + null + ); + + private double leftAppliedVolts = 0.0; + private double rightAppliedVolts = 0.0; + + @Override + public void updateInputs(DrivetrainIOInputs inputs) { + sim.update(0.02); + inputs.leftPositionMeters = sim.getLeftPositionMeters(); + inputs.leftVelocityMPS = sim.getLeftVelocityMetersPerSecond(); + inputs.leftAppliedVolts = leftAppliedVolts; + inputs.leftCurrentAmps = new double[]{sim.getLeftCurrentDrawAmps()}; + + inputs.rightPositionMeters = sim.getRightPositionMeters(); + inputs.rightVelocityMPS = sim.getRightVelocityMetersPerSecond(); + inputs.rightAppliedVolts = rightAppliedVolts; + inputs.rightCurrentAmps = new double[]{sim.getRightCurrentDrawAmps()}; + + inputs.gyroYaw = sim.getHeading(); + } + + @Override + public void setVoltage(double leftVolts, double rightVolts) { + leftAppliedVolts = MathUtil.clamp(leftVolts, -12.0, 12.0); + rightAppliedVolts = MathUtil.clamp(rightVolts, -12.0, 12.0); + sim.setInputs(leftAppliedVolts, rightAppliedVolts); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/Elevator.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/Elevator.java new file mode 100644 index 0000000..fd69f61 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/Elevator.java @@ -0,0 +1,52 @@ +package org.team1540.advantagekitdemo.subsystems.elevator; + +import edu.wpi.first.math.controller.ElevatorFeedforward; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem; +import org.littletonrobotics.junction.Logger; + +import static org.team1540.advantagekitdemo.Constants.ElevatorConstants.*; + +public class Elevator extends ProfiledPIDSubsystem { + private final ElevatorIO io; + private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged(); + + private final ElevatorFeedforward feedforward = new ElevatorFeedforward(KS, KG, KV); + + public Elevator(ElevatorIO io) { + super(new ProfiledPIDController(KP, KI, KD, MOTION_CONSTRAINTS)); + this.io = io; + } + + @Override + public void periodic() { + super.periodic(); + io.updateInputs(inputs); + Logger.processInputs("Elevator", inputs); + } + + public void setPercent(double percentOutput) { + disable(); + setVoltage(12 * percentOutput); + } + + private void setVoltage(double volts) { + io.setVoltage(volts); + } + + public void setPosition(double positionMeters) { + enable(); + setGoal(positionMeters); + } + + @Override + protected void useOutput(double output, TrapezoidProfile.State setpoint) { + setVoltage(output + feedforward.calculate(setpoint.velocity)); + } + + @Override + protected double getMeasurement() { + return inputs.positionMeters; + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIO.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIO.java new file mode 100644 index 0000000..7b346df --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIO.java @@ -0,0 +1,18 @@ +package org.team1540.advantagekitdemo.subsystems.elevator; + +import org.littletonrobotics.junction.AutoLog; + +public interface ElevatorIO { + + + @AutoLog + class ElevatorIOInputs { + public double positionMeters = 0; + public double appliedVolts = 0; + public double currentAmps = 0; + } + + default void updateInputs(ElevatorIOInputs inputs) {} + + default void setVoltage(double volts) {} +} diff --git a/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIOSim.java b/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIOSim.java new file mode 100644 index 0000000..5086917 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/subsystems/elevator/ElevatorIOSim.java @@ -0,0 +1,38 @@ +package org.team1540.advantagekitdemo.subsystems.elevator; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.ElevatorSim; + +import static org.team1540.advantagekitdemo.Constants.ElevatorConstants.*; + +public class ElevatorIOSim implements ElevatorIO { + private final ElevatorSim sim = + new ElevatorSim( + DCMotor.getFalcon500(2), + GEAR_RATIO, + CARRIAGE_MASS_KG, + DRUM_RADIUS_METERS, + 0, + MAX_HEIGHT_METERS/2, // divide by 2 due to cascade rigging + true, + 0, + null + ); + + private double appliedVolts = 0; + + @Override + public void updateInputs(ElevatorIOInputs inputs) { + sim.update(0.02); + inputs.positionMeters = sim.getPositionMeters() * 2; // multiplied by 2 due to cascade rigging + inputs.appliedVolts = appliedVolts; + inputs.currentAmps = sim.getCurrentDrawAmps(); + } + + @Override + public void setVoltage(double volts) { + appliedVolts = MathUtil.clamp(volts, -12, 12); + sim.setInputVoltage(volts); + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/util/AutoCommand.java b/src/main/java/org/team1540/advantagekitdemo/util/AutoCommand.java new file mode 100644 index 0000000..0f2f71b --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/util/AutoCommand.java @@ -0,0 +1,34 @@ +package org.team1540.advantagekitdemo.util; + +import com.pathplanner.lib.commands.PathPlannerAuto; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import org.team1540.advantagekitdemo.commands.auto.PathPlannerDriveCommand; +import org.team1540.advantagekitdemo.subsystems.drivetrain.Drivetrain; + +import java.util.Arrays; +import java.util.LinkedList; +import java.util.List; + +public abstract class AutoCommand extends SequentialCommandGroup { + + public Command getPathPlannerDriveCommand(Drivetrain drivetrain, String pathName, boolean resetToPath) { + PathPlannerPath path = PathPlannerPath.fromPathFile(pathName); + return new PathPlannerDriveCommand(drivetrain, path, resetToPath); + } + + public List getPathPlannerDriveCommandGroup( + Drivetrain drivetrain, + String autoName, + boolean resetToPath) { + List paths = PathPlannerAuto.getPathGroupFromAutoFile(autoName); + LinkedList commands = new LinkedList<>(); + commands.addLast(new PathPlannerDriveCommand(drivetrain, paths.get(0), resetToPath)); + for (int i = 1; i < paths.size(); i++) { + commands.addLast(new PathPlannerDriveCommand(drivetrain, paths.get(i), false)); + } + return commands; + } +} diff --git a/src/main/java/org/team1540/advantagekitdemo/util/Conversions.java b/src/main/java/org/team1540/advantagekitdemo/util/Conversions.java new file mode 100644 index 0000000..09db2f6 --- /dev/null +++ b/src/main/java/org/team1540/advantagekitdemo/util/Conversions.java @@ -0,0 +1,71 @@ +package org.team1540.advantagekitdemo.util; + +import edu.wpi.first.math.geometry.Rotation2d; + +public class Conversions { + /** + * Converts a motor rotation count into mechanism rotations based on a gear ratio + * @param rotationCounts motor rotation counts + * @param gearRatio the gear ratio between motor and the mechanism + * @return mechanism rotation in {@link Rotation2d} + */ + public static Rotation2d motorRotsToRotation2d(double rotationCounts, double gearRatio) { + return Rotation2d.fromRotations(rotationCounts / gearRatio); + } + + /** + * Converts a mechanism rotation (in {@link Rotation2d}) to motor rotation counts + * @param rotations mechanism rotation + * @param gearRatio gear ratio between motor and mechanism + * @return motor rotation counts + */ + public static double Rotation2dToMotorRots(Rotation2d rotations, double gearRatio) { + return rotations.getRotations() * gearRatio; + } + + /** + * Converts a motor rotation count into meters + * @param rotationCounts motor rotation counts + * @param wheelDiameter wheel diameter in meters + * @param gearRatio gear ratio between motor and wheel + * @return meters + */ + public static double motorRotsToMeters(double rotationCounts, double wheelDiameter, double gearRatio) { + double wheelCircumference = Math.PI * wheelDiameter; + return (rotationCounts / gearRatio) * wheelCircumference; + } + + /** + * Converts meters to motor rotation counts + * @param meters meters + * @param wheelDiameter wheel diameter in meters + * @param gearRatio gear ratio between motor and wheel + * @return motor rotation counts + */ + public static double metersToMotorRots(double meters, double wheelDiameter, double gearRatio) { + double wheelCircumference = Math.PI * wheelDiameter; + return (meters / wheelCircumference) * gearRatio; + } + + /** + * Converts rotations per minute to meters per second + * @param rpm rotations per minute + * @param wheelDiameter wheel diameter in meters + * @param gearRatio gear ratio between motor and wheel + * @return meters per second + */ + public static double RPMtoMPS(double rpm, double wheelDiameter, double gearRatio) { + return motorRotsToMeters(rpm/60, wheelDiameter, gearRatio); + } + + /** + * Converts meters per second to rotations per minute + * @param mps meters per second + * @param wheelDiameter wheel diameter in meters + * @param gearRatio gear ratio between motor and wheel + * @return rotations per minute + */ + public static double MPStoRPM(double mps, double wheelDiameter, double gearRatio) { + return metersToMotorRots(mps, wheelDiameter, gearRatio) * 60; + } +} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..e5b7c21 --- /dev/null +++ b/vendordeps/AdvantageKit.json @@ -0,0 +1,42 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "3.0.0-beta-6", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "wpilib-shim", + "version": "3.0.0-beta-6" + }, + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "junction-core", + "version": "3.0.0-beta-6" + }, + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-api", + "version": "3.0.0-beta-6" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-wpilibio", + "version": "3.0.0-beta-6", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..ed56e28 --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2024.0.0-beta-5.1", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2024", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2024.0.0-beta-5.1" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2024.0.0-beta-5.1", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..3f79af2 --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.0.0-beta-4", + "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-beta-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": "24.0.0-beta-4" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.0.0-beta-4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.0.0-beta-4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.0.0-beta-4", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + 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"artifactId": "simProTalonFX", + "version": "24.0.0-beta-4", + "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": "24.0.0-beta-4", + "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": "24.0.0-beta-4", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..cfafaba --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.0.0", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.0.0", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.0.0", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..67bf389 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -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" + ] + } + ] +}