diff --git a/.factorypath b/.factorypath index 9571641..12b66cf 100644 --- a/.factorypath +++ b/.factorypath @@ -1,4 +1,4 @@ - - + + diff --git a/.vscode/extensions.json b/.vscode/extensions.json index e7ca395..9121829 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -1,6 +1,6 @@ -{ - "recommendations": [ - "mechanical-advantage.event-deploy-wpilib", - "richardwillis.vscode-spotless-gradle" - ] -} +{ + "recommendations": [ + "mechanical-advantage.event-deploy-wpilib", + "richardwillis.vscode-spotless-gradle" + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json index 6543015..a423f28 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,41 +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" - } -} +{ + "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 index 386f1c1..abec38e 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ -{ - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2024", - "teamNumber": 991 -} +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024", + "teamNumber": 991 +} diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md index f288702..3877ae0 100644 --- a/AdvantageKit-License.md +++ b/AdvantageKit-License.md @@ -1,674 +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 other practical works are designed -to take away your freedom to share and change the works. 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Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + 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. + + You should have received a copy of the GNU General Public License + along with this program. 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 index 645e542..e7cd597 100644 --- a/WPILib-License.md +++ b/WPILib-License.md @@ -1,24 +1,24 @@ -Copyright (c) 2009-2024 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. +Copyright (c) 2009-2024 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 index 327ca60..f230c5e 100755 --- a/build.gradle +++ b/build.gradle @@ -1,183 +1,183 @@ -plugins { - id "java" - id "edu.wpi.first.GradleRIO" version "2024.1.1" - 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 = "frc.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 = 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:5.10.1' - testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - 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 = "frc.robot" - className = "BuildConstants" - dateFormat = "yyyy-MM-dd HH:mm:ss z" - timeZone = "America/New_York" - indent = " " -} - -// Spotless formatting -project.compileJava.dependsOn(spotlessApply) -spotless { - java { - target fileTree(".") { - include "**/*.java" - exclude "**/build/**", "**/build-*/**" - } - toggleOffOn() - googleJavaFormat() - removeUnusedImports() - trimTrailingWhitespace() - endWithNewline() - } - groovyGradle { - target fileTree(".") { - include "**/*.gradle" - exclude "**/build/**", "**/build-*/**" - } - greclipse() - indentWithSpaces(4) - trimTrailingWhitespace() - endWithNewline() - } - json { - target fileTree(".") { - include "**/*.json" - exclude "**/build/**", "**/build-*/**" - } - gson().indentWithSpaces(2) - } - format "misc", { - target fileTree(".") { - include "**/*.md", "**/.gitignore" - exclude "**/build/**", "**/build-*/**" - } - trimTrailingWhitespace() - indentWithSpaces(2) - endWithNewline() - } -} +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.3.1" + 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 = "frc.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 = 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:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + 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 = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/New_York" + indent = " " +} + +// Spotless formatting +project.compileJava.dependsOn(spotlessApply) +spotless { + java { + target fileTree(".") { + include "**/*.java" + exclude "**/build/**", "**/build-*/**" + } + toggleOffOn() + googleJavaFormat() + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree(".") { + include "**/*.gradle" + exclude "**/build/**", "**/build-*/**" + } + greclipse() + indentWithSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + json { + target fileTree(".") { + include "**/*.json" + exclude "**/build/**", "**/build-*/**" + } + gson().indentWithSpaces(2) + } + format "misc", { + target fileTree(".") { + include "**/*.md", "**/.gitignore" + exclude "**/build/**", "**/build-*/**" + } + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } +} diff --git a/settings.gradle b/settings.gradle index d94f73c..3e30f84 100644 --- a/settings.gradle +++ b/settings.gradle @@ -1,30 +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"); +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/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json index 690f5db..f7bbeef 100644 --- a/src/main/deploy/pathplanner/navgrid.json +++ b/src/main/deploy/pathplanner/navgrid.json @@ -1,1633 +1,1633 @@ -{ - "field_size": { - "x": 16.54, - "y": 8.21 - }, - "nodeSizeMeters": 0.3, - "grid": [ - [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true - ], - [ - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true - ], - [ - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true - ], - [ - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true - ], - [ - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - true, - true, - false, - 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+ true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ] + ] +} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 18e9321..293bf77 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,79 +1,79 @@ -// Copyright 2021-2024 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 frc.robot; - -import edu.wpi.first.math.geometry.Rotation2d; - -/** - * 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 Mode currentMode = Mode.SIM; - - public static enum Mode { - /** Running on a real robot. */ - REAL, - /** Running a physics simulator. */ - SIM, - /** Replaying from a log file. */ - REPLAY - } - - public static class DriveConstants { - // Front Left, Front Right, Back Left, Back Right - // IN DEGREES - public static final double[] moduleAngles = new double[] {0, 0, 0, 0}; - - public static final int[] turnCanIds = new int[] {1, 4, 7, 10}; - public static final int[] driveCanIds = new int[] {0, 3, 6, 9}; - public static final int[] canCoderIds = new int[] {2, 5, 8, 11}; - } - - public static class IntakeConstants { - public static final int intakeCANId = 12; - - public static final double intakeOnPower = 0.1; - } - - public static class PivotConstants { - public static final int pivotCANId = 13; - - // 80 falcon rotations = 1 pivot rotation - // 5:1 planetary + 5:1 planetary + 5:1 planetary + 48:15 chain - public static final int pivotGearRatio = 400; - - // the mechanically stopped beginning of the pivot is at a negative angle from the ground - // 0 degrees is parallel to the ground and facing the same direction as the back of the robot - public static Rotation2d pivotStart = Rotation2d.fromDegrees(-8.265688); - public static Rotation2d pivotEnd = Rotation2d.fromDegrees(129.056487); - // less than this angle, we won't be able to shoot a note - public static Rotation2d minShootingAngle = Rotation2d.fromDegrees(25); - - public static final double p = 0.05, i = 0, d = 0; - } - - public static class ShooterConstants { - public static final int conveyorCANId = 14; - public static final int topShooterCANId = 15; - public static final int bottomShooterCANId = 16; - - public static final double shootingPower = 0.5; - public static final double conveyorPower = 0.2; - } -} +// Copyright 2021-2024 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 frc.robot; + +import edu.wpi.first.math.geometry.Rotation2d; + +/** + * 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 Mode currentMode = Mode.SIM; + + public static enum Mode { + /** Running on a real robot. */ + REAL, + /** Running a physics simulator. */ + SIM, + /** Replaying from a log file. */ + REPLAY + } + + public static class DriveConstants { + // Front Left, Front Right, Back Left, Back Right + // IN DEGREES + public static final double[] moduleAngles = new double[] {0, 0, 0, 0}; + + public static final int[] turnCanIds = new int[] {1, 4, 7, 10}; + public static final int[] driveCanIds = new int[] {0, 3, 6, 9}; + public static final int[] canCoderIds = new int[] {2, 5, 8, 11}; + } + + public static class IntakeConstants { + public static final int intakeCANId = 12; + + public static final double intakeOnPower = 0.1; + } + + public static class PivotConstants { + public static final int pivotCANId = 13; + + // 80 falcon rotations = 1 pivot rotation + // 5:1 planetary + 5:1 planetary + 5:1 planetary + 48:15 chain + public static final int pivotGearRatio = 400; + + // the mechanically stopped beginning of the pivot is at a negative angle from the ground + // 0 degrees is parallel to the ground and facing the same direction as the back of the robot + public static Rotation2d pivotStart = Rotation2d.fromDegrees(-8.265688); + public static Rotation2d pivotEnd = Rotation2d.fromDegrees(129.056487); + // less than this angle, we won't be able to shoot a note + public static Rotation2d minShootingAngle = Rotation2d.fromDegrees(25); + + public static final double p = 0.05, i = 0, d = 0; + } + + public static class ShooterConstants { + public static final int conveyorCANId = 14; + public static final int topShooterCANId = 15; + public static final int bottomShooterCANId = 16; + + public static final double shootingPower = 0.5; + public static final double conveyorPower = 0.2; + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java index e8af1c1..c3752a6 100644 --- a/src/main/java/frc/robot/Main.java +++ b/src/main/java/frc/robot/Main.java @@ -1,34 +1,34 @@ -// Copyright 2021-2024 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 frc.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. - * - *

If you change your main robot class, change the parameter type. - */ - public static void main(String... args) { - RobotBase.startRobot(Robot::new); - } -} +// Copyright 2021-2024 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 frc.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. + * + *

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/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ea47d35..f326532 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,160 +1,160 @@ -// Copyright 2021-2024 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 frc.robot; - -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("GitDirty", "All changes committed"); - break; - case 1: - Logger.recordMetadata("GitDirty", "Uncomitted changes"); - break; - default: - Logger.recordMetadata("GitDirty", "Unknown"); - break; - } - - // Set up data receivers & replay source - switch (Constants.currentMode) { - case REAL: - // Running on a real robot, log to a USB stick ("/U/logs") - Logger.addDataReceiver(new WPILOGWriter()); - Logger.addDataReceiver(new NT4Publisher()); - break; - - 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() {} -} +// Copyright 2021-2024 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 frc.robot; + +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("GitDirty", "All changes committed"); + break; + case 1: + Logger.recordMetadata("GitDirty", "Uncomitted changes"); + break; + default: + Logger.recordMetadata("GitDirty", "Unknown"); + break; + } + + // Set up data receivers & replay source + switch (Constants.currentMode) { + case REAL: + // Running on a real robot, log to a USB stick ("/U/logs") + Logger.addDataReceiver(new WPILOGWriter()); + Logger.addDataReceiver(new NT4Publisher()); + break; + + 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/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index eebe1aa..3b24b06 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,160 +1,160 @@ -// Copyright 2021-2024 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 frc.robot; - -import com.pathplanner.lib.auto.AutoBuilder; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -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.Commands; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.commands.DriveCommands; -import frc.robot.commands.FeedForwardCharacterization; -import frc.robot.commands.PivotCommands; -import frc.robot.subsystems.drive.*; -import frc.robot.subsystems.intake.*; -import frc.robot.subsystems.pivot.*; -import frc.robot.subsystems.shooter.*; -import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; - -/** - * 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 { - // Subsystems - private final Drive drive; - private final Intake intake; - private final Pivot pivot; - private final Shooter shooter; - - // Controller - private final CommandXboxController driver = new CommandXboxController(0); - private final CommandXboxController operator = new CommandXboxController(1); - - // Dashboard inputs - private final LoggedDashboardChooser autoChooser; - - /** The container for the robot. Contains subsystems, OI devices, and commands. */ - public RobotContainer() { - switch (Constants.currentMode) { - case REAL: - drive = - new Drive( - new GyroIOPigeon2(true), - new ModuleIOTalonFX(0), - new ModuleIOTalonFX(1), - new ModuleIOTalonFX(2), - new ModuleIOTalonFX(3)); - - intake = new Intake(new IntakeIOReal()); - pivot = new Pivot(new PivotIOReal()); - shooter = new Shooter(new ShooterIOReal()); - - break; - - case SIM: - // Sim robot, instantiate physics sim IO implementations - drive = - new Drive( - new GyroIO() {}, - new ModuleIOSim(), - new ModuleIOSim(), - new ModuleIOSim(), - new ModuleIOSim()); - - intake = new Intake(new IntakeIOSim()); - pivot = new Pivot(new PivotIOSim()); - shooter = new Shooter(new ShooterIOSim()); - - break; - - default: - // Replayed robot, disable IO implementations - drive = - new Drive( - new GyroIO() {}, - new ModuleIO() {}, - new ModuleIO() {}, - new ModuleIO() {}, - new ModuleIO() {}); - - intake = new Intake(new IntakeIO() {}); - pivot = new Pivot(new PivotIO() {}); - shooter = new Shooter(new ShooterIO() {}); - - break; - } - - // Set up auto routines - autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); - - // Set up feedforward characterization - autoChooser.addOption( - "Drive FF Characterization", - new FeedForwardCharacterization( - drive, drive::runCharacterizationVolts, drive::getCharacterizationVelocity)); - - // Configure the button bindings - 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() { - drive.setDefaultCommand( - DriveCommands.joystickDrive( - drive, () -> -driver.getLeftY(), () -> -driver.getLeftX(), () -> -driver.getRightX())); - - driver.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); - - driver - .b() - .onTrue( - Commands.runOnce( - () -> - drive.setPose( - new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), - drive) - .ignoringDisable(true)); - - operator.a().toggleOnTrue(intake.onCommand()); - operator.b().toggleOnTrue(intake.offCommand()); - operator.rightBumper().toggleOnTrue(shooter.shootersOnCommand()); - operator.leftBumper().toggleOnTrue(shooter.shootersOffCommand()); - operator.x().toggleOnTrue(shooter.conveyorOnCommand()); - operator.y().toggleOnTrue(shooter.conveyorOffCommand()); - - pivot.setDefaultCommand( - PivotCommands.basicOperatorControl( - pivot, () -> operator.getRightX() - operator.getLeftX())); - } - - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - return autoChooser.get(); - } -} +// Copyright 2021-2024 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 frc.robot; + +import com.pathplanner.lib.auto.AutoBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +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.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.commands.DriveCommands; +import frc.robot.commands.FeedForwardCharacterization; +import frc.robot.commands.PivotCommands; +import frc.robot.subsystems.drive.*; +import frc.robot.subsystems.intake.*; +import frc.robot.subsystems.pivot.*; +import frc.robot.subsystems.shooter.*; +import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; + +/** + * 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 { + // Subsystems + private final Drive drive; + private final Intake intake; + private final Pivot pivot; + private final Shooter shooter; + + // Controller + private final CommandXboxController driver = new CommandXboxController(0); + private final CommandXboxController operator = new CommandXboxController(1); + + // Dashboard inputs + private final LoggedDashboardChooser autoChooser; + + /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { + switch (Constants.currentMode) { + case REAL: + drive = + new Drive( + new GyroIOPigeon2(true), + new ModuleIOTalonFX(0), + new ModuleIOTalonFX(1), + new ModuleIOTalonFX(2), + new ModuleIOTalonFX(3)); + + intake = new Intake(new IntakeIOReal()); + pivot = new Pivot(new PivotIOReal()); + shooter = new Shooter(new ShooterIOReal()); + + break; + + case SIM: + // Sim robot, instantiate physics sim IO implementations + drive = + new Drive( + new GyroIO() {}, + new ModuleIOSim(), + new ModuleIOSim(), + new ModuleIOSim(), + new ModuleIOSim()); + + intake = new Intake(new IntakeIOSim()); + pivot = new Pivot(new PivotIOSim()); + shooter = new Shooter(new ShooterIOSim()); + + break; + + default: + // Replayed robot, disable IO implementations + drive = + new Drive( + new GyroIO() {}, + new ModuleIO() {}, + new ModuleIO() {}, + new ModuleIO() {}, + new ModuleIO() {}); + + intake = new Intake(new IntakeIO() {}); + pivot = new Pivot(new PivotIO() {}); + shooter = new Shooter(new ShooterIO() {}); + + break; + } + + // Set up auto routines + autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); + + // Set up feedforward characterization + autoChooser.addOption( + "Drive FF Characterization", + new FeedForwardCharacterization( + drive, drive::runCharacterizationVolts, drive::getCharacterizationVelocity)); + + // Configure the button bindings + 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() { + drive.setDefaultCommand( + DriveCommands.joystickDrive( + drive, () -> -driver.getLeftY(), () -> -driver.getLeftX(), () -> -driver.getRightX())); + + driver.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); + + driver + .b() + .onTrue( + Commands.runOnce( + () -> + drive.setPose( + new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), + drive) + .ignoringDisable(true)); + + operator.a().toggleOnTrue(intake.onCommand()); + operator.b().toggleOnTrue(intake.offCommand()); + operator.rightBumper().toggleOnTrue(shooter.shootersOnCommand()); + operator.leftBumper().toggleOnTrue(shooter.shootersOffCommand()); + operator.x().toggleOnTrue(shooter.conveyorOnCommand()); + operator.y().toggleOnTrue(shooter.conveyorOffCommand()); + + pivot.setDefaultCommand( + PivotCommands.basicOperatorControl( + pivot, () -> operator.getRightX() - operator.getLeftX())); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return autoChooser.get(); + } +} diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index e8d4faa..4ac9b75 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -1,70 +1,70 @@ -// Copyright 2021-2024 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 frc.robot.commands; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.subsystems.drive.Drive; -import java.util.function.DoubleSupplier; - -public class DriveCommands { - private static final double DEADBAND = 0.1; - - private DriveCommands() {} - - /** - * Field relative drive command using two joysticks (controlling linear and angular velocities). - */ - public static Command joystickDrive( - Drive drive, - DoubleSupplier xSupplier, - DoubleSupplier ySupplier, - DoubleSupplier omegaSupplier) { - return Commands.run( - () -> { - // Apply deadband - double linearMagnitude = - MathUtil.applyDeadband( - Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND); - Rotation2d linearDirection = - new Rotation2d(xSupplier.getAsDouble(), ySupplier.getAsDouble()); - double omega = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND); - - // Square values - linearMagnitude = linearMagnitude * linearMagnitude; - omega = Math.copySign(omega * omega, omega); - - // Calcaulate new linear velocity - Translation2d linearVelocity = - new Pose2d(new Translation2d(), linearDirection) - .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())) - .getTranslation(); - - // Convert to field relative speeds & send command - drive.runVelocity( - ChassisSpeeds.fromFieldRelativeSpeeds( - linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(), - linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(), - omega * drive.getMaxAngularSpeedRadPerSec(), - drive.getRotation())); - }, - drive); - } -} +// Copyright 2021-2024 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 frc.robot.commands; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.subsystems.drive.Drive; +import java.util.function.DoubleSupplier; + +public class DriveCommands { + private static final double DEADBAND = 0.1; + + private DriveCommands() {} + + /** + * Field relative drive command using two joysticks (controlling linear and angular velocities). + */ + public static Command joystickDrive( + Drive drive, + DoubleSupplier xSupplier, + DoubleSupplier ySupplier, + DoubleSupplier omegaSupplier) { + return Commands.run( + () -> { + // Apply deadband + double linearMagnitude = + MathUtil.applyDeadband( + Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND); + Rotation2d linearDirection = + new Rotation2d(xSupplier.getAsDouble(), ySupplier.getAsDouble()); + double omega = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND); + + // Square values + linearMagnitude = linearMagnitude * linearMagnitude; + omega = Math.copySign(omega * omega, omega); + + // Calcaulate new linear velocity + Translation2d linearVelocity = + new Pose2d(new Translation2d(), linearDirection) + .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())) + .getTranslation(); + + // Convert to field relative speeds & send command + drive.runVelocity( + ChassisSpeeds.fromFieldRelativeSpeeds( + linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(), + linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(), + omega * drive.getMaxAngularSpeedRadPerSec(), + drive.getRotation())); + }, + drive); + } +} diff --git a/src/main/java/frc/robot/commands/FeedForwardCharacterization.java b/src/main/java/frc/robot/commands/FeedForwardCharacterization.java index d7ac7a7..79b41c5 100644 --- a/src/main/java/frc/robot/commands/FeedForwardCharacterization.java +++ b/src/main/java/frc/robot/commands/FeedForwardCharacterization.java @@ -1,106 +1,106 @@ -// Copyright 2021-2024 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 frc.robot.commands; - -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Subsystem; -import frc.robot.util.PolynomialRegression; -import java.util.LinkedList; -import java.util.List; -import java.util.function.Consumer; -import java.util.function.Supplier; - -public class FeedForwardCharacterization extends Command { - private static final double START_DELAY_SECS = 2.0; - private static final double RAMP_VOLTS_PER_SEC = 0.1; - - private FeedForwardCharacterizationData data; - private final Consumer voltageConsumer; - private final Supplier velocitySupplier; - - private final Timer timer = new Timer(); - - /** Creates a new FeedForwardCharacterization command. */ - public FeedForwardCharacterization( - Subsystem subsystem, Consumer voltageConsumer, Supplier velocitySupplier) { - addRequirements(subsystem); - this.voltageConsumer = voltageConsumer; - this.velocitySupplier = velocitySupplier; - } - - // Called when the command is initially scheduled. - @Override - public void initialize() { - data = new FeedForwardCharacterizationData(); - timer.reset(); - timer.start(); - } - - // Called every time the scheduler runs while the command is scheduled. - @Override - public void execute() { - if (timer.get() < START_DELAY_SECS) { - voltageConsumer.accept(0.0); - } else { - double voltage = (timer.get() - START_DELAY_SECS) * RAMP_VOLTS_PER_SEC; - voltageConsumer.accept(voltage); - data.add(velocitySupplier.get(), voltage); - } - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - voltageConsumer.accept(0.0); - timer.stop(); - data.print(); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } - - public static class FeedForwardCharacterizationData { - private final List velocityData = new LinkedList<>(); - private final List voltageData = new LinkedList<>(); - - public void add(double velocity, double voltage) { - if (Math.abs(velocity) > 1E-4) { - velocityData.add(Math.abs(velocity)); - voltageData.add(Math.abs(voltage)); - } - } - - public void print() { - if (velocityData.size() == 0 || voltageData.size() == 0) { - return; - } - - PolynomialRegression regression = - new PolynomialRegression( - velocityData.stream().mapToDouble(Double::doubleValue).toArray(), - voltageData.stream().mapToDouble(Double::doubleValue).toArray(), - 1); - - System.out.println("FF Characterization Results:"); - System.out.println("\tCount=" + Integer.toString(velocityData.size()) + ""); - System.out.println(String.format("\tR2=%.5f", regression.R2())); - System.out.println(String.format("\tkS=%.5f", regression.beta(0))); - System.out.println(String.format("\tkV=%.5f", regression.beta(1))); - } - } -} +// Copyright 2021-2024 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 frc.robot.commands; + +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Subsystem; +import frc.robot.util.PolynomialRegression; +import java.util.LinkedList; +import java.util.List; +import java.util.function.Consumer; +import java.util.function.Supplier; + +public class FeedForwardCharacterization extends Command { + private static final double START_DELAY_SECS = 2.0; + private static final double RAMP_VOLTS_PER_SEC = 0.1; + + private FeedForwardCharacterizationData data; + private final Consumer voltageConsumer; + private final Supplier velocitySupplier; + + private final Timer timer = new Timer(); + + /** Creates a new FeedForwardCharacterization command. */ + public FeedForwardCharacterization( + Subsystem subsystem, Consumer voltageConsumer, Supplier velocitySupplier) { + addRequirements(subsystem); + this.voltageConsumer = voltageConsumer; + this.velocitySupplier = velocitySupplier; + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + data = new FeedForwardCharacterizationData(); + timer.reset(); + timer.start(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if (timer.get() < START_DELAY_SECS) { + voltageConsumer.accept(0.0); + } else { + double voltage = (timer.get() - START_DELAY_SECS) * RAMP_VOLTS_PER_SEC; + voltageConsumer.accept(voltage); + data.add(velocitySupplier.get(), voltage); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + voltageConsumer.accept(0.0); + timer.stop(); + data.print(); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } + + public static class FeedForwardCharacterizationData { + private final List velocityData = new LinkedList<>(); + private final List voltageData = new LinkedList<>(); + + public void add(double velocity, double voltage) { + if (Math.abs(velocity) > 1E-4) { + velocityData.add(Math.abs(velocity)); + voltageData.add(Math.abs(voltage)); + } + } + + public void print() { + if (velocityData.size() == 0 || voltageData.size() == 0) { + return; + } + + PolynomialRegression regression = + new PolynomialRegression( + velocityData.stream().mapToDouble(Double::doubleValue).toArray(), + voltageData.stream().mapToDouble(Double::doubleValue).toArray(), + 1); + + System.out.println("FF Characterization Results:"); + System.out.println("\tCount=" + Integer.toString(velocityData.size()) + ""); + System.out.println(String.format("\tR2=%.5f", regression.R2())); + System.out.println(String.format("\tkS=%.5f", regression.beta(0))); + System.out.println(String.format("\tkV=%.5f", regression.beta(1))); + } + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 3797f6b..265f05d 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -1,247 +1,247 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.pathfinding.Pathfinding; -import com.pathplanner.lib.util.HolonomicPathFollowerConfig; -import com.pathplanner.lib.util.PathPlannerLogging; -import com.pathplanner.lib.util.ReplanningConfig; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Twist2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -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.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.util.LocalADStarAK; -import java.util.concurrent.locks.Lock; -import java.util.concurrent.locks.ReentrantLock; -import org.littletonrobotics.junction.AutoLogOutput; -import org.littletonrobotics.junction.Logger; - -public class Drive extends SubsystemBase { - private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5); - private static final double TRACK_WIDTH_X = Units.inchesToMeters(22.75); - private static final double TRACK_WIDTH_Y = Units.inchesToMeters(18.75); - private static final double DRIVE_BASE_RADIUS = - Math.hypot(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0); - private static final double MAX_ANGULAR_SPEED = MAX_LINEAR_SPEED / DRIVE_BASE_RADIUS; - - public static final Lock odometryLock = new ReentrantLock(); - private final GyroIO gyroIO; - private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged(); - private final Module[] modules = new Module[4]; // FL, FR, BL, BR - - private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); - private Pose2d pose = new Pose2d(); - private Rotation2d lastGyroRotation = new Rotation2d(); - - public Drive( - GyroIO gyroIO, - ModuleIO flModuleIO, - ModuleIO frModuleIO, - ModuleIO blModuleIO, - ModuleIO brModuleIO) { - this.gyroIO = gyroIO; - modules[0] = new Module(flModuleIO, 0); - modules[1] = new Module(frModuleIO, 1); - modules[2] = new Module(blModuleIO, 2); - modules[3] = new Module(brModuleIO, 3); - - // Configure AutoBuilder for PathPlanner - AutoBuilder.configureHolonomic( - this::getPose, - this::setPose, - () -> kinematics.toChassisSpeeds(getModuleStates()), - this::runVelocity, - new HolonomicPathFollowerConfig( - MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), - () -> - DriverStation.getAlliance().isPresent() - && DriverStation.getAlliance().get() == Alliance.Red, - this); - Pathfinding.setPathfinder(new LocalADStarAK()); - PathPlannerLogging.setLogActivePathCallback( - (activePath) -> { - Logger.recordOutput( - "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()])); - }); - PathPlannerLogging.setLogTargetPoseCallback( - (targetPose) -> { - Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose); - }); - } - - public void periodic() { - odometryLock.lock(); // Prevents odometry updates while reading data - gyroIO.updateInputs(gyroInputs); - for (var module : modules) { - module.updateInputs(); - } - odometryLock.unlock(); - Logger.processInputs("Drive/Gyro", gyroInputs); - for (var module : modules) { - module.periodic(); - } - - // Stop moving when disabled - if (DriverStation.isDisabled()) { - for (var module : modules) { - module.stop(); - } - } - // Log empty setpoint states when disabled - if (DriverStation.isDisabled()) { - Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); - Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); - } - - // Update odometry - int deltaCount = - gyroInputs.connected ? gyroInputs.odometryYawPositions.length : Integer.MAX_VALUE; - for (int i = 0; i < 4; i++) { - deltaCount = Math.min(deltaCount, modules[i].getPositionDeltas().length); - } - for (int deltaIndex = 0; deltaIndex < deltaCount; deltaIndex++) { - // Read wheel deltas from each module - SwerveModulePosition[] wheelDeltas = new SwerveModulePosition[4]; - for (int moduleIndex = 0; moduleIndex < 4; moduleIndex++) { - wheelDeltas[moduleIndex] = modules[moduleIndex].getPositionDeltas()[deltaIndex]; - } - - // The twist represents the motion of the robot since the last - // sample in x, y, and theta based only on the modules, without - // the gyro. The gyro is always disconnected in simulation. - var twist = kinematics.toTwist2d(wheelDeltas); - if (gyroInputs.connected) { - // If the gyro is connected, replace the theta component of the twist - // with the change in angle since the last sample. - Rotation2d gyroRotation = gyroInputs.odometryYawPositions[deltaIndex]; - twist = new Twist2d(twist.dx, twist.dy, gyroRotation.minus(lastGyroRotation).getRadians()); - lastGyroRotation = gyroRotation; - } - // Apply the twist (change since last sample) to the current pose - pose = pose.exp(twist); - } - } - - /** - * Runs the drive at the desired velocity. - * - * @param speeds Speeds in meters/sec - */ - public void runVelocity(ChassisSpeeds speeds) { - // Calculate module setpoints - ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02); - SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds); - SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, MAX_LINEAR_SPEED); - - // Send setpoints to modules - SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4]; - for (int i = 0; i < 4; i++) { - // The module returns the optimized state, useful for logging - optimizedSetpointStates[i] = modules[i].runSetpoint(setpointStates[i]); - } - - // Log setpoint states - Logger.recordOutput("SwerveStates/Setpoints", setpointStates); - Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); - } - - /** Stops the drive. */ - public void stop() { - runVelocity(new ChassisSpeeds()); - } - - /** - * Stops the drive and turns the modules to an X arrangement to resist movement. The modules will - * return to their normal orientations the next time a nonzero velocity is requested. - */ - public void stopWithX() { - Rotation2d[] headings = new Rotation2d[4]; - for (int i = 0; i < 4; i++) { - headings[i] = getModuleTranslations()[i].getAngle(); - } - kinematics.resetHeadings(headings); - stop(); - } - - /** Runs forwards at the commanded voltage. */ - public void runCharacterizationVolts(double volts) { - for (int i = 0; i < 4; i++) { - modules[i].runCharacterization(volts); - } - } - - /** Returns the average drive velocity in radians/sec. */ - public double getCharacterizationVelocity() { - double driveVelocityAverage = 0.0; - for (var module : modules) { - driveVelocityAverage += module.getCharacterizationVelocity(); - } - return driveVelocityAverage / 4.0; - } - - /** Returns the module states (turn angles and drive velocities) for all of the modules. */ - @AutoLogOutput(key = "SwerveStates/Measured") - private SwerveModuleState[] getModuleStates() { - SwerveModuleState[] states = new SwerveModuleState[4]; - for (int i = 0; i < 4; i++) { - states[i] = modules[i].getState(); - } - return states; - } - - /** Returns the current odometry pose. */ - @AutoLogOutput(key = "Odometry/Robot") - public Pose2d getPose() { - return pose; - } - - /** Returns the current odometry rotation. */ - public Rotation2d getRotation() { - return pose.getRotation(); - } - - /** Resets the current odometry pose. */ - public void setPose(Pose2d pose) { - this.pose = pose; - } - - /** Returns the maximum linear speed in meters per sec. */ - public double getMaxLinearSpeedMetersPerSec() { - return MAX_LINEAR_SPEED; - } - - /** Returns the maximum angular speed in radians per sec. */ - public double getMaxAngularSpeedRadPerSec() { - return MAX_ANGULAR_SPEED; - } - - /** Returns an array of module translations. */ - public static Translation2d[] getModuleTranslations() { - return new Translation2d[] { - new Translation2d(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0), - new Translation2d(TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0), - new Translation2d(-TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0), - new Translation2d(-TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0) - }; - } -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.pathfinding.Pathfinding; +import com.pathplanner.lib.util.HolonomicPathFollowerConfig; +import com.pathplanner.lib.util.PathPlannerLogging; +import com.pathplanner.lib.util.ReplanningConfig; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +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.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.util.LocalADStarAK; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; +import org.littletonrobotics.junction.AutoLogOutput; +import org.littletonrobotics.junction.Logger; + +public class Drive extends SubsystemBase { + private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5); + private static final double TRACK_WIDTH_X = Units.inchesToMeters(22.75); + private static final double TRACK_WIDTH_Y = Units.inchesToMeters(18.75); + private static final double DRIVE_BASE_RADIUS = + Math.hypot(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0); + private static final double MAX_ANGULAR_SPEED = MAX_LINEAR_SPEED / DRIVE_BASE_RADIUS; + + public static final Lock odometryLock = new ReentrantLock(); + private final GyroIO gyroIO; + private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged(); + private final Module[] modules = new Module[4]; // FL, FR, BL, BR + + private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); + private Pose2d pose = new Pose2d(); + private Rotation2d lastGyroRotation = new Rotation2d(); + + public Drive( + GyroIO gyroIO, + ModuleIO flModuleIO, + ModuleIO frModuleIO, + ModuleIO blModuleIO, + ModuleIO brModuleIO) { + this.gyroIO = gyroIO; + modules[0] = new Module(flModuleIO, 0); + modules[1] = new Module(frModuleIO, 1); + modules[2] = new Module(blModuleIO, 2); + modules[3] = new Module(brModuleIO, 3); + + // Configure AutoBuilder for PathPlanner + AutoBuilder.configureHolonomic( + this::getPose, + this::setPose, + () -> kinematics.toChassisSpeeds(getModuleStates()), + this::runVelocity, + new HolonomicPathFollowerConfig( + MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), + () -> + DriverStation.getAlliance().isPresent() + && DriverStation.getAlliance().get() == Alliance.Red, + this); + Pathfinding.setPathfinder(new LocalADStarAK()); + PathPlannerLogging.setLogActivePathCallback( + (activePath) -> { + Logger.recordOutput( + "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()])); + }); + PathPlannerLogging.setLogTargetPoseCallback( + (targetPose) -> { + Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose); + }); + } + + public void periodic() { + odometryLock.lock(); // Prevents odometry updates while reading data + gyroIO.updateInputs(gyroInputs); + for (var module : modules) { + module.updateInputs(); + } + odometryLock.unlock(); + Logger.processInputs("Drive/Gyro", gyroInputs); + for (var module : modules) { + module.periodic(); + } + + // Stop moving when disabled + if (DriverStation.isDisabled()) { + for (var module : modules) { + module.stop(); + } + } + // Log empty setpoint states when disabled + if (DriverStation.isDisabled()) { + Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); + Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); + } + + // Update odometry + int deltaCount = + gyroInputs.connected ? gyroInputs.odometryYawPositions.length : Integer.MAX_VALUE; + for (int i = 0; i < 4; i++) { + deltaCount = Math.min(deltaCount, modules[i].getPositionDeltas().length); + } + for (int deltaIndex = 0; deltaIndex < deltaCount; deltaIndex++) { + // Read wheel deltas from each module + SwerveModulePosition[] wheelDeltas = new SwerveModulePosition[4]; + for (int moduleIndex = 0; moduleIndex < 4; moduleIndex++) { + wheelDeltas[moduleIndex] = modules[moduleIndex].getPositionDeltas()[deltaIndex]; + } + + // The twist represents the motion of the robot since the last + // sample in x, y, and theta based only on the modules, without + // the gyro. The gyro is always disconnected in simulation. + var twist = kinematics.toTwist2d(wheelDeltas); + if (gyroInputs.connected) { + // If the gyro is connected, replace the theta component of the twist + // with the change in angle since the last sample. + Rotation2d gyroRotation = gyroInputs.odometryYawPositions[deltaIndex]; + twist = new Twist2d(twist.dx, twist.dy, gyroRotation.minus(lastGyroRotation).getRadians()); + lastGyroRotation = gyroRotation; + } + // Apply the twist (change since last sample) to the current pose + pose = pose.exp(twist); + } + } + + /** + * Runs the drive at the desired velocity. + * + * @param speeds Speeds in meters/sec + */ + public void runVelocity(ChassisSpeeds speeds) { + // Calculate module setpoints + ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02); + SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds); + SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, MAX_LINEAR_SPEED); + + // Send setpoints to modules + SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4]; + for (int i = 0; i < 4; i++) { + // The module returns the optimized state, useful for logging + optimizedSetpointStates[i] = modules[i].runSetpoint(setpointStates[i]); + } + + // Log setpoint states + Logger.recordOutput("SwerveStates/Setpoints", setpointStates); + Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); + } + + /** Stops the drive. */ + public void stop() { + runVelocity(new ChassisSpeeds()); + } + + /** + * Stops the drive and turns the modules to an X arrangement to resist movement. The modules will + * return to their normal orientations the next time a nonzero velocity is requested. + */ + public void stopWithX() { + Rotation2d[] headings = new Rotation2d[4]; + for (int i = 0; i < 4; i++) { + headings[i] = getModuleTranslations()[i].getAngle(); + } + kinematics.resetHeadings(headings); + stop(); + } + + /** Runs forwards at the commanded voltage. */ + public void runCharacterizationVolts(double volts) { + for (int i = 0; i < 4; i++) { + modules[i].runCharacterization(volts); + } + } + + /** Returns the average drive velocity in radians/sec. */ + public double getCharacterizationVelocity() { + double driveVelocityAverage = 0.0; + for (var module : modules) { + driveVelocityAverage += module.getCharacterizationVelocity(); + } + return driveVelocityAverage / 4.0; + } + + /** Returns the module states (turn angles and drive velocities) for all of the modules. */ + @AutoLogOutput(key = "SwerveStates/Measured") + private SwerveModuleState[] getModuleStates() { + SwerveModuleState[] states = new SwerveModuleState[4]; + for (int i = 0; i < 4; i++) { + states[i] = modules[i].getState(); + } + return states; + } + + /** Returns the current odometry pose. */ + @AutoLogOutput(key = "Odometry/Robot") + public Pose2d getPose() { + return pose; + } + + /** Returns the current odometry rotation. */ + public Rotation2d getRotation() { + return pose.getRotation(); + } + + /** Resets the current odometry pose. */ + public void setPose(Pose2d pose) { + this.pose = pose; + } + + /** Returns the maximum linear speed in meters per sec. */ + public double getMaxLinearSpeedMetersPerSec() { + return MAX_LINEAR_SPEED; + } + + /** Returns the maximum angular speed in radians per sec. */ + public double getMaxAngularSpeedRadPerSec() { + return MAX_ANGULAR_SPEED; + } + + /** Returns an array of module translations. */ + public static Translation2d[] getModuleTranslations() { + return new Translation2d[] { + new Translation2d(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0), + new Translation2d(TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0), + new Translation2d(-TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0), + new Translation2d(-TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0) + }; + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java index 38ccec1..65cde8e 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java @@ -1,29 +1,29 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import edu.wpi.first.math.geometry.Rotation2d; -import org.littletonrobotics.junction.AutoLog; - -public interface GyroIO { - @AutoLog - public static class GyroIOInputs { - public boolean connected = false; - public Rotation2d yawPosition = new Rotation2d(); - public Rotation2d[] odometryYawPositions = new Rotation2d[] {}; - public double yawVelocityRadPerSec = 0.0; - } - - public default void updateInputs(GyroIOInputs inputs) {} -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import edu.wpi.first.math.geometry.Rotation2d; +import org.littletonrobotics.junction.AutoLog; + +public interface GyroIO { + @AutoLog + public static class GyroIOInputs { + public boolean connected = false; + public Rotation2d yawPosition = new Rotation2d(); + public Rotation2d[] odometryYawPositions = new Rotation2d[] {}; + public double yawVelocityRadPerSec = 0.0; + } + + public default void updateInputs(GyroIOInputs inputs) {} +} diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java index 49a6a56..55265cf 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -1,53 +1,53 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusCode; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.Pigeon2Configuration; -import com.ctre.phoenix6.hardware.Pigeon2; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; -import java.util.Queue; - -/** IO implementation for Pigeon2 */ -public class GyroIOPigeon2 implements GyroIO { - private final Pigeon2 pigeon = new Pigeon2(20); - private final StatusSignal yaw = pigeon.getYaw(); - private final Queue yawPositionQueue; - private final StatusSignal yawVelocity = pigeon.getAngularVelocityZWorld(); - - public GyroIOPigeon2(boolean phoenixDrive) { - pigeon.getConfigurator().apply(new Pigeon2Configuration()); - pigeon.getConfigurator().setYaw(0.0); - yaw.setUpdateFrequency(Module.ODOMETRY_FREQUENCY); - yawVelocity.setUpdateFrequency(100.0); - pigeon.optimizeBusUtilization(); - yawPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(pigeon, pigeon.getYaw()); - } - - @Override - public void updateInputs(GyroIOInputs inputs) { - inputs.connected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK); - inputs.yawPosition = Rotation2d.fromDegrees(yaw.getValueAsDouble()); - inputs.yawVelocityRadPerSec = Units.degreesToRadians(yawVelocity.getValueAsDouble()); - - inputs.odometryYawPositions = - yawPositionQueue.stream() - .map((Double value) -> Rotation2d.fromDegrees(value)) - .toArray(Rotation2d[]::new); - yawPositionQueue.clear(); - } -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusCode; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.Pigeon2Configuration; +import com.ctre.phoenix6.hardware.Pigeon2; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import java.util.Queue; + +/** IO implementation for Pigeon2 */ +public class GyroIOPigeon2 implements GyroIO { + private final Pigeon2 pigeon = new Pigeon2(20); + private final StatusSignal yaw = pigeon.getYaw(); + private final Queue yawPositionQueue; + private final StatusSignal yawVelocity = pigeon.getAngularVelocityZWorld(); + + public GyroIOPigeon2(boolean phoenixDrive) { + pigeon.getConfigurator().apply(new Pigeon2Configuration()); + pigeon.getConfigurator().setYaw(0.0); + yaw.setUpdateFrequency(Module.ODOMETRY_FREQUENCY); + yawVelocity.setUpdateFrequency(100.0); + pigeon.optimizeBusUtilization(); + yawPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(pigeon, pigeon.getYaw()); + } + + @Override + public void updateInputs(GyroIOInputs inputs) { + inputs.connected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK); + inputs.yawPosition = Rotation2d.fromDegrees(yaw.getValueAsDouble()); + inputs.yawVelocityRadPerSec = Units.degreesToRadians(yawVelocity.getValueAsDouble()); + + inputs.odometryYawPositions = + yawPositionQueue.stream() + .map((Double value) -> Rotation2d.fromDegrees(value)) + .toArray(Rotation2d[]::new); + yawPositionQueue.clear(); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index 59dfb2a..f8311ea 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -1,202 +1,202 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.controller.SimpleMotorFeedforward; -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 frc.robot.Constants; -import org.littletonrobotics.junction.Logger; - -public class Module { - private static final double WHEEL_RADIUS = Units.inchesToMeters(2.0); - public static final double ODOMETRY_FREQUENCY = 250.0; - - private final ModuleIO io; - private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged(); - private final int index; - - private final SimpleMotorFeedforward driveFeedforward; - private final PIDController driveFeedback; - private final PIDController turnFeedback; - private Rotation2d angleSetpoint = null; // Setpoint for closed loop control, null for open loop - private Double speedSetpoint = null; // Setpoint for closed loop control, null for open loop - private Rotation2d turnRelativeOffset = null; // Relative + Offset = Absolute - private double lastPositionMeters = 0.0; // Used for delta calculation - private SwerveModulePosition[] positionDeltas = new SwerveModulePosition[] {}; - - public Module(ModuleIO io, int index) { - this.io = io; - this.index = index; - - // Switch constants based on mode (the physics simulator is treated as a - // separate robot with different tuning) - switch (Constants.currentMode) { - case REAL: - case REPLAY: - driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); - driveFeedback = new PIDController(0.05, 0.0, 0.0); - turnFeedback = new PIDController(7.0, 0.0, 0.0); - break; - case SIM: - driveFeedforward = new SimpleMotorFeedforward(0.0, 0.13); - driveFeedback = new PIDController(0.1, 0.0, 0.0); - turnFeedback = new PIDController(10.0, 0.0, 0.0); - break; - default: - driveFeedforward = new SimpleMotorFeedforward(0.0, 0.0); - driveFeedback = new PIDController(0.0, 0.0, 0.0); - turnFeedback = new PIDController(0.0, 0.0, 0.0); - break; - } - - turnFeedback.enableContinuousInput(-Math.PI, Math.PI); - setBrakeMode(true); - } - - /** - * Update inputs without running the rest of the periodic logic. This is useful since these - * updates need to be properly thread-locked. - */ - public void updateInputs() { - io.updateInputs(inputs); - } - - public void periodic() { - Logger.processInputs("Drive/Module" + Integer.toString(index), inputs); - - // On first cycle, reset relative turn encoder - // Wait until absolute angle is nonzero in case it wasn't initialized yet - if (turnRelativeOffset == null && inputs.turnAbsolutePosition.getRadians() != 0.0) { - turnRelativeOffset = inputs.turnAbsolutePosition.minus(inputs.turnPosition); - } - - // Run closed loop turn control - if (angleSetpoint != null) { - io.setTurnVoltage( - turnFeedback.calculate(getAngle().getRadians(), angleSetpoint.getRadians())); - - // Run closed loop drive control - // Only allowed if closed loop turn control is running - if (speedSetpoint != null) { - // Scale velocity based on turn error - // - // When the error is 90°, the velocity setpoint should be 0. As the wheel turns - // towards the setpoint, its velocity should increase. This is achieved by - // taking the component of the velocity in the direction of the setpoint. - double adjustSpeedSetpoint = speedSetpoint * Math.cos(turnFeedback.getPositionError()); - - // Run drive controller - double velocityRadPerSec = adjustSpeedSetpoint / WHEEL_RADIUS; - io.setDriveVoltage( - driveFeedforward.calculate(velocityRadPerSec) - + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec)); - } - } - - // Calculate position deltas for odometry - int deltaCount = - Math.min(inputs.odometryDrivePositionsRad.length, inputs.odometryTurnPositions.length); - positionDeltas = new SwerveModulePosition[deltaCount]; - for (int i = 0; i < deltaCount; i++) { - double positionMeters = inputs.odometryDrivePositionsRad[i] * WHEEL_RADIUS; - Rotation2d angle = - inputs.odometryTurnPositions[i].plus( - turnRelativeOffset != null ? turnRelativeOffset : new Rotation2d()); - positionDeltas[i] = new SwerveModulePosition(positionMeters - lastPositionMeters, angle); - lastPositionMeters = positionMeters; - } - } - - /** Runs the module with the specified setpoint state. Returns the optimized state. */ - public SwerveModuleState runSetpoint(SwerveModuleState state) { - // Optimize state based on current angle - // Controllers run in "periodic" when the setpoint is not null - var optimizedState = SwerveModuleState.optimize(state, getAngle()); - - // Update setpoints, controllers run in "periodic" - angleSetpoint = optimizedState.angle; - speedSetpoint = optimizedState.speedMetersPerSecond; - - return optimizedState; - } - - /** Runs the module with the specified voltage while controlling to zero degrees. */ - public void runCharacterization(double volts) { - // Closed loop turn control - angleSetpoint = new Rotation2d(); - - // Open loop drive control - io.setDriveVoltage(volts); - speedSetpoint = null; - } - - /** Disables all outputs to motors. */ - public void stop() { - io.setTurnVoltage(0.0); - io.setDriveVoltage(0.0); - - // Disable closed loop control for turn and drive - angleSetpoint = null; - speedSetpoint = null; - } - - /** Sets whether brake mode is enabled. */ - public void setBrakeMode(boolean enabled) { - io.setDriveBrakeMode(enabled); - io.setTurnBrakeMode(enabled); - } - - /** Returns the current turn angle of the module. */ - public Rotation2d getAngle() { - if (turnRelativeOffset == null) { - return new Rotation2d(); - } else { - return inputs.turnPosition.plus(turnRelativeOffset); - } - } - - /** Returns the current drive position of the module in meters. */ - public double getPositionMeters() { - return inputs.drivePositionRad * WHEEL_RADIUS; - } - - /** Returns the current drive velocity of the module in meters per second. */ - public double getVelocityMetersPerSec() { - return inputs.driveVelocityRadPerSec * WHEEL_RADIUS; - } - - /** Returns the module position (turn angle and drive position). */ - public SwerveModulePosition getPosition() { - return new SwerveModulePosition(getPositionMeters(), getAngle()); - } - - /** Returns the module state (turn angle and drive velocity). */ - public SwerveModuleState getState() { - return new SwerveModuleState(getVelocityMetersPerSec(), getAngle()); - } - - /** Returns the module position deltas received this cycle. */ - public SwerveModulePosition[] getPositionDeltas() { - return positionDeltas; - } - - /** Returns the drive velocity in radians/sec. */ - public double getCharacterizationVelocity() { - return inputs.driveVelocityRadPerSec; - } -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +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 frc.robot.Constants; +import org.littletonrobotics.junction.Logger; + +public class Module { + private static final double WHEEL_RADIUS = Units.inchesToMeters(2.0); + public static final double ODOMETRY_FREQUENCY = 250.0; + + private final ModuleIO io; + private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged(); + private final int index; + + private final SimpleMotorFeedforward driveFeedforward; + private final PIDController driveFeedback; + private final PIDController turnFeedback; + private Rotation2d angleSetpoint = null; // Setpoint for closed loop control, null for open loop + private Double speedSetpoint = null; // Setpoint for closed loop control, null for open loop + private Rotation2d turnRelativeOffset = null; // Relative + Offset = Absolute + private double lastPositionMeters = 0.0; // Used for delta calculation + private SwerveModulePosition[] positionDeltas = new SwerveModulePosition[] {}; + + public Module(ModuleIO io, int index) { + this.io = io; + this.index = index; + + // Switch constants based on mode (the physics simulator is treated as a + // separate robot with different tuning) + switch (Constants.currentMode) { + case REAL: + case REPLAY: + driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); + driveFeedback = new PIDController(0.05, 0.0, 0.0); + turnFeedback = new PIDController(7.0, 0.0, 0.0); + break; + case SIM: + driveFeedforward = new SimpleMotorFeedforward(0.0, 0.13); + driveFeedback = new PIDController(0.1, 0.0, 0.0); + turnFeedback = new PIDController(10.0, 0.0, 0.0); + break; + default: + driveFeedforward = new SimpleMotorFeedforward(0.0, 0.0); + driveFeedback = new PIDController(0.0, 0.0, 0.0); + turnFeedback = new PIDController(0.0, 0.0, 0.0); + break; + } + + turnFeedback.enableContinuousInput(-Math.PI, Math.PI); + setBrakeMode(true); + } + + /** + * Update inputs without running the rest of the periodic logic. This is useful since these + * updates need to be properly thread-locked. + */ + public void updateInputs() { + io.updateInputs(inputs); + } + + public void periodic() { + Logger.processInputs("Drive/Module" + Integer.toString(index), inputs); + + // On first cycle, reset relative turn encoder + // Wait until absolute angle is nonzero in case it wasn't initialized yet + if (turnRelativeOffset == null && inputs.turnAbsolutePosition.getRadians() != 0.0) { + turnRelativeOffset = inputs.turnAbsolutePosition.minus(inputs.turnPosition); + } + + // Run closed loop turn control + if (angleSetpoint != null) { + io.setTurnVoltage( + turnFeedback.calculate(getAngle().getRadians(), angleSetpoint.getRadians())); + + // Run closed loop drive control + // Only allowed if closed loop turn control is running + if (speedSetpoint != null) { + // Scale velocity based on turn error + // + // When the error is 90°, the velocity setpoint should be 0. As the wheel turns + // towards the setpoint, its velocity should increase. This is achieved by + // taking the component of the velocity in the direction of the setpoint. + double adjustSpeedSetpoint = speedSetpoint * Math.cos(turnFeedback.getPositionError()); + + // Run drive controller + double velocityRadPerSec = adjustSpeedSetpoint / WHEEL_RADIUS; + io.setDriveVoltage( + driveFeedforward.calculate(velocityRadPerSec) + + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec)); + } + } + + // Calculate position deltas for odometry + int deltaCount = + Math.min(inputs.odometryDrivePositionsRad.length, inputs.odometryTurnPositions.length); + positionDeltas = new SwerveModulePosition[deltaCount]; + for (int i = 0; i < deltaCount; i++) { + double positionMeters = inputs.odometryDrivePositionsRad[i] * WHEEL_RADIUS; + Rotation2d angle = + inputs.odometryTurnPositions[i].plus( + turnRelativeOffset != null ? turnRelativeOffset : new Rotation2d()); + positionDeltas[i] = new SwerveModulePosition(positionMeters - lastPositionMeters, angle); + lastPositionMeters = positionMeters; + } + } + + /** Runs the module with the specified setpoint state. Returns the optimized state. */ + public SwerveModuleState runSetpoint(SwerveModuleState state) { + // Optimize state based on current angle + // Controllers run in "periodic" when the setpoint is not null + var optimizedState = SwerveModuleState.optimize(state, getAngle()); + + // Update setpoints, controllers run in "periodic" + angleSetpoint = optimizedState.angle; + speedSetpoint = optimizedState.speedMetersPerSecond; + + return optimizedState; + } + + /** Runs the module with the specified voltage while controlling to zero degrees. */ + public void runCharacterization(double volts) { + // Closed loop turn control + angleSetpoint = new Rotation2d(); + + // Open loop drive control + io.setDriveVoltage(volts); + speedSetpoint = null; + } + + /** Disables all outputs to motors. */ + public void stop() { + io.setTurnVoltage(0.0); + io.setDriveVoltage(0.0); + + // Disable closed loop control for turn and drive + angleSetpoint = null; + speedSetpoint = null; + } + + /** Sets whether brake mode is enabled. */ + public void setBrakeMode(boolean enabled) { + io.setDriveBrakeMode(enabled); + io.setTurnBrakeMode(enabled); + } + + /** Returns the current turn angle of the module. */ + public Rotation2d getAngle() { + if (turnRelativeOffset == null) { + return new Rotation2d(); + } else { + return inputs.turnPosition.plus(turnRelativeOffset); + } + } + + /** Returns the current drive position of the module in meters. */ + public double getPositionMeters() { + return inputs.drivePositionRad * WHEEL_RADIUS; + } + + /** Returns the current drive velocity of the module in meters per second. */ + public double getVelocityMetersPerSec() { + return inputs.driveVelocityRadPerSec * WHEEL_RADIUS; + } + + /** Returns the module position (turn angle and drive position). */ + public SwerveModulePosition getPosition() { + return new SwerveModulePosition(getPositionMeters(), getAngle()); + } + + /** Returns the module state (turn angle and drive velocity). */ + public SwerveModuleState getState() { + return new SwerveModuleState(getVelocityMetersPerSec(), getAngle()); + } + + /** Returns the module position deltas received this cycle. */ + public SwerveModulePosition[] getPositionDeltas() { + return positionDeltas; + } + + /** Returns the drive velocity in radians/sec. */ + public double getCharacterizationVelocity() { + return inputs.driveVelocityRadPerSec; + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java index 8620ae3..e311335 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -1,51 +1,51 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import edu.wpi.first.math.geometry.Rotation2d; -import org.littletonrobotics.junction.AutoLog; - -public interface ModuleIO { - @AutoLog - public static class ModuleIOInputs { - public double drivePositionRad = 0.0; - public double driveVelocityRadPerSec = 0.0; - public double driveAppliedVolts = 0.0; - public double[] driveCurrentAmps = new double[] {}; - - public Rotation2d turnAbsolutePosition = new Rotation2d(); - public Rotation2d turnPosition = new Rotation2d(); - public double turnVelocityRadPerSec = 0.0; - public double turnAppliedVolts = 0.0; - public double[] turnCurrentAmps = new double[] {}; - - public double[] odometryDrivePositionsRad = new double[] {}; - public Rotation2d[] odometryTurnPositions = new Rotation2d[] {}; - } - - /** Updates the set of loggable inputs. */ - public default void updateInputs(ModuleIOInputs inputs) {} - - /** Run the drive motor at the specified voltage. */ - public default void setDriveVoltage(double volts) {} - - /** Run the turn motor at the specified voltage. */ - public default void setTurnVoltage(double volts) {} - - /** Enable or disable brake mode on the drive motor. */ - public default void setDriveBrakeMode(boolean enable) {} - - /** Enable or disable brake mode on the turn motor. */ - public default void setTurnBrakeMode(boolean enable) {} -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import edu.wpi.first.math.geometry.Rotation2d; +import org.littletonrobotics.junction.AutoLog; + +public interface ModuleIO { + @AutoLog + public static class ModuleIOInputs { + public double drivePositionRad = 0.0; + public double driveVelocityRadPerSec = 0.0; + public double driveAppliedVolts = 0.0; + public double[] driveCurrentAmps = new double[] {}; + + public Rotation2d turnAbsolutePosition = new Rotation2d(); + public Rotation2d turnPosition = new Rotation2d(); + public double turnVelocityRadPerSec = 0.0; + public double turnAppliedVolts = 0.0; + public double[] turnCurrentAmps = new double[] {}; + + public double[] odometryDrivePositionsRad = new double[] {}; + public Rotation2d[] odometryTurnPositions = new Rotation2d[] {}; + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(ModuleIOInputs inputs) {} + + /** Run the drive motor at the specified voltage. */ + public default void setDriveVoltage(double volts) {} + + /** Run the turn motor at the specified voltage. */ + public default void setTurnVoltage(double volts) {} + + /** Enable or disable brake mode on the drive motor. */ + public default void setDriveBrakeMode(boolean enable) {} + + /** Enable or disable brake mode on the turn motor. */ + public default void setTurnBrakeMode(boolean enable) {} +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java index c309c68..21a6543 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java @@ -1,70 +1,70 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.simulation.DCMotorSim; - -/** - * Physics sim implementation of module IO. - * - *

Uses two flywheel sims for the drive and turn motors, with the absolute position initialized - * to a random value. The flywheel sims are not physically accurate, but provide a decent - * approximation for the behavior of the module. - */ -public class ModuleIOSim implements ModuleIO { - private static final double LOOP_PERIOD_SECS = 0.02; - - private DCMotorSim driveSim = new DCMotorSim(DCMotor.getNEO(1), 6.75, 0.025); - private DCMotorSim turnSim = new DCMotorSim(DCMotor.getNEO(1), 150.0 / 7.0, 0.004); - - private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI); - private double driveAppliedVolts = 0.0; - private double turnAppliedVolts = 0.0; - - @Override - public void updateInputs(ModuleIOInputs inputs) { - driveSim.update(LOOP_PERIOD_SECS); - turnSim.update(LOOP_PERIOD_SECS); - - inputs.drivePositionRad = driveSim.getAngularPositionRad(); - inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec(); - inputs.driveAppliedVolts = driveAppliedVolts; - inputs.driveCurrentAmps = new double[] {Math.abs(driveSim.getCurrentDrawAmps())}; - - inputs.turnAbsolutePosition = - new Rotation2d(turnSim.getAngularPositionRad()).plus(turnAbsoluteInitPosition); - inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad()); - inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec(); - inputs.turnAppliedVolts = turnAppliedVolts; - inputs.turnCurrentAmps = new double[] {Math.abs(turnSim.getCurrentDrawAmps())}; - - inputs.odometryDrivePositionsRad = new double[] {inputs.drivePositionRad}; - inputs.odometryTurnPositions = new Rotation2d[] {inputs.turnPosition}; - } - - @Override - public void setDriveVoltage(double volts) { - driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); - driveSim.setInputVoltage(driveAppliedVolts); - } - - @Override - public void setTurnVoltage(double volts) { - turnAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); - turnSim.setInputVoltage(turnAppliedVolts); - } -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; + +/** + * Physics sim implementation of module IO. + * + *

Uses two flywheel sims for the drive and turn motors, with the absolute position initialized + * to a random value. The flywheel sims are not physically accurate, but provide a decent + * approximation for the behavior of the module. + */ +public class ModuleIOSim implements ModuleIO { + private static final double LOOP_PERIOD_SECS = 0.02; + + private DCMotorSim driveSim = new DCMotorSim(DCMotor.getNEO(1), 6.75, 0.025); + private DCMotorSim turnSim = new DCMotorSim(DCMotor.getNEO(1), 150.0 / 7.0, 0.004); + + private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI); + private double driveAppliedVolts = 0.0; + private double turnAppliedVolts = 0.0; + + @Override + public void updateInputs(ModuleIOInputs inputs) { + driveSim.update(LOOP_PERIOD_SECS); + turnSim.update(LOOP_PERIOD_SECS); + + inputs.drivePositionRad = driveSim.getAngularPositionRad(); + inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec(); + inputs.driveAppliedVolts = driveAppliedVolts; + inputs.driveCurrentAmps = new double[] {Math.abs(driveSim.getCurrentDrawAmps())}; + + inputs.turnAbsolutePosition = + new Rotation2d(turnSim.getAngularPositionRad()).plus(turnAbsoluteInitPosition); + inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad()); + inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec(); + inputs.turnAppliedVolts = turnAppliedVolts; + inputs.turnCurrentAmps = new double[] {Math.abs(turnSim.getCurrentDrawAmps())}; + + inputs.odometryDrivePositionsRad = new double[] {inputs.drivePositionRad}; + inputs.odometryTurnPositions = new Rotation2d[] {inputs.turnPosition}; + } + + @Override + public void setDriveVoltage(double volts) { + driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); + driveSim.setInputVoltage(driveAppliedVolts); + } + + @Override + public void setTurnVoltage(double volts) { + turnAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); + turnSim.setInputVoltage(turnAppliedVolts); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index 04e0225..bf08788 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -1,191 +1,191 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.CANcoder; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; -import frc.robot.Constants.DriveConstants; -import java.util.Queue; - -/** - * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and - * CANcoder - * - *

NOTE: This implementation should be used as a starting point and adapted to different hardware - * configurations (e.g. If using an analog encoder, copy from "ModuleIOSparkMax") - * - *

To calibrate the absolute encoder offsets, point the modules straight (such that forward - * motion on the drive motor will propel the robot forward) and copy the reported values from the - * absolute encoders using AdvantageScope. These values are logged under - * "/Drive/ModuleX/TurnAbsolutePositionRad" - */ -public class ModuleIOTalonFX implements ModuleIO { - private final TalonFX driveTalon; - private final TalonFX turnTalon; - private final CANcoder cancoder; - - private final StatusSignal drivePosition; - private final Queue drivePositionQueue; - private final StatusSignal driveVelocity; - private final StatusSignal driveAppliedVolts; - private final StatusSignal driveCurrent; - - private final StatusSignal turnAbsolutePosition; - private final StatusSignal turnPosition; - private final Queue turnPositionQueue; - private final StatusSignal turnVelocity; - private final StatusSignal turnAppliedVolts; - private final StatusSignal turnCurrent; - - // Gear ratios for SDS MK4i L2, adjust as necessary - private final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); - private final double TURN_GEAR_RATIO = 150.0 / 7.0; - - private final boolean isTurnMotorInverted = true; - private final Rotation2d absoluteEncoderOffset; - - public ModuleIOTalonFX(int index) { - if (index >= 4) { - throw new RuntimeException("Invalid module index"); - } - driveTalon = new TalonFX(DriveConstants.driveCanIds[index]); - turnTalon = new TalonFX(DriveConstants.turnCanIds[index]); - cancoder = new CANcoder(DriveConstants.canCoderIds[index]); - absoluteEncoderOffset = Rotation2d.fromDegrees(DriveConstants.moduleAngles[index]); - - var driveConfig = new TalonFXConfiguration(); - driveConfig.CurrentLimits.StatorCurrentLimit = 40.0; - driveConfig.CurrentLimits.StatorCurrentLimitEnable = true; - driveTalon.getConfigurator().apply(driveConfig); - setDriveBrakeMode(true); - - var turnConfig = new TalonFXConfiguration(); - turnConfig.CurrentLimits.StatorCurrentLimit = 30.0; - turnConfig.CurrentLimits.StatorCurrentLimitEnable = true; - turnTalon.getConfigurator().apply(turnConfig); - setTurnBrakeMode(true); - - cancoder.getConfigurator().apply(new CANcoderConfiguration()); - - drivePosition = driveTalon.getPosition(); - drivePositionQueue = - PhoenixOdometryThread.getInstance().registerSignal(driveTalon, driveTalon.getPosition()); - driveVelocity = driveTalon.getVelocity(); - driveAppliedVolts = driveTalon.getMotorVoltage(); - driveCurrent = driveTalon.getStatorCurrent(); - - turnAbsolutePosition = cancoder.getAbsolutePosition(); - turnPosition = turnTalon.getPosition(); - turnPositionQueue = - PhoenixOdometryThread.getInstance().registerSignal(turnTalon, turnTalon.getPosition()); - turnVelocity = turnTalon.getVelocity(); - turnAppliedVolts = turnTalon.getMotorVoltage(); - turnCurrent = turnTalon.getStatorCurrent(); - - BaseStatusSignal.setUpdateFrequencyForAll( - Module.ODOMETRY_FREQUENCY, drivePosition, turnPosition); - BaseStatusSignal.setUpdateFrequencyForAll( - 50.0, - driveVelocity, - driveAppliedVolts, - driveCurrent, - turnAbsolutePosition, - turnVelocity, - turnAppliedVolts, - turnCurrent); - driveTalon.optimizeBusUtilization(); - turnTalon.optimizeBusUtilization(); - } - - @Override - public void updateInputs(ModuleIOInputs inputs) { - BaseStatusSignal.refreshAll( - drivePosition, - driveVelocity, - driveAppliedVolts, - driveCurrent, - turnAbsolutePosition, - turnPosition, - turnVelocity, - turnAppliedVolts, - turnCurrent); - - inputs.drivePositionRad = - Units.rotationsToRadians(drivePosition.getValueAsDouble()) / DRIVE_GEAR_RATIO; - inputs.driveVelocityRadPerSec = - Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / DRIVE_GEAR_RATIO; - inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); - inputs.driveCurrentAmps = new double[] {driveCurrent.getValueAsDouble()}; - - inputs.turnAbsolutePosition = - Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()) - .minus(absoluteEncoderOffset); - inputs.turnPosition = - Rotation2d.fromRotations(turnPosition.getValueAsDouble() / TURN_GEAR_RATIO); - inputs.turnVelocityRadPerSec = - Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / TURN_GEAR_RATIO; - inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); - inputs.turnCurrentAmps = new double[] {turnCurrent.getValueAsDouble()}; - - inputs.odometryDrivePositionsRad = - drivePositionQueue.stream() - .mapToDouble((Double value) -> Units.rotationsToRadians(value) / DRIVE_GEAR_RATIO) - .toArray(); - inputs.odometryTurnPositions = - turnPositionQueue.stream() - .map((Double value) -> Rotation2d.fromRotations(value / TURN_GEAR_RATIO)) - .toArray(Rotation2d[]::new); - drivePositionQueue.clear(); - turnPositionQueue.clear(); - } - - @Override - public void setDriveVoltage(double volts) { - driveTalon.setControl(new VoltageOut(volts)); - } - - @Override - public void setTurnVoltage(double volts) { - turnTalon.setControl(new VoltageOut(volts)); - } - - @Override - public void setDriveBrakeMode(boolean enable) { - var config = new MotorOutputConfigs(); - config.Inverted = InvertedValue.CounterClockwise_Positive; - config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; - driveTalon.getConfigurator().apply(config); - } - - @Override - public void setTurnBrakeMode(boolean enable) { - var config = new MotorOutputConfigs(); - config.Inverted = - isTurnMotorInverted - ? InvertedValue.Clockwise_Positive - : InvertedValue.CounterClockwise_Positive; - config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; - turnTalon.getConfigurator().apply(config); - } -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import frc.robot.Constants.DriveConstants; +import java.util.Queue; + +/** + * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and + * CANcoder + * + *

NOTE: This implementation should be used as a starting point and adapted to different hardware + * configurations (e.g. If using an analog encoder, copy from "ModuleIOSparkMax") + * + *

To calibrate the absolute encoder offsets, point the modules straight (such that forward + * motion on the drive motor will propel the robot forward) and copy the reported values from the + * absolute encoders using AdvantageScope. These values are logged under + * "/Drive/ModuleX/TurnAbsolutePositionRad" + */ +public class ModuleIOTalonFX implements ModuleIO { + private final TalonFX driveTalon; + private final TalonFX turnTalon; + private final CANcoder cancoder; + + private final StatusSignal drivePosition; + private final Queue drivePositionQueue; + private final StatusSignal driveVelocity; + private final StatusSignal driveAppliedVolts; + private final StatusSignal driveCurrent; + + private final StatusSignal turnAbsolutePosition; + private final StatusSignal turnPosition; + private final Queue turnPositionQueue; + private final StatusSignal turnVelocity; + private final StatusSignal turnAppliedVolts; + private final StatusSignal turnCurrent; + + // Gear ratios for SDS MK4i L2, adjust as necessary + private final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); + private final double TURN_GEAR_RATIO = 150.0 / 7.0; + + private final boolean isTurnMotorInverted = true; + private final Rotation2d absoluteEncoderOffset; + + public ModuleIOTalonFX(int index) { + if (index >= 4) { + throw new RuntimeException("Invalid module index"); + } + driveTalon = new TalonFX(DriveConstants.driveCanIds[index]); + turnTalon = new TalonFX(DriveConstants.turnCanIds[index]); + cancoder = new CANcoder(DriveConstants.canCoderIds[index]); + absoluteEncoderOffset = Rotation2d.fromDegrees(DriveConstants.moduleAngles[index]); + + var driveConfig = new TalonFXConfiguration(); + driveConfig.CurrentLimits.StatorCurrentLimit = 40.0; + driveConfig.CurrentLimits.StatorCurrentLimitEnable = true; + driveTalon.getConfigurator().apply(driveConfig); + setDriveBrakeMode(true); + + var turnConfig = new TalonFXConfiguration(); + turnConfig.CurrentLimits.StatorCurrentLimit = 30.0; + turnConfig.CurrentLimits.StatorCurrentLimitEnable = true; + turnTalon.getConfigurator().apply(turnConfig); + setTurnBrakeMode(true); + + cancoder.getConfigurator().apply(new CANcoderConfiguration()); + + drivePosition = driveTalon.getPosition(); + drivePositionQueue = + PhoenixOdometryThread.getInstance().registerSignal(driveTalon, driveTalon.getPosition()); + driveVelocity = driveTalon.getVelocity(); + driveAppliedVolts = driveTalon.getMotorVoltage(); + driveCurrent = driveTalon.getStatorCurrent(); + + turnAbsolutePosition = cancoder.getAbsolutePosition(); + turnPosition = turnTalon.getPosition(); + turnPositionQueue = + PhoenixOdometryThread.getInstance().registerSignal(turnTalon, turnTalon.getPosition()); + turnVelocity = turnTalon.getVelocity(); + turnAppliedVolts = turnTalon.getMotorVoltage(); + turnCurrent = turnTalon.getStatorCurrent(); + + BaseStatusSignal.setUpdateFrequencyForAll( + Module.ODOMETRY_FREQUENCY, drivePosition, turnPosition); + BaseStatusSignal.setUpdateFrequencyForAll( + 50.0, + driveVelocity, + driveAppliedVolts, + driveCurrent, + turnAbsolutePosition, + turnVelocity, + turnAppliedVolts, + turnCurrent); + driveTalon.optimizeBusUtilization(); + turnTalon.optimizeBusUtilization(); + } + + @Override + public void updateInputs(ModuleIOInputs inputs) { + BaseStatusSignal.refreshAll( + drivePosition, + driveVelocity, + driveAppliedVolts, + driveCurrent, + turnAbsolutePosition, + turnPosition, + turnVelocity, + turnAppliedVolts, + turnCurrent); + + inputs.drivePositionRad = + Units.rotationsToRadians(drivePosition.getValueAsDouble()) / DRIVE_GEAR_RATIO; + inputs.driveVelocityRadPerSec = + Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / DRIVE_GEAR_RATIO; + inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); + inputs.driveCurrentAmps = new double[] {driveCurrent.getValueAsDouble()}; + + inputs.turnAbsolutePosition = + Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()) + .minus(absoluteEncoderOffset); + inputs.turnPosition = + Rotation2d.fromRotations(turnPosition.getValueAsDouble() / TURN_GEAR_RATIO); + inputs.turnVelocityRadPerSec = + Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / TURN_GEAR_RATIO; + inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); + inputs.turnCurrentAmps = new double[] {turnCurrent.getValueAsDouble()}; + + inputs.odometryDrivePositionsRad = + drivePositionQueue.stream() + .mapToDouble((Double value) -> Units.rotationsToRadians(value) / DRIVE_GEAR_RATIO) + .toArray(); + inputs.odometryTurnPositions = + turnPositionQueue.stream() + .map((Double value) -> Rotation2d.fromRotations(value / TURN_GEAR_RATIO)) + .toArray(Rotation2d[]::new); + drivePositionQueue.clear(); + turnPositionQueue.clear(); + } + + @Override + public void setDriveVoltage(double volts) { + driveTalon.setControl(new VoltageOut(volts)); + } + + @Override + public void setTurnVoltage(double volts) { + turnTalon.setControl(new VoltageOut(volts)); + } + + @Override + public void setDriveBrakeMode(boolean enable) { + var config = new MotorOutputConfigs(); + config.Inverted = InvertedValue.CounterClockwise_Positive; + config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; + driveTalon.getConfigurator().apply(config); + } + + @Override + public void setTurnBrakeMode(boolean enable) { + var config = new MotorOutputConfigs(); + config.Inverted = + isTurnMotorInverted + ? InvertedValue.Clockwise_Positive + : InvertedValue.CounterClockwise_Positive; + config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; + turnTalon.getConfigurator().apply(config); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java index 33a4448..8c1ed0c 100644 --- a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java @@ -1,108 +1,108 @@ -// Copyright 2021-2024 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 frc.robot.subsystems.drive; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.CANBus; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.hardware.ParentDevice; -import java.util.ArrayList; -import java.util.List; -import java.util.Queue; -import java.util.concurrent.ArrayBlockingQueue; -import java.util.concurrent.locks.Lock; -import java.util.concurrent.locks.ReentrantLock; - -/** - * Provides an interface for asynchronously reading high-frequency measurements to a set of queues. - * - *

This version is intended for Phoenix 6 devices on both the RIO and CANivore buses. When using - * a CANivore, the thread uses the "waitForAll" blocking method to enable more consistent sampling. - * This also allows Phoenix Pro users to benefit from lower latency between devices using CANivore - * time synchronization. - */ -public class PhoenixOdometryThread extends Thread { - private final Lock signalsLock = - new ReentrantLock(); // Prevents conflicts when registering signals - private BaseStatusSignal[] signals = new BaseStatusSignal[0]; - private final List> queues = new ArrayList<>(); - private boolean isCANFD = false; - - private static PhoenixOdometryThread instance = null; - - public static PhoenixOdometryThread getInstance() { - if (instance == null) { - instance = new PhoenixOdometryThread(); - } - return instance; - } - - private PhoenixOdometryThread() { - setName("PhoenixOdometryThread"); - setDaemon(true); - start(); - } - - public Queue registerSignal(ParentDevice device, StatusSignal signal) { - Queue queue = new ArrayBlockingQueue<>(100); - signalsLock.lock(); - Drive.odometryLock.lock(); - try { - isCANFD = CANBus.isNetworkFD(device.getNetwork()); - BaseStatusSignal[] newSignals = new BaseStatusSignal[signals.length + 1]; - System.arraycopy(signals, 0, newSignals, 0, signals.length); - newSignals[signals.length] = signal; - signals = newSignals; - queues.add(queue); - } finally { - signalsLock.unlock(); - Drive.odometryLock.unlock(); - } - return queue; - } - - @Override - public void run() { - while (true) { - // Wait for updates from all signals - signalsLock.lock(); - try { - if (isCANFD) { - BaseStatusSignal.waitForAll(2.0 / Module.ODOMETRY_FREQUENCY, signals); - } else { - // "waitForAll" does not support blocking on multiple - // signals with a bus that is not CAN FD, regardless - // of Pro licensing. No reasoning for this behavior - // is provided by the documentation. - Thread.sleep((long) (1000.0 / Module.ODOMETRY_FREQUENCY)); - if (signals.length > 0) BaseStatusSignal.refreshAll(signals); - } - } catch (InterruptedException e) { - e.printStackTrace(); - } finally { - signalsLock.unlock(); - } - - // Save new data to queues - Drive.odometryLock.lock(); - try { - for (int i = 0; i < signals.length; i++) { - queues.get(i).offer(signals[i].getValueAsDouble()); - } - } finally { - Drive.odometryLock.unlock(); - } - } - } -} +// Copyright 2021-2024 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 frc.robot.subsystems.drive; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.hardware.ParentDevice; +import java.util.ArrayList; +import java.util.List; +import java.util.Queue; +import java.util.concurrent.ArrayBlockingQueue; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; + +/** + * Provides an interface for asynchronously reading high-frequency measurements to a set of queues. + * + *

This version is intended for Phoenix 6 devices on both the RIO and CANivore buses. When using + * a CANivore, the thread uses the "waitForAll" blocking method to enable more consistent sampling. + * This also allows Phoenix Pro users to benefit from lower latency between devices using CANivore + * time synchronization. + */ +public class PhoenixOdometryThread extends Thread { + private final Lock signalsLock = + new ReentrantLock(); // Prevents conflicts when registering signals + private BaseStatusSignal[] signals = new BaseStatusSignal[0]; + private final List> queues = new ArrayList<>(); + private boolean isCANFD = false; + + private static PhoenixOdometryThread instance = null; + + public static PhoenixOdometryThread getInstance() { + if (instance == null) { + instance = new PhoenixOdometryThread(); + } + return instance; + } + + private PhoenixOdometryThread() { + setName("PhoenixOdometryThread"); + setDaemon(true); + start(); + } + + public Queue registerSignal(ParentDevice device, StatusSignal signal) { + Queue queue = new ArrayBlockingQueue<>(100); + signalsLock.lock(); + Drive.odometryLock.lock(); + try { + isCANFD = CANBus.isNetworkFD(device.getNetwork()); + BaseStatusSignal[] newSignals = new BaseStatusSignal[signals.length + 1]; + System.arraycopy(signals, 0, newSignals, 0, signals.length); + newSignals[signals.length] = signal; + signals = newSignals; + queues.add(queue); + } finally { + signalsLock.unlock(); + Drive.odometryLock.unlock(); + } + return queue; + } + + @Override + public void run() { + while (true) { + // Wait for updates from all signals + signalsLock.lock(); + try { + if (isCANFD) { + BaseStatusSignal.waitForAll(2.0 / Module.ODOMETRY_FREQUENCY, signals); + } else { + // "waitForAll" does not support blocking on multiple + // signals with a bus that is not CAN FD, regardless + // of Pro licensing. No reasoning for this behavior + // is provided by the documentation. + Thread.sleep((long) (1000.0 / Module.ODOMETRY_FREQUENCY)); + if (signals.length > 0) BaseStatusSignal.refreshAll(signals); + } + } catch (InterruptedException e) { + e.printStackTrace(); + } finally { + signalsLock.unlock(); + } + + // Save new data to queues + Drive.odometryLock.lock(); + try { + for (int i = 0; i < signals.length; i++) { + queues.get(i).offer(signals[i].getValueAsDouble()); + } + } finally { + Drive.odometryLock.unlock(); + } + } + } +} diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 53982ec..9b508c1 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -1,38 +1,38 @@ -package frc.robot.subsystems.intake; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.IntakeConstants; -import org.littletonrobotics.junction.Logger; - -public class Intake extends SubsystemBase { - public final IntakeIO io; - public final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); - - public Intake(IntakeIO io) { - this.io = io; - } - - @Override - public void periodic() { - io.updateInputs(inputs); - Logger.processInputs("Intake", inputs); - } - - public void on() { - io.setPower(IntakeConstants.intakeOnPower); - } - - public void off() { - io.setPower(0.0); - } - - public Command onCommand() { - return new InstantCommand(this::on, this); - } - - public Command offCommand() { - return new InstantCommand(this::off, this); - } -} +package frc.robot.subsystems.intake; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.IntakeConstants; +import org.littletonrobotics.junction.Logger; + +public class Intake extends SubsystemBase { + public final IntakeIO io; + public final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); + + public Intake(IntakeIO io) { + this.io = io; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Intake", inputs); + } + + public void on() { + io.setPower(IntakeConstants.intakeOnPower); + } + + public void off() { + io.setPower(0.0); + } + + public Command onCommand() { + return new InstantCommand(this::on, this); + } + + public Command offCommand() { + return new InstantCommand(this::off, this); + } +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java index ecf8915..dcc8dd0 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -1,16 +1,16 @@ -package frc.robot.subsystems.intake; - -import org.littletonrobotics.junction.AutoLog; - -public interface IntakeIO { - @AutoLog - public static class IntakeIOInputs { - public double current = 0.0; - } - - public default void updateInputs(IntakeIOInputs inputs) {} - - public default void setPower(double power) {} - - public default void setVoltage(double voltage) {} -} +package frc.robot.subsystems.intake; + +import org.littletonrobotics.junction.AutoLog; + +public interface IntakeIO { + @AutoLog + public static class IntakeIOInputs { + public double current = 0.0; + } + + public default void updateInputs(IntakeIOInputs inputs) {} + + public default void setPower(double power) {} + + public default void setVoltage(double voltage) {} +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java index 89cfb3d..fe3ea92 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java @@ -1,28 +1,28 @@ -package frc.robot.subsystems.intake; - -import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.CANSparkMax; -import frc.robot.Constants.IntakeConstants; - -public class IntakeIOReal implements IntakeIO { - private final CANSparkMax motor; - - public IntakeIOReal() { - motor = new CANSparkMax(IntakeConstants.intakeCANId, MotorType.kBrushless); - } - - @Override - public void updateInputs(IntakeIO.IntakeIOInputs inputs) { - inputs.current = motor.getOutputCurrent(); - } - - @Override - public void setPower(double power) { - motor.set(power); - } - - @Override - public void setVoltage(double voltage) { - motor.setVoltage(voltage); - } -} +package frc.robot.subsystems.intake; + +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; +import frc.robot.Constants.IntakeConstants; + +public class IntakeIOReal implements IntakeIO { + private final CANSparkMax motor; + + public IntakeIOReal() { + motor = new CANSparkMax(IntakeConstants.intakeCANId, MotorType.kBrushless); + } + + @Override + public void updateInputs(IntakeIO.IntakeIOInputs inputs) { + inputs.current = motor.getOutputCurrent(); + } + + @Override + public void setPower(double power) { + motor.set(power); + } + + @Override + public void setVoltage(double voltage) { + motor.setVoltage(voltage); + } +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java index 4fb3864..4704763 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.intake; - -// TODO -public class IntakeIOSim implements IntakeIO {} +package frc.robot.subsystems.intake; + +// TODO +public class IntakeIOSim implements IntakeIO {} diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 7f53cc3..df80d73 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -1,42 +1,42 @@ -package frc.robot.subsystems.pivot; - -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.PivotConstants; -import org.littletonrobotics.junction.Logger; - -public class Pivot extends SubsystemBase { - private final PivotIO io; - private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged(); - - public Pivot(PivotIO io) { - this.io = io; - } - - public void setTargetPosition(Rotation2d target) { - if (target.getRadians() < PivotConstants.pivotStart.getRadians()) { - target = PivotConstants.pivotStart; - } - - if (target.getRadians() > PivotConstants.pivotEnd.getRadians()) { - target = PivotConstants.pivotEnd; - } - - // surely this isnt necessary - if (target.getRadians() < PivotConstants.pivotStart.getRadians() - || target.getRadians() > PivotConstants.pivotEnd.getRadians()) { - throw new IllegalArgumentException("Target position is out of bounds"); - } - io.setTargetPosition(target); - } - - public Rotation2d getCurrentPosition() { - return inputs.pivotCurentAngle; - } - - @Override - public void periodic() { - io.updateInputs(inputs); - Logger.processInputs("Pivot", inputs); - } -} +package frc.robot.subsystems.pivot; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.PivotConstants; +import org.littletonrobotics.junction.Logger; + +public class Pivot extends SubsystemBase { + private final PivotIO io; + private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged(); + + public Pivot(PivotIO io) { + this.io = io; + } + + public void setTargetPosition(Rotation2d target) { + if (target.getRadians() < PivotConstants.pivotStart.getRadians()) { + target = PivotConstants.pivotStart; + } + + if (target.getRadians() > PivotConstants.pivotEnd.getRadians()) { + target = PivotConstants.pivotEnd; + } + + // surely this isnt necessary + if (target.getRadians() < PivotConstants.pivotStart.getRadians() + || target.getRadians() > PivotConstants.pivotEnd.getRadians()) { + throw new IllegalArgumentException("Target position is out of bounds"); + } + io.setTargetPosition(target); + } + + public Rotation2d getCurrentPosition() { + return inputs.pivotCurentAngle; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Pivot", inputs); + } +} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index 2d35b9a..22f177e 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -1,16 +1,16 @@ -package frc.robot.subsystems.pivot; - -import edu.wpi.first.math.geometry.Rotation2d; -import org.littletonrobotics.junction.AutoLog; - -public interface PivotIO { - @AutoLog - public static class PivotIOInputs { - public Rotation2d pivotCurentAngle = new Rotation2d(); - public Rotation2d pivotTargetAngle = new Rotation2d(); - } - - default void updateInputs(PivotIOInputs inputs) {} - - default void setTargetPosition(Rotation2d target) {} -} +package frc.robot.subsystems.pivot; + +import edu.wpi.first.math.geometry.Rotation2d; +import org.littletonrobotics.junction.AutoLog; + +public interface PivotIO { + @AutoLog + public static class PivotIOInputs { + public Rotation2d pivotCurentAngle = new Rotation2d(); + public Rotation2d pivotTargetAngle = new Rotation2d(); + } + + default void updateInputs(PivotIOInputs inputs) {} + + default void setTargetPosition(Rotation2d target) {} +} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index 188f7d2..659662b 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -1,76 +1,76 @@ -package frc.robot.subsystems.pivot; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.NeutralModeValue; -import edu.wpi.first.math.geometry.Rotation2d; -import frc.robot.Constants.PivotConstants; - -public class PivotIOReal implements PivotIO { - private final TalonFX pivotMotor; - // in rotations!! - private final StatusSignal position; - // in rotations!! - double zeroPosition; - Rotation2d targetPosition; - TalonFXConfiguration config; - - public PivotIOReal() { - pivotMotor = new TalonFX(PivotConstants.pivotCANId); - - config = new TalonFXConfiguration(); - - config.CurrentLimits.SupplyCurrentLimit = 30; - config.CurrentLimits.SupplyCurrentLimitEnable = true; - config.MotorOutput.NeutralMode = NeutralModeValue.Brake; - config.Slot0 = - new Slot0Configs() - .withKP(PivotConstants.p) - .withKI(PivotConstants.i) - .withKD(PivotConstants.d); - - pivotMotor.getConfigurator().apply(config); - - // in rotations!! - position = pivotMotor.getPosition(); - - BaseStatusSignal.setUpdateFrequencyForAll(20.0, position); - pivotMotor.optimizeBusUtilization(1.0); - - // PivotConstants.pivotStart - zeroPosition = position.getValueAsDouble(); - targetPosition = angleFromEncoder(zeroPosition); - } - - public void updateInputs(PivotIOInputs inputs) { - BaseStatusSignal.refreshAll(position); - double currentPosition = position.getValueAsDouble(); - - inputs.pivotCurentAngle = angleFromEncoder(currentPosition); - inputs.pivotTargetAngle = targetPosition; - } - - /** sets the target position where 0 is facing towards the back of the robot */ - public void setTargetPosition(Rotation2d target) { - targetPosition = target; - pivotMotor.setPosition(encoderFromAngle(target)); - } - - private Rotation2d angleFromEncoder(double encoderTicks) { - // 2048 ticks per rotation - var delta = - Rotation2d.fromRotations((encoderTicks - zeroPosition) / PivotConstants.pivotGearRatio); - - return delta.plus(PivotConstants.pivotStart); - } - - private double encoderFromAngle(Rotation2d angle) { - var delta = - angle.minus(PivotConstants.pivotStart).getRotations() * PivotConstants.pivotGearRatio; - - return delta + zeroPosition; - } -} +package frc.robot.subsystems.pivot; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.Constants.PivotConstants; + +public class PivotIOReal implements PivotIO { + private final TalonFX pivotMotor; + // in rotations!! + private final StatusSignal position; + // in rotations!! + double zeroPosition; + Rotation2d targetPosition; + TalonFXConfiguration config; + + public PivotIOReal() { + pivotMotor = new TalonFX(PivotConstants.pivotCANId); + + config = new TalonFXConfiguration(); + + config.CurrentLimits.SupplyCurrentLimit = 30; + config.CurrentLimits.SupplyCurrentLimitEnable = true; + config.MotorOutput.NeutralMode = NeutralModeValue.Brake; + config.Slot0 = + new Slot0Configs() + .withKP(PivotConstants.p) + .withKI(PivotConstants.i) + .withKD(PivotConstants.d); + + pivotMotor.getConfigurator().apply(config); + + // in rotations!! + position = pivotMotor.getPosition(); + + BaseStatusSignal.setUpdateFrequencyForAll(20.0, position); + pivotMotor.optimizeBusUtilization(1.0); + + // PivotConstants.pivotStart + zeroPosition = position.getValueAsDouble(); + targetPosition = angleFromEncoder(zeroPosition); + } + + public void updateInputs(PivotIOInputs inputs) { + BaseStatusSignal.refreshAll(position); + double currentPosition = position.getValueAsDouble(); + + inputs.pivotCurentAngle = angleFromEncoder(currentPosition); + inputs.pivotTargetAngle = targetPosition; + } + + /** sets the target position where 0 is facing towards the back of the robot */ + public void setTargetPosition(Rotation2d target) { + targetPosition = target; + pivotMotor.setPosition(encoderFromAngle(target)); + } + + private Rotation2d angleFromEncoder(double encoderTicks) { + // 2048 ticks per rotation + var delta = + Rotation2d.fromRotations((encoderTicks - zeroPosition) / PivotConstants.pivotGearRatio); + + return delta.plus(PivotConstants.pivotStart); + } + + private double encoderFromAngle(Rotation2d angle) { + var delta = + angle.minus(PivotConstants.pivotStart).getRotations() * PivotConstants.pivotGearRatio; + + return delta + zeroPosition; + } +} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java index 2c7702c..d8543be 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -1,5 +1,5 @@ -package frc.robot.subsystems.pivot; - -public class PivotIOSim implements PivotIO { - // todo -} +package frc.robot.subsystems.pivot; + +public class PivotIOSim implements PivotIO { + // todo +} diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 8cb987f..54d3d64 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -1,49 +1,49 @@ -package frc.robot.subsystems.shooter; - -import static frc.robot.Constants.ShooterConstants.*; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class Shooter extends SubsystemBase { - private final ShooterIO io; - - public Shooter(ShooterIO io) { - this.io = io; - } - - public void shootersOn() { - io.setTopShooterPower(shootingPower); - io.setBottomShooterPower(shootingPower); - } - - public void shootersOff() { - io.setTopShooterPower(0); - io.setBottomShooterPower(0); - } - - public void conveyorOn() { - io.setConveyorPower(conveyorPower); - } - - public void conveyorOff() { - io.setConveyorPower(0); - } - - public Command shootersOnCommand() { - return new InstantCommand(this::shootersOn, this); - } - - public Command shootersOffCommand() { - return new InstantCommand(this::shootersOff, this); - } - - public Command conveyorOnCommand() { - return new InstantCommand(this::conveyorOn, this); - } - - public Command conveyorOffCommand() { - return new InstantCommand(this::conveyorOff, this); - } -} +package frc.robot.subsystems.shooter; + +import static frc.robot.Constants.ShooterConstants.*; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Shooter extends SubsystemBase { + private final ShooterIO io; + + public Shooter(ShooterIO io) { + this.io = io; + } + + public void shootersOn() { + io.setTopShooterPower(shootingPower); + io.setBottomShooterPower(shootingPower); + } + + public void shootersOff() { + io.setTopShooterPower(0); + io.setBottomShooterPower(0); + } + + public void conveyorOn() { + io.setConveyorPower(conveyorPower); + } + + public void conveyorOff() { + io.setConveyorPower(0); + } + + public Command shootersOnCommand() { + return new InstantCommand(this::shootersOn, this); + } + + public Command shootersOffCommand() { + return new InstantCommand(this::shootersOff, this); + } + + public Command conveyorOnCommand() { + return new InstantCommand(this::conveyorOn, this); + } + + public Command conveyorOffCommand() { + return new InstantCommand(this::conveyorOff, this); + } +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index 2c73715..3bf81a2 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -1,16 +1,16 @@ -package frc.robot.subsystems.shooter; - -import org.littletonrobotics.junction.AutoLog; - -public interface ShooterIO { - @AutoLog - class ShooterIOInputs {} - - default void updateInputs(ShooterIOInputs inputs) {} - - default void setTopShooterPower(double power) {} - - default void setBottomShooterPower(double power) {} - - default void setConveyorPower(double power) {} -} +package frc.robot.subsystems.shooter; + +import org.littletonrobotics.junction.AutoLog; + +public interface ShooterIO { + @AutoLog + class ShooterIOInputs {} + + default void updateInputs(ShooterIOInputs inputs) {} + + default void setTopShooterPower(double power) {} + + default void setBottomShooterPower(double power) {} + + default void setConveyorPower(double power) {} +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index b123495..62995d0 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -1,50 +1,50 @@ -package frc.robot.subsystems.shooter; - -import static frc.robot.Constants.ShooterConstants.*; - -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.NeutralModeValue; -import com.revrobotics.CANSparkBase.IdleMode; -import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.CANSparkMax; - -public class ShooterIOReal implements ShooterIO { - private TalonFX topShooter; - private TalonFX bottomShooter; - private CANSparkMax conveyor; - - public ShooterIOReal() { - topShooter = new TalonFX(topShooterCANId); - bottomShooter = new TalonFX(bottomShooterCANId); - conveyor = new CANSparkMax(conveyorCANId, MotorType.kBrushless); - - var config = new TalonFXConfiguration(); - - config.CurrentLimits.SupplyCurrentLimit = 25; - config.CurrentLimits.SupplyCurrentLimitEnable = true; - config.MotorOutput.NeutralMode = NeutralModeValue.Coast; - - topShooter.getConfigurator().apply(config); - - // todo: test - // config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; - bottomShooter.getConfigurator().apply(config); - - conveyor.restoreFactoryDefaults(); - conveyor.setIdleMode(IdleMode.kBrake); - conveyor.setSmartCurrentLimit(20); - } - - public void setTopShooterPower(double power) { - topShooter.set(power); - } - - public void setBottomShooterPower(double power) { - bottomShooter.set(power); - } - - public void setConveyorPower(double power) { - conveyor.set(power); - } -} +package frc.robot.subsystems.shooter; + +import static frc.robot.Constants.ShooterConstants.*; + +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; + +public class ShooterIOReal implements ShooterIO { + private TalonFX topShooter; + private TalonFX bottomShooter; + private CANSparkMax conveyor; + + public ShooterIOReal() { + topShooter = new TalonFX(topShooterCANId); + bottomShooter = new TalonFX(bottomShooterCANId); + conveyor = new CANSparkMax(conveyorCANId, MotorType.kBrushless); + + var config = new TalonFXConfiguration(); + + config.CurrentLimits.SupplyCurrentLimit = 25; + config.CurrentLimits.SupplyCurrentLimitEnable = true; + config.MotorOutput.NeutralMode = NeutralModeValue.Coast; + + topShooter.getConfigurator().apply(config); + + // todo: test + // config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + bottomShooter.getConfigurator().apply(config); + + conveyor.restoreFactoryDefaults(); + conveyor.setIdleMode(IdleMode.kBrake); + conveyor.setSmartCurrentLimit(20); + } + + public void setTopShooterPower(double power) { + topShooter.set(power); + } + + public void setBottomShooterPower(double power) { + bottomShooter.set(power); + } + + public void setConveyorPower(double power) { + conveyor.set(power); + } +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java index 881cda0..8147c65 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java @@ -1,5 +1,5 @@ -package frc.robot.subsystems.shooter; - -public class ShooterIOSim implements ShooterIO { - // todo -} +package frc.robot.subsystems.shooter; + +public class ShooterIOSim implements ShooterIO { + // todo +} diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java index 37222f2..30e126f 100644 --- a/src/main/java/frc/robot/util/LocalADStarAK.java +++ b/src/main/java/frc/robot/util/LocalADStarAK.java @@ -1,151 +1,151 @@ -package frc.robot.util; - -import com.pathplanner.lib.path.GoalEndState; -import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; -import com.pathplanner.lib.path.PathPoint; -import com.pathplanner.lib.pathfinding.LocalADStar; -import com.pathplanner.lib.pathfinding.Pathfinder; -import edu.wpi.first.math.Pair; -import edu.wpi.first.math.geometry.Translation2d; -import java.util.ArrayList; -import java.util.Collections; -import java.util.List; -import org.littletonrobotics.junction.LogTable; -import org.littletonrobotics.junction.Logger; -import org.littletonrobotics.junction.inputs.LoggableInputs; - -// NOTE: This file is available at -// https://gist.github.com/mjansen4857/a8024b55eb427184dbd10ae8923bd57d - -public class LocalADStarAK implements Pathfinder { - private final ADStarIO io = new ADStarIO(); - - /** - * Get if a new path has been calculated since the last time a path was retrieved - * - * @return True if a new path is available - */ - @Override - public boolean isNewPathAvailable() { - if (Logger.hasReplaySource()) { - io.updateIsNewPathAvailable(); - } - - Logger.processInputs("LocalADStarAK", io); - - return io.isNewPathAvailable; - } - - /** - * Get the most recently calculated path - * - * @param constraints The path constraints to use when creating the path - * @param goalEndState The goal end state to use when creating the path - * @return The PathPlannerPath created from the points calculated by the pathfinder - */ - @Override - public PathPlannerPath getCurrentPath(PathConstraints constraints, GoalEndState goalEndState) { - if (Logger.hasReplaySource()) { - io.updateCurrentPathPoints(constraints, goalEndState); - } - - Logger.processInputs("LocalADStarAK", io); - - if (io.currentPathPoints.isEmpty()) { - return null; - } - - return PathPlannerPath.fromPathPoints(io.currentPathPoints, constraints, goalEndState); - } - - /** - * Set the start position to pathfind from - * - * @param startPosition Start position on the field. If this is within an obstacle it will be - * moved to the nearest non-obstacle node. - */ - @Override - public void setStartPosition(Translation2d startPosition) { - if (Logger.hasReplaySource()) { - io.adStar.setStartPosition(startPosition); - } - } - - /** - * Set the goal position to pathfind to - * - * @param goalPosition Goal position on the field. f this is within an obstacle it will be moved - * to the nearest non-obstacle node. - */ - @Override - public void setGoalPosition(Translation2d goalPosition) { - if (Logger.hasReplaySource()) { - io.adStar.setGoalPosition(goalPosition); - } - } - - /** - * Set the dynamic obstacles that should be avoided while pathfinding. - * - * @param obs A List of Translation2d pairs representing obstacles. Each Translation2d represents - * opposite corners of a bounding box. - * @param currentRobotPos The current position of the robot. This is needed to change the start - * position of the path to properly avoid obstacles - */ - @Override - public void setDynamicObstacles( - List> obs, Translation2d currentRobotPos) { - io.adStar.setDynamicObstacles(obs, currentRobotPos); - } - - private static class ADStarIO implements LoggableInputs { - public LocalADStar adStar = new LocalADStar(); - public boolean isNewPathAvailable = false; - public List currentPathPoints = Collections.emptyList(); - - @Override - public void toLog(LogTable table) { - table.put("IsNewPathAvailable", isNewPathAvailable); - - double[] pointsLogged = new double[currentPathPoints.size() * 2]; - int idx = 0; - for (PathPoint point : currentPathPoints) { - pointsLogged[idx] = point.position.getX(); - pointsLogged[idx + 1] = point.position.getY(); - idx += 2; - } - - table.put("CurrentPathPoints", pointsLogged); - } - - @Override - public void fromLog(LogTable table) { - isNewPathAvailable = table.get("IsNewPathAvailable", false); - - double[] pointsLogged = table.get("CurrentPathPoints", new double[0]); - - List pathPoints = new ArrayList<>(); - for (int i = 0; i < pointsLogged.length; i += 2) { - pathPoints.add( - new PathPoint(new Translation2d(pointsLogged[i], pointsLogged[i + 1]), null)); - } - - currentPathPoints = pathPoints; - } - - public void updateIsNewPathAvailable() { - isNewPathAvailable = adStar.isNewPathAvailable(); - } - - public void updateCurrentPathPoints(PathConstraints constraints, GoalEndState goalEndState) { - PathPlannerPath currentPath = adStar.getCurrentPath(constraints, goalEndState); - - if (currentPath != null) { - currentPathPoints = currentPath.getAllPathPoints(); - } else { - currentPathPoints = Collections.emptyList(); - } - } - } -} +package frc.robot.util; + +import com.pathplanner.lib.path.GoalEndState; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.path.PathPoint; +import com.pathplanner.lib.pathfinding.LocalADStar; +import com.pathplanner.lib.pathfinding.Pathfinder; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.geometry.Translation2d; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.inputs.LoggableInputs; + +// NOTE: This file is available at +// https://gist.github.com/mjansen4857/a8024b55eb427184dbd10ae8923bd57d + +public class LocalADStarAK implements Pathfinder { + private final ADStarIO io = new ADStarIO(); + + /** + * Get if a new path has been calculated since the last time a path was retrieved + * + * @return True if a new path is available + */ + @Override + public boolean isNewPathAvailable() { + if (Logger.hasReplaySource()) { + io.updateIsNewPathAvailable(); + } + + Logger.processInputs("LocalADStarAK", io); + + return io.isNewPathAvailable; + } + + /** + * Get the most recently calculated path + * + * @param constraints The path constraints to use when creating the path + * @param goalEndState The goal end state to use when creating the path + * @return The PathPlannerPath created from the points calculated by the pathfinder + */ + @Override + public PathPlannerPath getCurrentPath(PathConstraints constraints, GoalEndState goalEndState) { + if (Logger.hasReplaySource()) { + io.updateCurrentPathPoints(constraints, goalEndState); + } + + Logger.processInputs("LocalADStarAK", io); + + if (io.currentPathPoints.isEmpty()) { + return null; + } + + return PathPlannerPath.fromPathPoints(io.currentPathPoints, constraints, goalEndState); + } + + /** + * Set the start position to pathfind from + * + * @param startPosition Start position on the field. If this is within an obstacle it will be + * moved to the nearest non-obstacle node. + */ + @Override + public void setStartPosition(Translation2d startPosition) { + if (Logger.hasReplaySource()) { + io.adStar.setStartPosition(startPosition); + } + } + + /** + * Set the goal position to pathfind to + * + * @param goalPosition Goal position on the field. f this is within an obstacle it will be moved + * to the nearest non-obstacle node. + */ + @Override + public void setGoalPosition(Translation2d goalPosition) { + if (Logger.hasReplaySource()) { + io.adStar.setGoalPosition(goalPosition); + } + } + + /** + * Set the dynamic obstacles that should be avoided while pathfinding. + * + * @param obs A List of Translation2d pairs representing obstacles. Each Translation2d represents + * opposite corners of a bounding box. + * @param currentRobotPos The current position of the robot. This is needed to change the start + * position of the path to properly avoid obstacles + */ + @Override + public void setDynamicObstacles( + List> obs, Translation2d currentRobotPos) { + io.adStar.setDynamicObstacles(obs, currentRobotPos); + } + + private static class ADStarIO implements LoggableInputs { + public LocalADStar adStar = new LocalADStar(); + public boolean isNewPathAvailable = false; + public List currentPathPoints = Collections.emptyList(); + + @Override + public void toLog(LogTable table) { + table.put("IsNewPathAvailable", isNewPathAvailable); + + double[] pointsLogged = new double[currentPathPoints.size() * 2]; + int idx = 0; + for (PathPoint point : currentPathPoints) { + pointsLogged[idx] = point.position.getX(); + pointsLogged[idx + 1] = point.position.getY(); + idx += 2; + } + + table.put("CurrentPathPoints", pointsLogged); + } + + @Override + public void fromLog(LogTable table) { + isNewPathAvailable = table.get("IsNewPathAvailable", false); + + double[] pointsLogged = table.get("CurrentPathPoints", new double[0]); + + List pathPoints = new ArrayList<>(); + for (int i = 0; i < pointsLogged.length; i += 2) { + pathPoints.add( + new PathPoint(new Translation2d(pointsLogged[i], pointsLogged[i + 1]), null)); + } + + currentPathPoints = pathPoints; + } + + public void updateIsNewPathAvailable() { + isNewPathAvailable = adStar.isNewPathAvailable(); + } + + public void updateCurrentPathPoints(PathConstraints constraints, GoalEndState goalEndState) { + PathPlannerPath currentPath = adStar.getCurrentPath(constraints, goalEndState); + + if (currentPath != null) { + currentPathPoints = currentPath.getAllPathPoints(); + } else { + currentPathPoints = Collections.emptyList(); + } + } + } +} diff --git a/src/main/java/frc/robot/util/PolynomialRegression.java b/src/main/java/frc/robot/util/PolynomialRegression.java index 28c5796..658d332 100644 --- a/src/main/java/frc/robot/util/PolynomialRegression.java +++ b/src/main/java/frc/robot/util/PolynomialRegression.java @@ -1,205 +1,205 @@ -package frc.robot.util; - -import Jama.Matrix; -import Jama.QRDecomposition; - -// NOTE: This file is available at -// http://algs4.cs.princeton.edu/14analysis/PolynomialRegression.java.html - -/** - * The {@code PolynomialRegression} class performs a polynomial regression on an set of N - * data points (yi, xi). That is, it fits a polynomial - * y = β0 + β1 x + β2 - * x2 + ... + βd xd (where - * y is the response variable, x is the predictor variable, and the - * βi are the regression coefficients) that minimizes the sum of squared - * residuals of the multiple regression model. It also computes associated the coefficient of - * determination R2. - * - *

This implementation performs a QR-decomposition of the underlying Vandermonde matrix, so it is - * neither the fastest nor the most numerically stable way to perform the polynomial regression. - * - * @author Robert Sedgewick - * @author Kevin Wayne - */ -public class PolynomialRegression implements Comparable { - private final String variableName; // name of the predictor variable - private int degree; // degree of the polynomial regression - private Matrix beta; // the polynomial regression coefficients - private double sse; // sum of squares due to error - private double sst; // total sum of squares - - /** - * Performs a polynomial reggression on the data points {@code (y[i], x[i])}. Uses n as the name - * of the predictor variable. - * - * @param x the values of the predictor variable - * @param y the corresponding values of the response variable - * @param degree the degree of the polynomial to fit - * @throws IllegalArgumentException if the lengths of the two arrays are not equal - */ - public PolynomialRegression(double[] x, double[] y, int degree) { - this(x, y, degree, "n"); - } - - /** - * Performs a polynomial reggression on the data points {@code (y[i], x[i])}. - * - * @param x the values of the predictor variable - * @param y the corresponding values of the response variable - * @param degree the degree of the polynomial to fit - * @param variableName the name of the predictor variable - * @throws IllegalArgumentException if the lengths of the two arrays are not equal - */ - public PolynomialRegression(double[] x, double[] y, int degree, String variableName) { - this.degree = degree; - this.variableName = variableName; - - int n = x.length; - QRDecomposition qr = null; - Matrix matrixX = null; - - // in case Vandermonde matrix does not have full rank, reduce degree until it - // does - while (true) { - - // build Vandermonde matrix - double[][] vandermonde = new double[n][this.degree + 1]; - for (int i = 0; i < n; i++) { - for (int j = 0; j <= this.degree; j++) { - vandermonde[i][j] = Math.pow(x[i], j); - } - } - matrixX = new Matrix(vandermonde); - - // find least squares solution - qr = new QRDecomposition(matrixX); - if (qr.isFullRank()) break; - - // decrease degree and try again - this.degree--; - } - - // create matrix from vector - Matrix matrixY = new Matrix(y, n); - - // linear regression coefficients - beta = qr.solve(matrixY); - - // mean of y[] values - double sum = 0.0; - for (int i = 0; i < n; i++) sum += y[i]; - double mean = sum / n; - - // total variation to be accounted for - for (int i = 0; i < n; i++) { - double dev = y[i] - mean; - sst += dev * dev; - } - - // variation not accounted for - Matrix residuals = matrixX.times(beta).minus(matrixY); - sse = residuals.norm2() * residuals.norm2(); - } - - /** - * Returns the {@code j}th regression coefficient. - * - * @param j the index - * @return the {@code j}th regression coefficient - */ - public double beta(int j) { - // to make -0.0 print as 0.0 - if (Math.abs(beta.get(j, 0)) < 1E-4) return 0.0; - return beta.get(j, 0); - } - - /** - * Returns the degree of the polynomial to fit. - * - * @return the degree of the polynomial to fit - */ - public int degree() { - return degree; - } - - /** - * Returns the coefficient of determination R2. - * - * @return the coefficient of determination R2, which is a real number between - * 0 and 1 - */ - public double R2() { - if (sst == 0.0) return 1.0; // constant function - return 1.0 - sse / sst; - } - - /** - * Returns the expected response {@code y} given the value of the predictor variable {@code x}. - * - * @param x the value of the predictor variable - * @return the expected response {@code y} given the value of the predictor variable {@code x} - */ - public double predict(double x) { - // horner's method - double y = 0.0; - for (int j = degree; j >= 0; j--) y = beta(j) + (x * y); - return y; - } - - /** - * Returns a string representation of the polynomial regression model. - * - * @return a string representation of the polynomial regression model, including the best-fit - * polynomial and the coefficient of determination R2 - */ - public String toString() { - StringBuilder s = new StringBuilder(); - int j = degree; - - // ignoring leading zero coefficients - while (j >= 0 && Math.abs(beta(j)) < 1E-5) j--; - - // create remaining terms - while (j >= 0) { - if (j == 0) s.append(String.format("%.10f ", beta(j))); - else if (j == 1) s.append(String.format("%.10f %s + ", beta(j), variableName)); - else s.append(String.format("%.10f %s^%d + ", beta(j), variableName, j)); - j--; - } - s = s.append(" (R^2 = " + String.format("%.3f", R2()) + ")"); - - // replace "+ -2n" with "- 2n" - return s.toString().replace("+ -", "- "); - } - - /** Compare lexicographically. */ - public int compareTo(PolynomialRegression that) { - double EPSILON = 1E-5; - int maxDegree = Math.max(this.degree(), that.degree()); - for (int j = maxDegree; j >= 0; j--) { - double term1 = 0.0; - double term2 = 0.0; - if (this.degree() >= j) term1 = this.beta(j); - if (that.degree() >= j) term2 = that.beta(j); - if (Math.abs(term1) < EPSILON) term1 = 0.0; - if (Math.abs(term2) < EPSILON) term2 = 0.0; - if (term1 < term2) return -1; - else if (term1 > term2) return +1; - } - return 0; - } - - /** - * Unit tests the {@code PolynomialRegression} data type. - * - * @param args the command-line arguments - */ - public static void main(String[] args) { - double[] x = {10, 20, 40, 80, 160, 200}; - double[] y = {100, 350, 1500, 6700, 20160, 40000}; - PolynomialRegression regression = new PolynomialRegression(x, y, 3); - - System.out.println(regression); - } -} +package frc.robot.util; + +import Jama.Matrix; +import Jama.QRDecomposition; + +// NOTE: This file is available at +// http://algs4.cs.princeton.edu/14analysis/PolynomialRegression.java.html + +/** + * The {@code PolynomialRegression} class performs a polynomial regression on an set of N + * data points (yi, xi). That is, it fits a polynomial + * y = β0 + β1 x + β2 + * x2 + ... + βd xd (where + * y is the response variable, x is the predictor variable, and the + * βi are the regression coefficients) that minimizes the sum of squared + * residuals of the multiple regression model. It also computes associated the coefficient of + * determination R2. + * + *

This implementation performs a QR-decomposition of the underlying Vandermonde matrix, so it is + * neither the fastest nor the most numerically stable way to perform the polynomial regression. + * + * @author Robert Sedgewick + * @author Kevin Wayne + */ +public class PolynomialRegression implements Comparable { + private final String variableName; // name of the predictor variable + private int degree; // degree of the polynomial regression + private Matrix beta; // the polynomial regression coefficients + private double sse; // sum of squares due to error + private double sst; // total sum of squares + + /** + * Performs a polynomial reggression on the data points {@code (y[i], x[i])}. Uses n as the name + * of the predictor variable. + * + * @param x the values of the predictor variable + * @param y the corresponding values of the response variable + * @param degree the degree of the polynomial to fit + * @throws IllegalArgumentException if the lengths of the two arrays are not equal + */ + public PolynomialRegression(double[] x, double[] y, int degree) { + this(x, y, degree, "n"); + } + + /** + * Performs a polynomial reggression on the data points {@code (y[i], x[i])}. + * + * @param x the values of the predictor variable + * @param y the corresponding values of the response variable + * @param degree the degree of the polynomial to fit + * @param variableName the name of the predictor variable + * @throws IllegalArgumentException if the lengths of the two arrays are not equal + */ + public PolynomialRegression(double[] x, double[] y, int degree, String variableName) { + this.degree = degree; + this.variableName = variableName; + + int n = x.length; + QRDecomposition qr = null; + Matrix matrixX = null; + + // in case Vandermonde matrix does not have full rank, reduce degree until it + // does + while (true) { + + // build Vandermonde matrix + double[][] vandermonde = new double[n][this.degree + 1]; + for (int i = 0; i < n; i++) { + for (int j = 0; j <= this.degree; j++) { + vandermonde[i][j] = Math.pow(x[i], j); + } + } + matrixX = new Matrix(vandermonde); + + // find least squares solution + qr = new QRDecomposition(matrixX); + if (qr.isFullRank()) break; + + // decrease degree and try again + this.degree--; + } + + // create matrix from vector + Matrix matrixY = new Matrix(y, n); + + // linear regression coefficients + beta = qr.solve(matrixY); + + // mean of y[] values + double sum = 0.0; + for (int i = 0; i < n; i++) sum += y[i]; + double mean = sum / n; + + // total variation to be accounted for + for (int i = 0; i < n; i++) { + double dev = y[i] - mean; + sst += dev * dev; + } + + // variation not accounted for + Matrix residuals = matrixX.times(beta).minus(matrixY); + sse = residuals.norm2() * residuals.norm2(); + } + + /** + * Returns the {@code j}th regression coefficient. + * + * @param j the index + * @return the {@code j}th regression coefficient + */ + public double beta(int j) { + // to make -0.0 print as 0.0 + if (Math.abs(beta.get(j, 0)) < 1E-4) return 0.0; + return beta.get(j, 0); + } + + /** + * Returns the degree of the polynomial to fit. + * + * @return the degree of the polynomial to fit + */ + public int degree() { + return degree; + } + + /** + * Returns the coefficient of determination R2. + * + * @return the coefficient of determination R2, which is a real number between + * 0 and 1 + */ + public double R2() { + if (sst == 0.0) return 1.0; // constant function + return 1.0 - sse / sst; + } + + /** + * Returns the expected response {@code y} given the value of the predictor variable {@code x}. + * + * @param x the value of the predictor variable + * @return the expected response {@code y} given the value of the predictor variable {@code x} + */ + public double predict(double x) { + // horner's method + double y = 0.0; + for (int j = degree; j >= 0; j--) y = beta(j) + (x * y); + return y; + } + + /** + * Returns a string representation of the polynomial regression model. + * + * @return a string representation of the polynomial regression model, including the best-fit + * polynomial and the coefficient of determination R2 + */ + public String toString() { + StringBuilder s = new StringBuilder(); + int j = degree; + + // ignoring leading zero coefficients + while (j >= 0 && Math.abs(beta(j)) < 1E-5) j--; + + // create remaining terms + while (j >= 0) { + if (j == 0) s.append(String.format("%.10f ", beta(j))); + else if (j == 1) s.append(String.format("%.10f %s + ", beta(j), variableName)); + else s.append(String.format("%.10f %s^%d + ", beta(j), variableName, j)); + j--; + } + s = s.append(" (R^2 = " + String.format("%.3f", R2()) + ")"); + + // replace "+ -2n" with "- 2n" + return s.toString().replace("+ -", "- "); + } + + /** Compare lexicographically. */ + public int compareTo(PolynomialRegression that) { + double EPSILON = 1E-5; + int maxDegree = Math.max(this.degree(), that.degree()); + for (int j = maxDegree; j >= 0; j--) { + double term1 = 0.0; + double term2 = 0.0; + if (this.degree() >= j) term1 = this.beta(j); + if (that.degree() >= j) term2 = that.beta(j); + if (Math.abs(term1) < EPSILON) term1 = 0.0; + if (Math.abs(term2) < EPSILON) term2 = 0.0; + if (term1 < term2) return -1; + else if (term1 > term2) return +1; + } + return 0; + } + + /** + * Unit tests the {@code PolynomialRegression} data type. + * + * @param args the command-line arguments + */ + public static void main(String[] args) { + double[] x = {10, 20, 40, 80, 160, 200}; + double[] y = {100, 350, 1500, 6700, 20160, 40000}; + PolynomialRegression regression = new PolynomialRegression(x, y, 3); + + System.out.println(regression); + } +} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index a3a16b6..a9dc4bc 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,42 +1,42 @@ -{ - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "3.0.0", - "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" - }, - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "junction-core", - "version": "3.0.0" - }, - { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-api", - "version": "3.0.0" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-wpilibio", - "version": "3.0.0", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [] -} +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "3.1.0", + "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": "3.1.0" + }, + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "junction-core", + "version": "3.1.0" + }, + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-api", + "version": "3.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-wpilibio", + "version": "3.1.0", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] +} diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index d8e3470..507c97d 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,38 +1,38 @@ -{ - "fileName": "PathplannerLib.json", - "name": "PathplannerLib", - "version": "2024.1.2", - "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": "2024.1.2" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2024.1.2", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2024.1.2", + "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": "2024.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2024.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json index f572dcc..bdab4d3 100644 --- a/vendordeps/Phoenix5.json +++ b/vendordeps/Phoenix5.json @@ -1,151 +1,151 @@ -{ - "fileName": "Phoenix5.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.33.0", - "frcYear": 2024, - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json", - "requires": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.33.0" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.33.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.33.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.33.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.33.0", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.33.0", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.33.0", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.33.0", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.33.0", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.33.0", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} +{ + "fileName": "Phoenix5.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.33.0", + "frcYear": 2024, + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.33.0" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.33.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.33.0", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.33.0", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.0", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.33.0", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.33.0", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.0", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json index 42d1c3e..9575ac4 100644 --- a/vendordeps/Phoenix6.json +++ b/vendordeps/Phoenix6.json @@ -1,339 +1,339 @@ -{ - "fileName": "Phoenix6.json", - "name": "CTRE-Phoenix (v6)", - "version": "24.1.0", - "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": "24.1.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonFX", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "24.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "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": "24.1.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.1.0", + "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": "24.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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": "24.1.0", + "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 index 9e9b7c9..d739eb4 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,74 +1,74 @@ -{ - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2024.2.0", - "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": "2024.2.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.0", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2024.2.0", - "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": "2024.2.0", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.0", + "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": "2024.2.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.0", + "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": "2024.2.0", + "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 index 67bf389..6bb55d1 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -1,38 +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" - ] - } - ] -} +{ + "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" + ] + } + ] +}