fix build

CurtinFRC · Mar 21, 2024 · 2f929bd · 2f929bd
1 parent 5a388c0
commit 2f929bd
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Showing 7 changed files with 115 additions and 17 deletions.
diff --git a/networktables.json b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
@@ -0,0 +1,11 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Auto Selector": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}
diff --git a/src/main/cpp/AlphaArm.cpp b/src/main/cpp/AlphaArm.cpp
@@ -22,7 +22,6 @@ void AlphaArm::OnUpdate(units::second_t dt) {
       _setAlphaArmVoltage = 0_V;
       break;
     case AlphaArmState::kRaw:
-      std::cout << "RawControl" << std::endl;
       _setAlphaArmVoltage = _rawArmVoltage;
 
       break;
@@ -73,8 +72,6 @@ void AlphaArm::OnUpdate(units::second_t dt) {
   }
   _config->alphaArmGearbox.motorController->SetVoltage(_setAlphaArmVoltage);
   _config->alphaArmGearbox2.motorController->SetVoltage(_setAlphaArmVoltage);
-  std::cout << "Encoder Value: " << (_config->alphaArmEncoder.GetEncoderPosition().value() * (2 * 3.1415))
-            << std::endl;
   _table->GetEntry("PID Error").SetDouble(_pidArm.GetPositionError());
   _table->GetEntry("SetPoint").SetDouble(_pidArm.GetSetpoint());
   _table->GetEntry("Input").SetDouble((_config->alphaArmEncoder.GetEncoderPosition().value() * (2 * 3.1415)));
@@ -84,8 +81,6 @@ void AlphaArm::OnUpdate(units::second_t dt) {
 
   _table->GetEntry("Intake SetPoint State").SetDouble(_pidIntakeState.GetSetpoint());
   _table->GetEntry("Intake PID Error State").SetDouble(_pidIntakeState.GetPositionError());
-
-  std::cout << "Voltage:" << _setAlphaArmVoltage.value() << std::endl;
 }
 
 void AlphaArm::SetState(AlphaArmState state) {

diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -152,8 +152,7 @@ void Robot::TeleopInit() {
   wom::BehaviourScheduler* sched = wom::BehaviourScheduler::GetInstance();
   sched->InterruptAll();
 
-  robotmap.controllers.triggerDriver->XButton()->SetTrueBehaviour(
-      wom::make<wom::DrivebasePoseBehaviour>(_swerveDrive, frc::Pose2d(1_m, 0_m, frc::Rotation2d(0_rad))));
+  robotmap.controllers.triggerDriver->XButton()->SetTrueBehaviour(wom::make<wom::XDrivebase>(_swerveDrive));
 }
 
 void Robot::TeleopPeriodic() {}

diff --git a/wombat/src/main/cpp/behaviour/Trigger.cpp b/wombat/src/main/cpp/behaviour/Trigger.cpp
@@ -18,13 +18,13 @@ Trigger::Trigger(std::function<bool()> condition, std::string name) : k_name{nam
   behaviour::BehaviourScheduler::GetInstance()->AddTrigger(this);
 }
 
-Trigger::Trigger(std::function<bool()> condition, std::string name, Behaviour* true_behaviour)
+Trigger::Trigger(std::function<bool()> condition, std::string name, Behaviour::ptr&& true_behaviour)
     : k_name{name}, m_condition(condition), m_true_behaviour{true_behaviour} {
   behaviour::BehaviourScheduler::GetInstance()->AddTrigger(this);
 }
 
-Trigger::Trigger(std::function<bool()> condition, std::string name, Behaviour* true_behaviour,
-                 Behaviour* false_behaviour)
+Trigger::Trigger(std::function<bool()> condition, std::string name, Behaviour::ptr&& true_behaviour,
+                 Behaviour::ptr&& false_behaviour)
     : k_name{name},
       m_condition(condition),
       m_true_behaviour{true_behaviour},
@@ -55,11 +55,11 @@ void Trigger::OnTick() {
   std::cerr << "WARNING: No OnFalse behaviour specified for Trigger " << k_name << std::endl;
 }
 
-void Trigger::SetTrueBehaviour(Behaviour::ptr behaviour) {
+void Trigger::SetTrueBehaviour(Behaviour::ptr&& behaviour) {
   m_true_behaviour = behaviour;
 }
 
-void Trigger::SetFalseBehaviour(Behaviour::ptr behaviour) {
+void Trigger::SetFalseBehaviour(Behaviour::ptr&& behaviour) {
   m_false_behaviour = behaviour;
 }
 

diff --git a/wombat/src/main/include/behaviour/Trigger.h b/wombat/src/main/include/behaviour/Trigger.h
@@ -50,7 +50,7 @@ class Trigger {
    * @param name The name of the trigger, useful in debugging.
    * @param true_behaviour The behaviour to run when the condition is true.
    */
-  Trigger(std::function<bool()> condition, std::string name, Behaviour* true_behaviour);
+  Trigger(std::function<bool()> condition, std::string name, Behaviour::ptr&& true_behaviour);
 
   /**
    * Creates a new Trigger that returns a boolean based off the provided condition.
@@ -60,8 +60,8 @@ class Trigger {
    * @param true_behaviour The behaviour to run when the condition is true.
    * @param false_behaviour The behaviour to run when the condition is false.
    */
-  Trigger(std::function<bool()> condition, std::string name, Behaviour* true_behaviour,
-          Behaviour* false_behaviour);
+  Trigger(std::function<bool()> condition, std::string name, Behaviour::ptr&& true_behaviour,
+          Behaviour::ptr&& false_behaviour);
 
   ~Trigger() = default;
   Trigger(Trigger&&) = default;
@@ -83,14 +83,14 @@ class Trigger {
    *
    * @param behaviour The behaviour to run on true.
    */
-  void SetTrueBehaviour(Behaviour::ptr behaviour);
+  void SetTrueBehaviour(Behaviour::ptr&& behaviour);
 
   /**
    * Sets the false behaviour to the provided behaviour.
    *
    * @param behaviour The behaviour to run on false.
    */
-  void SetFalseBehaviour(Behaviour::ptr behaviour);
+  void SetFalseBehaviour(Behaviour::ptr&& behaviour);
 
   /**
    * Returns a Trigger* which will be true when m_condition is not.