upload

.gitignore

@@ -177,4 +177,6 @@ logs/
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
 
-.idea
+.idea
+
+src/main/java/com/team841/calliope/BuildConstants.java

build.gradle

@@ -127,3 +127,13 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "com.team841.calliope"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Los_Angeles" // Use preferred time zone
+    indent       = "  "
+}

src/main/java/com/team841/calliope/Robot.java

@@ -4,17 +4,65 @@
 
 package com.team841.calliope;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import com.team841.calliope.constants.RC;
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-public class Robot extends TimedRobot {
+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;
+
+public class Robot extends LoggedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;
 
   @Override
   public void robotInit() {
+
+    Logger.recordMetadata("ProjectName", "Calliope-software");
+    Logger.recordMetadata("TuningMode", Boolean.toString(RC.robotType == RC.RunType.DEV));
+    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;
+    }
+
+    switch (RC.robotType){
+      case COMP:
+        Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
+        Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+        new PowerDistribution(1, PowerDistribution.ModuleType.kRev); // Enables power distribution logging
+        break;
+      case SIM:
+        Logger.addDataReceiver(new NT4Publisher()); // Save outputs to a new log
+        break;
+      case REPLAY:
+        setUseTiming(false);
+        String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+        Logger.setReplaySource(new WPILOGReader(logPath));
+        Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"), 0.01));
+        break;
+    }
+
+    Logger.start();
+
     m_robotContainer = new RobotContainer();
   }
 

src/main/java/com/team841/calliope/constants/Field.java

@@ -0,0 +1,18 @@
+package com.team841.calliope.constants;
+
+import com.team841.lib.util.FieldGeometry;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+
+public class Field {
+  public static Pose3d kBlueSpeakerPose3d = new Pose3d(0.0, 5.549, 2.002, new Rotation3d());
+  public static Pose2d kBlueSpeakerPose2d =
+      new Pose2d(kBlueSpeakerPose3d.getX(), kBlueSpeakerPose3d.getY(), new Rotation2d(0.0));
+
+  public static Pose2d kRedSpeakerPose2d = FieldGeometry.flipFieldPose(kBlueSpeakerPose2d);
+
+  public static Pose2d S_OSpeakerC =
+      new Pose2d(1.3865381479263306, 4.631037712097168, new Rotation2d(3.14159));
+}

src/main/java/com/team841/calliope/constants/Manifest.java

@@ -0,0 +1,13 @@
+package com.team841.calliope.constants;
+
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
+public class Manifest {
+  public class SubsystemManifest {
+
+  }
+
+  public class JoystickManifest {
+
+  }
+}

src/main/java/com/team841/calliope/constants/RC.java

@@ -0,0 +1,51 @@
+package com.team841.calliope.constants;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
+
+import java.util.function.Supplier;
+
+public class RC {
+
+  public static Supplier<Boolean> isRedAlliance =
+      () -> {
+        var alliance = DriverStation.getAlliance();
+          return alliance.filter(value -> value == DriverStation.Alliance.Red).isPresent();
+      };
+
+  public static boolean rumbleNeedsPing = false;
+
+  public static final RunType robotType = RunType.SIM;
+
+  public static class Controllers {
+    public static final int driverPortLeft = 0; // controller USB port 0
+    public static final int driverPortRight = 1; // controller USB port 1
+    public static final int codriverPort = 2; // controller USB port 2
+
+    public static final int SysIDCommandPort = 4; // for sysID
+  }
+
+  public static final class SC_CAN_ID {
+
+    public static final int kIntake = 17;
+
+    public static final int kIndexerTalon = 10;
+
+    public static final int kHangerMotorLeft = 15;
+    public static final int kHangerMotorRight = 3;
+
+    public static final int kLeftArmJoint = 13;
+    public static final int kRightArmJoint = 14;
+
+    public static final int bottomShooter = 12;
+
+    public static final int topShooter = 11;
+  }
+
+  public enum RunType{
+    SIM, // Simulation
+    DEV, // Developer-tuning mode
+    COMP, // Comp code, real robot code
+    REPLAY
+  }
+}

src/main/java/com/team841/calliope/constants/SC.java

@@ -0,0 +1,180 @@
+package com.team841.calliope.constants;
+
+import com.ctre.phoenix6.configs.*;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+public class SC {
+
+    public static class Shooter {
+        private static AudioConfigs k_audio =
+                new AudioConfigs()
+                        .withAllowMusicDurDisable(true)
+                        .withBeepOnBoot(true)
+                        .withBeepOnConfig(true);
+
+        private static ClosedLoopRampsConfigs k_closedLoopRampConfig =
+                new ClosedLoopRampsConfigs()
+                        .withDutyCycleClosedLoopRampPeriod(0.1)
+                        .withTorqueClosedLoopRampPeriod(0.1)
+                        .withVoltageClosedLoopRampPeriod(0.1);
+
+        private static CurrentLimitsConfigs k_currentLimitsConfig =
+                new CurrentLimitsConfigs()
+                        .withSupplyCurrentLimit(60.0)
+                        .withSupplyCurrentLimitEnable(true)
+                        .withSupplyCurrentThreshold(60.0)
+                        .withSupplyTimeThreshold(0);
+
+        private static CustomParamsConfigs k_customParamConfigs =
+                new CustomParamsConfigs().withCustomParam0(841).withCustomParam1(841);
+
+        private static MotionMagicConfigs k_shooterMotionMagicConfig =
+                new MotionMagicConfigs()
+                        .withMotionMagicAcceleration(200.0)
+                        .withMotionMagicCruiseVelocity(0.0)
+                        .withMotionMagicExpo_kA(0.0)
+                        .withMotionMagicExpo_kV(0.0)
+                        .withMotionMagicJerk(0.0);
+        private static MotorOutputConfigs k_MotorOutputConfig =
+                new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive);
+
+        private static Slot0Configs k_slot0 =
+                new Slot0Configs().withKP(0.6).withKI(0).withKD(0).withKV(0).withKS(0);
+
+        public static TalonFXConfiguration k_BottomConfiguration =
+                new TalonFXConfiguration()
+                        .withAudio(k_audio)
+                        .withClosedLoopRamps(k_closedLoopRampConfig)
+                        .withCurrentLimits(k_currentLimitsConfig)
+                        .withCustomParams(k_customParamConfigs)
+                        .withMotionMagic(k_shooterMotionMagicConfig)
+                        .withMotorOutput(k_MotorOutputConfig)
+                        .withSlot0(k_slot0);
+
+        public static TalonFXConfiguration k_TopConfiguration =
+                new TalonFXConfiguration()
+                        .withAudio(k_audio)
+                        .withClosedLoopRamps(k_closedLoopRampConfig)
+                        .withCurrentLimits(k_currentLimitsConfig)
+                        .withCustomParams(k_customParamConfigs)
+                        .withMotionMagic(k_shooterMotionMagicConfig)
+                        .withMotorOutput(k_MotorOutputConfig)
+                        .withSlot0(k_slot0);
+    }
+
+    public static class Indexer {
+
+        private static AudioConfigs k_audio =
+                new AudioConfigs()
+                        .withAllowMusicDurDisable(true)
+                        .withBeepOnBoot(true)
+                        .withBeepOnConfig(true);
+
+        private static ClosedLoopRampsConfigs k_closedLoopRampConfig =
+                new ClosedLoopRampsConfigs()
+                        .withDutyCycleClosedLoopRampPeriod(0.1)
+                        .withTorqueClosedLoopRampPeriod(0.1)
+                        .withVoltageClosedLoopRampPeriod(0.1);
+
+        private static CurrentLimitsConfigs k_currentLimitsConfig =
+                new CurrentLimitsConfigs()
+                        .withSupplyCurrentLimit(60.0)
+                        .withSupplyCurrentLimitEnable(true)
+                        .withSupplyCurrentThreshold(60.0)
+                        .withSupplyTimeThreshold(0);
+
+        private static CustomParamsConfigs k_customParamConfigs =
+                new CustomParamsConfigs().withCustomParam0(841).withCustomParam1(841);
+
+        private static MotionMagicConfigs k_IndexerMotionMagicConfig =
+                new MotionMagicConfigs()
+                        .withMotionMagicAcceleration(0.0)
+                        .withMotionMagicCruiseVelocity(0.0)
+                        .withMotionMagicExpo_kA(0.0)
+                        .withMotionMagicExpo_kV(0.12)
+                        .withMotionMagicJerk(0.0);
+        private static MotorOutputConfigs k_IndexerMotorOutputConfig =
+                new MotorOutputConfigs().withInverted(InvertedValue.CounterClockwise_Positive);
+
+        // with note
+        private static Slot0Configs k_slot0 =
+                new Slot0Configs().withKP(60).withKI(0).withKD(0.1).withKV(0.12).withKS(0.5);
+
+        // No Note
+        private static Slot1Configs k_slot1 =
+                new Slot1Configs().withKP(60).withKI(0).withKD(0.1).withKV(0.12).withKS(0.5);
+        public static TalonFXConfiguration k_IndexerConfiguration =
+                new TalonFXConfiguration()
+                        .withAudio(k_audio)
+                        .withClosedLoopRamps(k_closedLoopRampConfig)
+                        .withCurrentLimits(k_currentLimitsConfig)
+                        .withCustomParams(k_customParamConfigs)
+                        .withMotionMagic(k_IndexerMotionMagicConfig)
+                        .withMotorOutput(k_IndexerMotorOutputConfig)
+                        .withSlot0(k_slot0)
+                        .withSlot1(k_slot1);
+
+        public static int k_RightSensorChannel = 1;
+        public static int k_LeftSensorChannel = 3;
+    }
+
+    public static class Intake {
+        public static final int kCurrentLimit = 60; // in amps
+
+        public static final int kBlinkingID = 1;
+
+        public static final TalonFXConfiguration k_MotorOutputConfig = null;
+    }
+
+    public static class Arm {
+        private static AudioConfigs k_audio =
+                new AudioConfigs()
+                        .withAllowMusicDurDisable(true)
+                        .withBeepOnBoot(true)
+                        .withBeepOnConfig(true);
+
+        private static ClosedLoopRampsConfigs k_closedLoopRampConfig =
+                new ClosedLoopRampsConfigs()
+                        .withDutyCycleClosedLoopRampPeriod(0.05)
+                        .withTorqueClosedLoopRampPeriod(0.05)
+                        .withVoltageClosedLoopRampPeriod(0.1);
+
+        private static CurrentLimitsConfigs k_currentLimitsConfig =
+                new CurrentLimitsConfigs()
+                        .withSupplyCurrentLimit(10)
+                        .withSupplyCurrentLimitEnable(true)
+                        .withSupplyCurrentThreshold(10)
+                        .withSupplyTimeThreshold(0);
+
+        private static CustomParamsConfigs k_customParamConfigs =
+                new CustomParamsConfigs().withCustomParam0(841).withCustomParam1(841);
+
+        private static MotionMagicConfigs k_ArmMotionMagicConfig =
+                new MotionMagicConfigs()
+                        .withMotionMagicAcceleration(200.0)
+                        .withMotionMagicCruiseVelocity(0.0)
+                        .withMotionMagicExpo_kA(0.0)
+                        .withMotionMagicExpo_kV(0.0)
+                        .withMotionMagicJerk(0.0);
+
+        private static Slot0Configs k_slot0 =
+                new Slot0Configs().withKP(0.6).withKI(0).withKD(0).withKV(0).withKS(0);
+
+        private static MotorOutputConfigs k_motorOutput =
+                new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake);
+
+        public static TalonFXConfiguration k_ArmConfiguration =
+                new TalonFXConfiguration()
+                        .withAudio(k_audio)
+                        .withClosedLoopRamps(k_closedLoopRampConfig)
+                        .withCurrentLimits(k_currentLimitsConfig)
+                        .withCustomParams(k_customParamConfigs)
+                        .withMotionMagic(k_ArmMotionMagicConfig)
+                        .withSlot0(k_slot0)
+                        .withMotorOutput(k_motorOutput);
+    }
+
+    public static class Hanger {
+    }
+}