From 228537639466a806dd01cc24e4a57a731bab9747 Mon Sep 17 00:00:00 2001 From: weerobots <143899357+weerobots@users.noreply.github.com> Date: Sun, 14 Jan 2024 11:04:05 -0600 Subject: [PATCH] init --- .github/workflows/main.yml | 34 ++ .gitignore | 178 +++++++++ .vscode/launch.json | 21 ++ .vscode/settings.json | 29 ++ .wpilib/wpilib_preferences.json | 6 + WPILib-License.md | 24 ++ build.gradle | 98 +++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43462 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 +++++++++++++ gradlew.bat | 92 +++++ networktables.json | 1 + settings.gradle | 30 ++ simgui-ds.json | 98 +++++ simgui.json | 19 + .../frc/lib/config/SwerveModuleConstants.java | 26 ++ .../java/frc/lib/math/OnboardModuleState.java | 59 +++ .../java/frc/lib/util/CANSparkMaxUtil.java | 70 ++++ src/main/java/frc/robot/Constants.java | 145 ++++++++ src/main/java/frc/robot/Main.java | 25 ++ src/main/java/frc/robot/Robot.java | 94 +++++ src/main/java/frc/robot/RobotContainer.java | 74 ++++ .../java/frc/robot/autos/exampleAuto.java | 60 ++++ .../java/frc/robot/commands/TeleopSwerve.java | 58 +++ .../java/frc/robot/subsystems/Swerve.java | 101 ++++++ .../frc/robot/subsystems/SwerveModule.java | 161 +++++++++ vendordeps/NavX.json | 40 +++ vendordeps/Phoenix6.json | 339 ++++++++++++++++++ vendordeps/REVLib.json | 74 ++++ vendordeps/WPILibNewCommands.json | 38 ++ 30 files changed, 2250 insertions(+) create mode 100644 .github/workflows/main.yml create mode 100644 .gitignore create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100644 gradlew create mode 100644 gradlew.bat create mode 100644 networktables.json create mode 100644 settings.gradle create mode 100644 simgui-ds.json create mode 100644 simgui.json create mode 100644 src/main/java/frc/lib/config/SwerveModuleConstants.java create mode 100644 src/main/java/frc/lib/math/OnboardModuleState.java create mode 100644 src/main/java/frc/lib/util/CANSparkMaxUtil.java create mode 100644 src/main/java/frc/robot/Constants.java create mode 100644 src/main/java/frc/robot/Main.java create mode 100644 src/main/java/frc/robot/Robot.java create mode 100644 src/main/java/frc/robot/RobotContainer.java create mode 100644 src/main/java/frc/robot/autos/exampleAuto.java create mode 100644 src/main/java/frc/robot/commands/TeleopSwerve.java create mode 100644 src/main/java/frc/robot/subsystems/Swerve.java create mode 100644 src/main/java/frc/robot/subsystems/SwerveModule.java create mode 100644 vendordeps/NavX.json create mode 100644 vendordeps/Phoenix6.json create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml new file mode 100644 index 0000000..bf9a751 --- /dev/null +++ b/.github/workflows/main.yml @@ -0,0 +1,34 @@ +# This is a basic workflow to build robot code. + +name: CI + +# Controls when the action will run. Triggers the workflow on push or pull request +# events but only for the main branch. +on: + push: + branches: [ main ] + pull_request: + branches: [ main ] + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + # The type of runner that the job will run on + runs-on: ubuntu-latest + + # This grabs the WPILib docker container + container: wpilib/roborio-cross-ubuntu:2022-18.04 + + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v2 + + # Grant execute permission for gradlew + - name: Grant execute permission for gradlew + run: chmod +x gradlew + + # Runs a single command using the runners shell + - name: Compile and run tests on robot code + run: ./gradlew build diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5528d4f --- /dev/null +++ b/.gitignore @@ -0,0 +1,178 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..4ed293b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,29 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..e28ff76 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024", + "teamNumber": 2194 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..43b62ec --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2023 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..460a1b4 --- /dev/null +++ b/build.gradle @@ -0,0 +1,98 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.1.1" +} + +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 = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d64cd4917707c1f8861d8cb53dd15194d4248596 GIT binary patch literal 43462 zcma&NWl&^owk(X(xVyW%ySuwf;qI=D6|RlDJ2cR^yEKh!@I- zp9QeisK*rlxC>+~7Dk4IxIRsKBHqdR9b3+fyL=ynHmIDe&|>O*VlvO+%z5;9Z$|DJ zb4dO}-R=MKr^6EKJiOrJdLnCJn>np?~vU-1sSFgPu;pthGwf}bG z(1db%xwr#x)r+`4AGu$j7~u2MpVs3VpLp|mx&;>`0p0vH6kF+D2CY0fVdQOZ@h;A` z{infNyvmFUiu*XG}RNMNwXrbec_*a3N=2zJ|Wh5z* z5rAX$JJR{#zP>KY**>xHTuw?|-Rg|o24V)74HcfVT;WtQHXlE+_4iPE8QE#DUm%x0 zEKr75ur~W%w#-My3Tj`hH6EuEW+8K-^5P62$7Sc5OK+22qj&Pd1;)1#4tKihi=~8C zHiQSst0cpri6%OeaR`PY>HH_;CPaRNty%WTm4{wDK8V6gCZlG@U3$~JQZ;HPvDJcT1V{ z?>H@13MJcCNe#5z+MecYNi@VT5|&UiN1D4ATT+%M+h4c$t;C#UAs3O_q=GxK0}8%8 z8J(_M9bayxN}69ex4dzM_P3oh@ZGREjVvn%%r7=xjkqxJP4kj}5tlf;QosR=%4L5y zWhgejO=vao5oX%mOHbhJ8V+SG&K5dABn6!WiKl{|oPkq(9z8l&Mm%(=qGcFzI=eLu zWc_oCLyf;hVlB@dnwY98?75B20=n$>u3b|NB28H0u-6Rpl((%KWEBOfElVWJx+5yg z#SGqwza7f}$z;n~g%4HDU{;V{gXIhft*q2=4zSezGK~nBgu9-Q*rZ#2f=Q}i2|qOp z!!y4p)4o=LVUNhlkp#JL{tfkhXNbB=Ox>M=n6soptJw-IDI|_$is2w}(XY>a=H52d z3zE$tjPUhWWS+5h=KVH&uqQS=$v3nRs&p$%11b%5qtF}S2#Pc`IiyBIF4%A!;AVoI zXU8-Rpv!DQNcF~(qQnyyMy=-AN~U>#&X1j5BLDP{?K!%h!;hfJI>$mdLSvktEr*89 zdJHvby^$xEX0^l9g$xW-d?J;L0#(`UT~zpL&*cEh$L|HPAu=P8`OQZV!-}l`noSp_ zQ-1$q$R-gDL)?6YaM!=8H=QGW$NT2SeZlb8PKJdc=F-cT@j7Xags+Pr*jPtlHFnf- zh?q<6;)27IdPc^Wdy-mX%2s84C1xZq9Xms+==F4);O`VUASmu3(RlgE#0+#giLh-& zcxm3_e}n4{%|X zJp{G_j+%`j_q5}k{eW&TlP}J2wtZ2^<^E(O)4OQX8FDp6RJq!F{(6eHWSD3=f~(h} zJXCf7=r<16X{pHkm%yzYI_=VDP&9bmI1*)YXZeB}F? 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file mode 100644 index 0000000..5e82d67 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..93e3f59 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/networktables.json b/networktables.json new file mode 100644 index 0000000..fe51488 --- /dev/null +++ b/networktables.json @@ -0,0 +1 @@ +[] diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..d94f73c --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..c4b7efd --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,98 @@ +{ + "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 + } + ], + "robotJoysticks": [ + { + "guid": "78696e70757401000000000000000000", + "useGamepad": true + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..69cbf69 --- /dev/null +++ b/simgui.json @@ -0,0 +1,19 @@ +{ + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/SmartDashboard/Field": "Field2d" + }, + "windows": { + "/SmartDashboard/Field": { + "image": "C:\\Users\\boyle\\Downloads\\2160xDarkCroppedFixed.png", + "window": { + "visible": true + } + } + } + }, + "NetworkTables Info": { + "visible": true + } +} diff --git a/src/main/java/frc/lib/config/SwerveModuleConstants.java b/src/main/java/frc/lib/config/SwerveModuleConstants.java new file mode 100644 index 0000000..7e129ea --- /dev/null +++ b/src/main/java/frc/lib/config/SwerveModuleConstants.java @@ -0,0 +1,26 @@ +package frc.lib.config; + +import edu.wpi.first.math.geometry.Rotation2d; + +public class SwerveModuleConstants { + public final int driveMotorID; + public final int angleMotorID; + public final int canCoderID; + public final Rotation2d angleOffset; + + /** + * Swerve Module Constants to be used when creating swerve modules. + * + * @param driveMotorID + * @param angleMotorID + * @param canCoderID + * @param angleOffset + */ + public SwerveModuleConstants( + int driveMotorID, int angleMotorID,int cancoderID, Rotation2d angleOffset) { + this.driveMotorID = driveMotorID; + this.angleMotorID = angleMotorID; + this.canCoderID=cancoderID; + this.angleOffset = angleOffset; + } +} diff --git a/src/main/java/frc/lib/math/OnboardModuleState.java b/src/main/java/frc/lib/math/OnboardModuleState.java new file mode 100644 index 0000000..56e810b --- /dev/null +++ b/src/main/java/frc/lib/math/OnboardModuleState.java @@ -0,0 +1,59 @@ +package frc.lib.math; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; + +public class OnboardModuleState { + + /** + * Minimize the change in heading the desired swerve module state would require by potentially + * reversing the direction the wheel spins. Customized from WPILib's version to include placing in + * appropriate scope for CTRE and REV onboard control as both controllers as of writing don't have + * support for continuous input. + * + * @param desiredState The desired state. + * @param currentAngle The current module angle. + */ + public static SwerveModuleState optimize( + SwerveModuleState desiredState, Rotation2d currentAngle) { + double targetAngle = + placeInAppropriate0To360Scope(currentAngle.getDegrees(), desiredState.angle.getDegrees()); + double targetSpeed = desiredState.speedMetersPerSecond; + double delta = targetAngle - currentAngle.getDegrees(); + if (Math.abs(delta) > 90) { + targetSpeed = -targetSpeed; + targetAngle = delta > 90 ? (targetAngle -= 180) : (targetAngle += 180); + } + return new SwerveModuleState(targetSpeed, Rotation2d.fromDegrees(targetAngle)); + } + + /** + * @param scopeReference Current Angle + * @param newAngle Target Angle + * @return Closest angle within scope + */ + private static double placeInAppropriate0To360Scope(double scopeReference, double newAngle) { + double lowerBound; + double upperBound; + double lowerOffset = scopeReference % 360; + if (lowerOffset >= 0) { + lowerBound = scopeReference - lowerOffset; + upperBound = scopeReference + (360 - lowerOffset); + } else { + upperBound = scopeReference - lowerOffset; + lowerBound = scopeReference - (360 + lowerOffset); + } + while (newAngle < lowerBound) { + newAngle += 360; + } + while (newAngle > upperBound) { + newAngle -= 360; + } + if (newAngle - scopeReference > 180) { + newAngle -= 360; + } else if (newAngle - scopeReference < -180) { + newAngle += 360; + } + return newAngle; + } +} diff --git a/src/main/java/frc/lib/util/CANSparkMaxUtil.java b/src/main/java/frc/lib/util/CANSparkMaxUtil.java new file mode 100644 index 0000000..b817ab5 --- /dev/null +++ b/src/main/java/frc/lib/util/CANSparkMaxUtil.java @@ -0,0 +1,70 @@ +package frc.lib.util; + +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkLowLevel; + +/** Sets motor usage for a Spark Max motor controller */ +public class CANSparkMaxUtil { + public enum Usage { + kAll, + kPositionOnly, + kVelocityOnly, + kMinimal + }; + + /** + * This function allows reducing a Spark Max's CAN bus utilization by reducing the periodic status + * frame period of nonessential frames from 20ms to 500ms. + * + *

See + * https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces#periodic-status-frames + * for a description of the status frames. + * + * @param motor The motor to adjust the status frame periods on. + * @param usage The status frame feedack to enable. kAll is the default when a CANSparkMax is + * constructed. + * @param enableFollowing Whether to enable motor following. + */ + public static void setCANSparkMaxBusUsage( + CANSparkMax motor, Usage usage, boolean enableFollowing) { + if (enableFollowing) { + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus0, 10); + } else { + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus0, 500); + } + + if (usage == Usage.kAll) { + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus1, 20); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus2, 20); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus3, 50); + } else if (usage == Usage.kPositionOnly) { + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus1, 500); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus2, 20); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus3, 500); + } else if (usage == Usage.kVelocityOnly) { + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus1, 20); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus2, 500); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus3, 500); + } else if (usage == Usage.kMinimal) { + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus1, 500); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus2, 500); + motor.setPeriodicFramePeriod(CANSparkLowLevel.PeriodicFrame.kStatus3, 500); + } + } + + /** + * This function allows reducing a Spark Max's CAN bus utilization by reducing the periodic status + * frame period of nonessential frames from 20ms to 500ms. + * + *

See + * https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces#periodic-status-frames + * for a description of the status frames. + * + * @param motor The motor to adjust the status frame periods on. + * @param usage The status frame feedack to enable. kAll is the default when a CANSparkMax is + * constructed. + */ + public static void setCANSparkMaxBusUsage(CANSparkMax motor, Usage usage) { + setCANSparkMaxBusUsage(motor, usage, false); + } +} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..f055412 --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,145 @@ +package frc.robot; + +import com.revrobotics.CANSparkBase.IdleMode; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.units.Distance; +import edu.wpi.first.units.Measure; +import frc.lib.config.SwerveModuleConstants; +import static edu.wpi.first.units.Units.*; + +public final class Constants { + + public static final class Swerve { + public static final double stickDeadband = 0.1; + + public static final int pigeonID = 6; + public static final boolean invertGyro = false; // Always ensure Gyro is CCW+ CW- + + /* Drivetrain Constants */ + public static final Measure trackWidth = Inches.of(20.75); + public static final Measure wheelBase = Inches.of(20.75); + public static final Measure wheelDiameter = Meters.of(Meters.convertFrom(4.0, Inches)); + public static final Measure wheelCircumference = Meters.of(wheelDiameter.magnitude() * Math.PI); + + public static final double openLoopRamp = 0.25; + public static final double closedLoopRamp = 0.0; + + public static double mk4iL1DriveGearRatio = 1 / ((14.0 / 50.0) * (25.0 / 19.0) * (15.0 / 45.0));// 8.14.122807 + + public static double mk4iL1TurnGearRatio = 1 / ((14.0 / 50.0) * (10.0 / 60.0));// 21.43 1/.046667 + + public static double driveGearRatio = mk4iL1DriveGearRatio; + + public static double angleGearRatio = mk4iL1TurnGearRatio; + + public static final SwerveDriveKinematics swerveKinematics = new SwerveDriveKinematics( + new Translation2d(wheelBase.magnitude() / 2.0, trackWidth.magnitude() / 2.0), + new Translation2d(wheelBase.magnitude() / 2.0, -trackWidth.magnitude() / 2.0), + new Translation2d(-wheelBase.magnitude() / 2.0, trackWidth.magnitude() / 2.0), + new Translation2d(-wheelBase.magnitude() / 2.0, -trackWidth.magnitude() / 2.0)); + + /* Swerve Voltage Compensation */ + public static final double voltageComp = 12.0; + + /* Swerve Current Limiting */ + public static final int angleContinuousCurrentLimit = 20; + public static final int driveContinuousCurrentLimit = 30; + + /* Angle Motor PID Values */ + public static final double angleKP = 0.01; + public static final double angleKI = 0.0; + public static final double angleKD = 0.0; + public static final double angleKFF = 0.0; + + /* Drive Motor PID Values */ + public static final double driveKP = 0.1; + public static final double driveKI = 0.0; + public static final double driveKD = 0.0; + public static final double driveKFF = 0.0; + + /* Drive Motor Characterization Values */ + public static final double driveKS = 0.667; + public static final double driveKV = 2.44; + public static final double driveKA = 0.27; + + /* Drive Motor Conversion Factors */ + public static final double driveConversionPositionFactor = (wheelDiameter.magnitude() * Math.PI) / driveGearRatio; + public static final double driveConversionVelocityFactor = driveConversionPositionFactor / 60.0; + public static final double angleConversionFactor = 360.0 / angleGearRatio; + + /* Swerve Profiling Values */ + public static final double maxSpeed = 4.5; // meters per second + public static final double maxAngularVelocity = 5.0; + + /* Neutral Modes */ + public static final IdleMode angleNeutralMode = IdleMode.kCoast; + public static final IdleMode driveNeutralMode = IdleMode.kCoast; + + /* Motor Inverts */ + public static final boolean driveInvert = false; + public static final boolean angleInvert = true; + + /* Angle Encoder Invert */ + public static final boolean canCoderInvert = false; + + /* Module Specific Constants */ + /* Front Left Module - Module 0 */ + public static final class Mod0 { + public static final int driveMotorID = 4; + public static final int angleMotorID = 5; + public static final int cancoderID = 6; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + cancoderID, angleOffset); + } + + /* Front Right Module - Module 1 */ + public static final class Mod1 { + public static final int driveMotorID = 7; + public static final int angleMotorID = 8; + public static final int cancoderID = 9; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + cancoderID, angleOffset); + } + + /* Back Left Module - Module 2 */ + public static final class Mod2 { + public static final int driveMotorID = 10; + public static final int angleMotorID = 11; + public static final int cancoderID = 12; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + cancoderID, angleOffset); + } + + /* Back Right Module - Module 3 */ + public static final class Mod3 { + public static final int driveMotorID = 13; + public static final int angleMotorID = 14; + public static final int cancoderID = 15; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + cancoderID, angleOffset); + } + } + + public static final class AutoConstants { + public static final double kMaxSpeedMetersPerSecond = 3; + public static final double kMaxAccelerationMetersPerSecondSquared = 3; + public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI; + public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI; + + public static final double kPXController = 1; + public static final double kPYController = 1; + public static final double kPThetaController = 1; + + // Constraint for the motion profilied robot angle controller + public static final TrapezoidProfile.Constraints kThetaControllerConstraints = new TrapezoidProfile.Constraints( + kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared); + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..8776e5d --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,25 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package 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 new file mode 100644 index 0000000..e7deb72 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,94 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * This function is called every robot packet, no matter the mode. Use this for items like + * diagnostics that you want ran during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @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 each time the robot enters Disabled mode. */ + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() {} + + @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() {} +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..8c4f327 --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,74 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import frc.robot.autos.*; +import frc.robot.commands.TeleopSwerve; +import frc.robot.subsystems.*; + +/** + * 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 { + /* Controllers */ + private final Joystick driver = new Joystick(0); + + /* Drive Controls */ + private final int translationAxis = XboxController.Axis.kLeftY.value; + private final int strafeAxis = XboxController.Axis.kLeftX.value; + private final int rotationAxis = XboxController.Axis.kRightX.value; + + /* Driver Buttons */ + private final JoystickButton zeroGyro = + new JoystickButton(driver, XboxController.Button.kY.value); + private final JoystickButton robotCentric = + new JoystickButton(driver, XboxController.Button.kLeftBumper.value); + + /* Subsystems */ + private final Swerve s_Swerve = new Swerve(); + + /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { + s_Swerve.setDefaultCommand( + new TeleopSwerve( + s_Swerve, + () -> -driver.getRawAxis(translationAxis), + () -> -driver.getRawAxis(strafeAxis), + () -> -driver.getRawAxis(rotationAxis), + () -> robotCentric.getAsBoolean())); + + // 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() { + /* Driver Buttons */ + //zeroGyro.whenPressed(new InstantCommand(() -> s_Swerve.zeroGyro())); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // An ExampleCommand will run in autonomous + return new exampleAuto(s_Swerve); + } +} diff --git a/src/main/java/frc/robot/autos/exampleAuto.java b/src/main/java/frc/robot/autos/exampleAuto.java new file mode 100644 index 0000000..1ab66e2 --- /dev/null +++ b/src/main/java/frc/robot/autos/exampleAuto.java @@ -0,0 +1,60 @@ +package frc.robot.autos; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +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.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; +import frc.robot.Constants; +import frc.robot.subsystems.Swerve; +import java.util.List; + +public class exampleAuto extends SequentialCommandGroup { + public exampleAuto(Swerve s_Swerve) { + TrajectoryConfig config = + new TrajectoryConfig( + Constants.AutoConstants.kMaxSpeedMetersPerSecond, + Constants.AutoConstants.kMaxAccelerationMetersPerSecondSquared) + .setKinematics(Constants.Swerve.swerveKinematics); + + // An example trajectory to follow. All units in meters. + Trajectory exampleTrajectory = + TrajectoryGenerator.generateTrajectory( + // Start at the origin facing the +X direction + new Pose2d(0, 0, new Rotation2d(0)), + // Pass through these two interior waypoints, making an 's' curve path + List.of(new Translation2d(1, 1), new Translation2d(2, -1)), + // End 3 meters straight ahead of where we started, facing forward + new Pose2d(3, 0, new Rotation2d(0)), + config); + + var thetaController = + new ProfiledPIDController( + Constants.AutoConstants.kPThetaController, + 0, + 0, + Constants.AutoConstants.kThetaControllerConstraints); + thetaController.enableContinuousInput(-Math.PI, Math.PI); + + SwerveControllerCommand swerveControllerCommand = + new SwerveControllerCommand( + exampleTrajectory, + s_Swerve::getPose, + Constants.Swerve.swerveKinematics, + new PIDController(Constants.AutoConstants.kPXController, 0, 0), + new PIDController(Constants.AutoConstants.kPYController, 0, 0), + thetaController, + s_Swerve::setModuleStates, + s_Swerve); + + addCommands( + new InstantCommand(() -> s_Swerve.resetOdometry(exampleTrajectory.getInitialPose())), + swerveControllerCommand); + } +} diff --git a/src/main/java/frc/robot/commands/TeleopSwerve.java b/src/main/java/frc/robot/commands/TeleopSwerve.java new file mode 100644 index 0000000..09927b1 --- /dev/null +++ b/src/main/java/frc/robot/commands/TeleopSwerve.java @@ -0,0 +1,58 @@ +package frc.robot.commands; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.filter.SlewRateLimiter; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.Swerve; +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; + +public class TeleopSwerve extends Command { + private Swerve s_Swerve; + private DoubleSupplier translationSup; + private DoubleSupplier strafeSup; + private DoubleSupplier rotationSup; + private BooleanSupplier robotCentricSup; + + private SlewRateLimiter translationLimiter = new SlewRateLimiter(3.0); + private SlewRateLimiter strafeLimiter = new SlewRateLimiter(3.0); + private SlewRateLimiter rotationLimiter = new SlewRateLimiter(3.0); + + public TeleopSwerve( + Swerve s_Swerve, + DoubleSupplier translationSup, + DoubleSupplier strafeSup, + DoubleSupplier rotationSup, + BooleanSupplier robotCentricSup) { + this.s_Swerve = s_Swerve; + addRequirements(s_Swerve); + + this.translationSup = translationSup; + this.strafeSup = strafeSup; + this.rotationSup = rotationSup; + this.robotCentricSup = robotCentricSup; + } + + @Override + public void execute() { + /* Get Values, Deadband*/ + double translationVal = + translationLimiter.calculate( + MathUtil.applyDeadband(translationSup.getAsDouble(), Constants.Swerve.stickDeadband)); + double strafeVal = + strafeLimiter.calculate( + MathUtil.applyDeadband(strafeSup.getAsDouble(), Constants.Swerve.stickDeadband)); + double rotationVal = + rotationLimiter.calculate( + MathUtil.applyDeadband(rotationSup.getAsDouble(), Constants.Swerve.stickDeadband)); + + /* Drive */ + s_Swerve.drive( + new Translation2d(translationVal, strafeVal).times(Constants.Swerve.maxSpeed), + rotationVal * Constants.Swerve.maxAngularVelocity, + !robotCentricSup.getAsBoolean(), + true); + } +} diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java new file mode 100644 index 0000000..9fb8720 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -0,0 +1,101 @@ +package frc.robot.subsystems; + +import com.kauailabs.navx.frc.AHRS; + +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.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.SPI; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; + +public class Swerve extends SubsystemBase { + // The gyro sensor + + private final AHRS gyro; + + private SwerveDriveOdometry swerveOdometry; + + private SwerveModule[] mSwerveMods; + + private Field2d field; + + public Swerve() { + gyro = new AHRS(SPI.Port.kMXP, (byte) 100); + zeroGyro(); + + mSwerveMods = + new SwerveModule[] { + new SwerveModule(0, Constants.Swerve.Mod0.constants), + new SwerveModule(1, Constants.Swerve.Mod1.constants), + new SwerveModule(2, Constants.Swerve.Mod2.constants), + new SwerveModule(3, Constants.Swerve.Mod3.constants) + }; + + swerveOdometry = new SwerveDriveOdometry(Constants.Swerve.swerveKinematics, getYaw(), getPositions()); + + field = new Field2d(); + SmartDashboard.putData("Field", field); + } + + public void drive(Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop) { + SwerveModuleState[] swerveModuleStates = + Constants.Swerve.swerveKinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds( + translation.getX(), translation.getY(), rotation, getYaw()) + : new ChassisSpeeds(translation.getX(), translation.getY(), rotation)); + SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, Constants.Swerve.maxSpeed); + + for (SwerveModule mod : mSwerveMods) { + mod.setDesiredState(swerveModuleStates[mod.moduleNumber], isOpenLoop); + } + } + + /* Used by SwerveControllerCommand in Auto */ + public void setModuleStates(SwerveModuleState[] desiredStates) { + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Constants.Swerve.maxSpeed); + + for (SwerveModule mod : mSwerveMods) { + mod.setDesiredState(desiredStates[mod.moduleNumber], false); + } + } + + public Pose2d getPose() { + return swerveOdometry.getPoseMeters(); + } + + public void resetOdometry(Pose2d pose) { + swerveOdometry.resetPosition(getYaw(), getPositions(), pose); + } + + public SwerveModulePosition[] getPositions() { + SwerveModulePosition[] states = new SwerveModulePosition[4]; + for (SwerveModule mod : mSwerveMods) { + states[mod.moduleNumber] = mod.getState(); + } + return states; + } + + public void zeroGyro() { + gyro.reset(); + } + + public Rotation2d getYaw() { + return (Constants.Swerve.invertGyro) ? Rotation2d.fromDegrees(360 - gyro.getYaw()) : Rotation2d.fromDegrees(gyro.getYaw()); + } + + @Override + public void periodic() { + swerveOdometry.update(getYaw(), getPositions()); + field.setRobotPose(getPose()); + SmartDashboard.putNumber("Yaw", getYaw().getDegrees()); + } +} diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java new file mode 100644 index 0000000..670e599 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/SwerveModule.java @@ -0,0 +1,161 @@ +package frc.robot.subsystems; + +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.hardware.CANcoder; +import com.revrobotics.CANSparkBase; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.SparkAbsoluteEncoder; +import com.revrobotics.SparkPIDController; +import com.revrobotics.CANSparkBase.ControlType; + +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.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.lib.config.SwerveModuleConstants; +import frc.lib.math.OnboardModuleState; +import frc.lib.util.CANSparkMaxUtil; +import frc.lib.util.CANSparkMaxUtil.Usage; +import frc.robot.Constants; + +public class SwerveModule extends SubsystemBase { + public int moduleNumber; + private Rotation2d lastAngle; + private Rotation2d angleOffset; + + private CANSparkMax angleMotor; + private CANSparkMax driveMotor; + + private RelativeEncoder driveEncoder; + private RelativeEncoder integratedAngleEncoder; + + private final CANcoder m_turnCancoder; + + private final SparkPIDController driveController; + private final SparkPIDController angleController; + + private final SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward( + Constants.Swerve.driveKS, Constants.Swerve.driveKV, Constants.Swerve.driveKA); + + public SwerveModule(int moduleNumber, SwerveModuleConstants moduleConstants) { + this.moduleNumber = moduleNumber; + angleOffset = moduleConstants.angleOffset; + + /* Angle Motor Config */ + angleMotor = new CANSparkMax(moduleConstants.angleMotorID, MotorType.kBrushless); + integratedAngleEncoder = angleMotor.getEncoder(); + angleController = angleMotor.getPIDController(); + configAngleMotor(); + + m_turnCancoder = new CANcoder(moduleConstants.canCoderID, "CV1"); + m_turnCancoder.getConfigurator().apply(new CANcoderConfiguration()); + + /* Drive Motor Config */ + driveMotor = new CANSparkMax(moduleConstants.driveMotorID, MotorType.kBrushless); + driveEncoder = driveMotor.getEncoder(); + driveController = driveMotor.getPIDController(); + configDriveMotor(); + + lastAngle = getState().angle; + } + + public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop) { + // Custom optimize command, since default WPILib optimize assumes continuous + // controller which + // REV and CTRE are not + desiredState = OnboardModuleState.optimize(desiredState, getState().angle); + + setAngle(desiredState); + setSpeed(desiredState, isOpenLoop); + } + + private void resetToAbsolute() { + // double absolutePosition = getEncoder().getDegrees() - + // angleOffset.getDegrees(); + // integratedAngleEncoder.setPosition(absolutePosition); + } + + private void configAngleMotor() { + angleMotor.restoreFactoryDefaults(); + CANSparkMaxUtil.setCANSparkMaxBusUsage(angleMotor, Usage.kPositionOnly); + angleMotor.setSmartCurrentLimit(Constants.Swerve.angleContinuousCurrentLimit); + angleMotor.setInverted(Constants.Swerve.angleInvert); + angleMotor.setIdleMode(Constants.Swerve.angleNeutralMode); + integratedAngleEncoder.setPositionConversionFactor(Constants.Swerve.angleConversionFactor); + angleController.setP(Constants.Swerve.angleKP); + angleController.setI(Constants.Swerve.angleKI); + angleController.setD(Constants.Swerve.angleKD); + angleController.setFF(Constants.Swerve.angleKFF); + angleMotor.enableVoltageCompensation(Constants.Swerve.voltageComp); + angleMotor.burnFlash(); + resetToAbsolute(); + } + + private void configDriveMotor() { + driveMotor.restoreFactoryDefaults(); + CANSparkMaxUtil.setCANSparkMaxBusUsage(driveMotor, Usage.kAll); + driveMotor.setSmartCurrentLimit(Constants.Swerve.driveContinuousCurrentLimit); + driveMotor.setInverted(Constants.Swerve.driveInvert); + driveMotor.setIdleMode(Constants.Swerve.driveNeutralMode); + driveEncoder.setVelocityConversionFactor(Constants.Swerve.driveConversionVelocityFactor); + driveEncoder.setPositionConversionFactor(Constants.Swerve.driveConversionPositionFactor); + driveController.setP(Constants.Swerve.angleKP); + driveController.setI(Constants.Swerve.angleKI); + driveController.setD(Constants.Swerve.angleKD); + driveController.setFF(Constants.Swerve.angleKFF); + driveMotor.enableVoltageCompensation(Constants.Swerve.voltageComp); + driveMotor.burnFlash(); + driveEncoder.setPosition(0.0); + } + + private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop) { + if (isOpenLoop) { + double percentOutput = desiredState.speedMetersPerSecond / Constants.Swerve.maxSpeed; + driveMotor.set(percentOutput); + } else { + driveController.setReference( + desiredState.speedMetersPerSecond, + CANSparkBase.ControlType.kVelocity, + 0, + feedforward.calculate(desiredState.speedMetersPerSecond)); + } + } + + private void setAngle(SwerveModuleState desiredState) { + // Prevent rotating module if speed is less then 1%. Prevents jittering. + Rotation2d angle = (Math.abs(desiredState.speedMetersPerSecond) <= (Constants.Swerve.maxSpeed * 0.01)) + ? lastAngle + : desiredState.angle; + + angleController.setReference(angle.getDegrees(), ControlType.kPosition); + lastAngle = angle; + } + + private Rotation2d getAngle() { + return Rotation2d.fromDegrees(integratedAngleEncoder.getPosition()); + } + + // public Rotation2d getEncoder() { + // return Rotation2d.fromDegrees(angleEncoder.getPosition() * 360); + // } + + public SwerveModulePosition getState() { + return new SwerveModulePosition(driveEncoder.getVelocity(), getAngle()); + } + + @Override + public void periodic() { + SmartDashboard.putNumber(String.valueOf(moduleNumber) + " angle", getAngle().getDegrees()); + SmartDashboard.putNumber(String.valueOf(moduleNumber) + " distance", driveEncoder.getPosition()); + SmartDashboard.putNumber(String.valueOf(moduleNumber) + " cancoder", + m_turnCancoder.getPosition().getValueAsDouble()); + SmartDashboard.putNumber(String.valueOf(moduleNumber) + " cancoderAbs", + m_turnCancoder.getAbsolutePosition().getValueAsDouble()); + + SmartDashboard.putNumber("PCF", Constants.Swerve.driveConversionPositionFactor); + } +} diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json new file mode 100644 index 0000000..e978a5f --- /dev/null +++ b/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..69a4079 --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +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" + } + ] +} \ No newline at end of file diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..0f3520e --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +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" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..67bf389 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +}