Merge branch 'main' into ClawHAL

.github/workflows/build.yml

@@ -0,0 +1,28 @@
+name: Build
+
+# Controls when the action will run
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:    
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+
+    # Tasks that will be executed as part of the job
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+
+    - name: Build the robot code
+      run: ./gradlew build

readme.md

@@ -1,3 +1,3 @@
-[![Build](https://github.com/FRC830/2024Robot/actions/workflows/main.yml/badge.svg)](https://github.com/FRC830/2024Robot/actions/workflows/main.yml)
+[![Build](https://github.com/FRC830/2024WAPUR/actions/workflows/build.yml/badge.svg)](https://github.com/FRC830/2024WAPUR/actions/workflows/build.yml)
 
-The 2024 Robot
+The 2024 WAPUR Robot

src/main/cpp/ControllerInterface.cpp

@@ -2,38 +2,7 @@
 
 void ControllerInterface::UpdateRobotControlData(RobotControlData &controlData)
 {
-    UpdateIntakeInput(controlData);
-    UpdateLauncherInput(controlData);
     UpdateSwerveInput(controlData);
-    UpdateVisionInput(controlData);
-};
-
-void ControllerInterface::UpdateIntakeInput(RobotControlData &controlData)
-{
-    controlData.intakeInput.goToAmpPos = m_copilot.GetLeftY() > 0.5;
-    controlData.intakeInput.goToStowPos = m_copilot.GetLeftY() < -0.5;
-    controlData.intakeInput.goToPseudoStowPos = m_copilot.GetLeftX() > 0.5;
-    controlData.intakeInput.runIntakeOutSlow = m_copilot.GetLeftTriggerAxis() >= 0.2;
-
-    if (controlData.intakeOutput.intakePos == IntakePos::AMP)
-    {
-        controlData.intakeInput.runIntakeIn = m_copilot.GetRightTriggerAxis() > 0.2;
-        controlData.launcherInput.runIndexerForward = false;
-    }
-    else
-    {
-        controlData.launcherInput.runIndexerForward = m_copilot.GetRightTriggerAxis() > 0.2;
-        controlData.intakeInput.runIntakeIn = false;
-    }
-
-};
-
-void ControllerInterface::UpdateLauncherInput(RobotControlData &controlData)
-{
-    controlData.launcherInput.goToStowPos = m_copilot.GetAButton();
-    controlData.launcherInput.goToSubPos = m_copilot.GetYButton();
-    controlData.launcherInput.runIndexerBackward = m_copilot.GetLeftTriggerAxis() >= 0.2;
-    controlData.launcherInput.goToHoardePos = m_copilot.GetBButton();
 };
 
 void ControllerInterface::UpdateSwerveInput(RobotControlData &controlData)
@@ -50,17 +19,4 @@ void ControllerInterface::UpdateSwerveInput(RobotControlData &controlData)
         controlData.swerveInput.yTranslation *= m_slowmodefactor;
         controlData.swerveInput.rotation *= m_slowmodefactor;
     }
-
-    if (m_pilot.GetLeftTriggerAxis() > 0.2 && m_pilot.GetRightTriggerAxis() > 0.2)
-    {
-        controlData.swerveInput.resetGyroZeroHeading = true;
-    }
-    else
-    {
-        controlData.swerveInput.resetGyroZeroHeading = false;
-    }
-};
-
-void ControllerInterface::UpdateVisionInput(RobotControlData &controlData) {
-    // FIXME 
-}
+};

src/main/cpp/HAL/Claw.cpp

@@ -0,0 +1,31 @@
+#include "HAL/Claw.h"
+#include <iostream>
+
+
+Claw::Claw()
+{
+    // TODO - configure mechanism
+    std::cout << "configured claw mechanism" << std::endl;
+}
+
+void Claw::Clasp()
+{
+    if (_signal != 1)
+    {
+        std::cout << "claw is clasping" << std::endl;
+        _signal = 1;
+    }
+
+    // TODO - implement mechanism to clasp
+}
+
+void Claw::Unclasp()
+{
+    if (_signal != 2)
+    {
+        std::cout << "claw is unclasping" << std::endl;
+        _signal = 2;
+    }
+
+    // TODO - implement mechanism to clasp
+}

src/main/cpp/HAL/Elevator.cpp

@@ -0,0 +1,29 @@
+#include "HAL/Elevator.h"
+#include <iostream>
+
+
+Elevator::Elevator()
+{
+    // TODO - configure motors
+    std::cout << "configured elevator motors" << std::endl;
+}
+
+void Elevator::ProfiledMoveToHeight(double desired_height)
+{
+    // TODO - implement profiled move semantics
+    std::cout << "elevator performing profiled move to " << desired_height << std::endl;
+    SetHeight(desired_height);
+}
+
+double Elevator::GetHeight()
+{
+    // TODO - read motors for height
+    std::cout << "elevator height measured as 0.0 inches" << std::endl;
+    return 0.0f;
+}
+
+void Elevator::SetHeight(double desired_height)
+{
+    // TODO - set motors to go to height
+    std::cout << "elevator setting height to " << desired_height << std::endl;
+}