diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 00000000..00a51aff --- /dev/null +++ b/.gitattributes @@ -0,0 +1,6 @@ +# +# https://help.github.com/articles/dealing-with-line-endings/ +# +# These are explicitly windows files and should use crlf +*.bat text eol=crlf + diff --git a/.gitignore b/.gitignore index 61f25ce9..7a396920 100644 --- a/.gitignore +++ b/.gitignore @@ -136,7 +136,7 @@ $RECYCLE.BIN/ ### Gradle ### .gradle -/build/ +build/ # Ignore Gradle GUI config gradle-app.setting diff --git a/.vscode/settings.json b/.vscode/settings.json index 59cc954f..e1384cd4 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -2,6 +2,7 @@ "java.configuration.updateBuildConfiguration": "automatic", "editor.formatOnSave": true, "editor.formatOnPaste": true, + "kotlin.compiler.jvm.target": "1.8", "files.exclude": { "**/.git": true, "**/.svn": true, @@ -16,4 +17,4 @@ "**/.settings": true, "**/.factorypath": true } -} +} \ No newline at end of file diff --git a/buildSrc/build.gradle b/buildSrc/build.gradle new file mode 100644 index 00000000..04d80d2a --- /dev/null +++ b/buildSrc/build.gradle @@ -0,0 +1,13 @@ +/* + * This file was generated by the Gradle 'init' task. + */ + +plugins { + // Support convention plugins written in Groovy. Convention plugins are build scripts in 'src/main' that automatically become available as plugins in the main build. + id 'groovy-gradle-plugin' +} + +repositories { + // Use the plugin portal to apply community plugins in convention plugins. + gradlePluginPortal() +} diff --git a/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-application-conventions.gradle b/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-application-conventions.gradle new file mode 100644 index 00000000..ba3c36df --- /dev/null +++ b/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-application-conventions.gradle @@ -0,0 +1,11 @@ +/* + * This file was generated by the Gradle 'init' task. + */ + +plugins { + // Apply the common convention plugin for shared build configuration between library and application projects. + id 'com.chopshop166.chopshoplib.java-common-conventions' + + // Apply the application plugin to add support for building a CLI application in Java. + id 'application' +} diff --git a/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-common-conventions.gradle b/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-common-conventions.gradle new file mode 100644 index 00000000..6699282d --- /dev/null +++ b/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-common-conventions.gradle @@ -0,0 +1,21 @@ +/* + * This file was generated by the Gradle 'init' task. + */ + +plugins { + // Apply the java Plugin to add support for Java. + id 'java' +} + +dependencies { + // Use JUnit Jupiter API for testing. + testImplementation 'org.junit.jupiter:junit-jupiter-api:5.7.2' + + // Use JUnit Jupiter Engine for testing. + testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine' +} + +tasks.named('test') { + // Use junit platform for unit tests. + useJUnitPlatform() +} diff --git a/build.gradle b/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-library-conventions.gradle similarity index 58% rename from build.gradle rename to buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-library-conventions.gradle index 261c7710..1c2a14e1 100644 --- a/build.gradle +++ b/buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-library-conventions.gradle @@ -1,15 +1,22 @@ +/* + * This file was generated by the Gradle 'init' task. + */ + plugins { - id "java-library" - id "pmd" + // Apply the common convention plugin for shared build configuration between library and application projects. + id 'com.chopshop166.chopshoplib.java-common-conventions' + + // Apply the java-library plugin for API and implementation separation. + id 'java-library' + + id 'pmd' id 'maven-publish' - id "com.github.spotbugs" version "4.7.2" - id "edu.wpi.first.GradleRIO" version "2021.3.1" } sourceCompatibility = JavaVersion.VERSION_11 targetCompatibility = JavaVersion.VERSION_11 -group = 'com.chopshop166' +group = 'com.chopshop166.chopshoplib' repositories { mavenCentral() @@ -18,14 +25,6 @@ repositories { dependencies { - implementation wpi.deps.wpilib() - nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) - - implementation wpi.deps.vendor.java() - nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) - - implementation group: 'com.google.guava', name: 'guava', version: '30.1-jre' - testImplementation 'org.junit.jupiter:junit-jupiter-api:5.7.2' testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.7.2' } @@ -39,14 +38,6 @@ java { withSourcesJar() } -publishing { - publications { - chopshoplib(MavenPublication) { - from components.java - } - } -} - spotbugsMain { reports { xml { @@ -68,7 +59,3 @@ pmd { ruleSets = [] ruleSetFiles = files("$rootProject.projectDir/config/pmd-ruleset.xml") } - -wrapper { - gradleVersion = '6.9' -} diff --git a/config/findbugs-ignore.xml b/config/findbugs-ignore.xml index 42706963..439b7a5d 100644 --- a/config/findbugs-ignore.xml +++ b/config/findbugs-ignore.xml @@ -6,7 +6,7 @@ - + \ No newline at end of file diff --git a/core/build.gradle b/core/build.gradle new file mode 100644 index 00000000..94b417e0 --- /dev/null +++ b/core/build.gradle @@ -0,0 +1,21 @@ +plugins { + id 'com.chopshop166.chopshoplib.java-library-conventions' + id 'com.github.spotbugs' version '4.7.3' + id 'edu.wpi.first.GradleRIO' version '2021.3.1' +} + +dependencies { + + api wpi.deps.wpilib() + api wpi.deps.vendor.java() + + implementation group: 'com.google.guava', name: 'guava', version: '30.1-jre' +} + +publishing { + publications { + core(MavenPublication) { + from components.java + } + } +} \ No newline at end of file diff --git a/core/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt b/core/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt new file mode 100644 index 00000000..a5b3580f --- /dev/null +++ b/core/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt @@ -0,0 +1,93 @@ +@file:OptIn(kotlin.experimental.ExperimentalTypeInference::class) +package com.chopshop166.chopshoplib + +import edu.wpi.cscore.VideoSink +import edu.wpi.cscore.VideoSource +import edu.wpi.first.cameraserver.CameraServer +import edu.wpi.first.wpilibj.Sendable +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard + +class DashboardWrapper internal constructor () { + operator fun set(name: String, value: Sendable) = (name displays value) + operator fun set(name: String, value: Boolean) = (name displays value) + operator fun set(name: String, value: String) = (name displays value) + operator fun set(name: String, value: Double) = (name displays value) + operator fun set(name: String, value: Int) = (name displays value) + + operator fun get(name: String) = SmartDashboard.getData(name) + + operator fun invoke(block: DashboardWrapper.() -> Unit = {}) = apply(block) + + infix fun String.displays(value: Sendable) = SmartDashboard.putData(this, value) + infix fun String.displays(value: Boolean) = SmartDashboard.putBoolean(this, value) + infix fun String.displays(value: String) = SmartDashboard.putString(this, value) + infix fun String.displays(value: Double) = SmartDashboard.putNumber(this, value) + infix fun String.displays(value: Int) = SmartDashboard.putNumber(this, value.toDouble()) + + fun entry(name: String) = SmartDashboard.getEntry(name) +} +val dashboard = DashboardWrapper() + +class ShuffleboardContainerWrapper internal constructor (val con : ShuffleboardContainer) { + + val title : String get() { return con.getTitle() } + + operator fun set(name: String, value: Sendable) = name(value) + @OverloadResolutionByLambdaReturnType + @JvmName("setBoolean") operator fun set(name: String, value: () -> Boolean) = name(value) + @JvmName("setString") operator fun set(name: String, value: () -> String) = name(value) + @JvmName("setNumber") operator fun set(name: String, value: () -> Double) = name(value) + @JvmName("setInt") operator fun set(name: String, value: () -> Int) = name(value) + + operator fun get(name: String) = ShuffleboardContainerWrapper(con.getLayout(name)) + fun layout(name : String, block: ShuffleboardContainerWrapper.() -> Unit = {}) = this[name].run(block) + + operator fun String.invoke(value: Sendable) = con.add(this, value) + @OverloadResolutionByLambdaReturnType + @JvmName("invokeBoolean") operator fun String.invoke(value: () -> Boolean) = con.addBoolean(this, value) + @JvmName("invokeString") operator fun String.invoke(value: () -> String) = con.addString(this, value) + @JvmName("invokeNumber") operator fun String.invoke(value: () -> Double) = con.addNumber(this, value) + @JvmName("invokeInt") operator fun String.invoke(value: () -> Int) = con.addNumber(this) { value().toDouble() } +} +fun shuffleboard(name : String, block: ShuffleboardContainerWrapper.() -> Unit = {}) = ShuffleboardContainerWrapper(Shuffleboard.getTab(name)).apply(block) + +class ChooserWrapper(val chooser: SendableChooser) { + infix fun String.default(value: T) { chooser.setDefaultOption(this, value) } + infix fun String.chooses(value: T) { chooser.addOption(this, value) } +} + +inline fun chooser(block: ChooserWrapper.() -> Unit) = SendableChooser().apply { + ChooserWrapper(this).block() +} + +class VideoSourceWrapper(val source: VideoSource) { + operator fun get(name: String) = source.getProperty(name).get() + operator fun set(name: String, value: Int) = source.getProperty(name).set(value) +} + +class VideoSinkWrapper(val sink: VideoSink) { + operator fun get(name: String) = sink.getProperty(name).get() + operator fun set(name: String, value: Int) = sink.getProperty(name).set(value) +} + +class CameraServerWrapper(private val base: CameraServer) { + fun server(block: VideoSinkWrapper.() -> Unit = {}) = + base.getServer().apply { VideoSinkWrapper(this).block() } + fun server(name: String, block: VideoSinkWrapper.() -> Unit = {}) = + base.getServer(name).apply { VideoSinkWrapper(this).block() } + fun source(block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture().apply { VideoSourceWrapper(this).block() } + fun source(dev: Int, block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture(dev).apply { VideoSourceWrapper(this).block() } + fun source(camera: VideoSource, block: VideoSinkWrapper.() -> Unit = {}) = + base.startAutomaticCapture(camera).apply { VideoSinkWrapper(this).block() } + fun source(name: String, dev: Int, block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture(name, dev).apply { VideoSourceWrapper(this).block() } + fun source(name: String, path: String, block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture(name, path).apply { VideoSourceWrapper(this).block() } +} + +val cameraServer = CameraServerWrapper(CameraServer.getInstance()) diff --git a/src/main/java/com/chopshop166/chopshoplib/PersistenceCheck.java b/core/src/main/java/com/chopshop166/chopshoplib/PersistenceCheck.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/PersistenceCheck.java rename to core/src/main/java/com/chopshop166/chopshoplib/PersistenceCheck.java diff --git a/src/main/java/com/chopshop166/chopshoplib/Resettable.java b/core/src/main/java/com/chopshop166/chopshoplib/Resettable.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/Resettable.java rename to core/src/main/java/com/chopshop166/chopshoplib/Resettable.java diff --git a/src/main/java/com/chopshop166/chopshoplib/RobotUtils.java b/core/src/main/java/com/chopshop166/chopshoplib/RobotUtils.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/RobotUtils.java rename to core/src/main/java/com/chopshop166/chopshoplib/RobotUtils.java diff --git a/src/main/java/com/chopshop166/chopshoplib/SampleBuffer.java b/core/src/main/java/com/chopshop166/chopshoplib/SampleBuffer.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/SampleBuffer.java rename to core/src/main/java/com/chopshop166/chopshoplib/SampleBuffer.java diff --git a/core/src/main/java/com/chopshop166/chopshoplib/Utils.kt b/core/src/main/java/com/chopshop166/chopshoplib/Utils.kt new file mode 100644 index 00000000..51e7790d --- /dev/null +++ b/core/src/main/java/com/chopshop166/chopshoplib/Utils.kt @@ -0,0 +1,18 @@ +package com.chopshop166.chopshoplib + +import kotlin.math.max +import kotlin.math.min +import kotlin.math.pow +import kotlin.math.withSign + +fun Double.clamped(minVal : Double, maxVal : Double) = max(minVal, min(maxVal, this)) +fun Float.clamped(minVal : Float, maxVal : Float) = max(minVal, min(maxVal, this)) +fun Int.clamped(minVal : Int, maxVal : Int) = max(minVal, min(maxVal, this)) +fun Long.clamped(minVal : Long, maxVal : Long) = max(minVal, min(maxVal, this)) + +fun Double.signPow(exp : Double) = pow(exp).withSign(this) + +typealias BoolFunc = ()->Boolean +operator fun BoolFunc.not() = {!this()} +infix fun BoolFunc.and(other : BoolFunc) = {this() && other()} +infix fun BoolFunc.or(other : BoolFunc) = {this() || other()} diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/CommandBuilder.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/CommandBuilder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/CommandBuilder.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/CommandBuilder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/CommandRobot.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/CommandRobot.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/CommandRobot.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/CommandRobot.java diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/CommandUtils.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/CommandUtils.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/CommandUtils.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/CommandUtils.java diff --git a/core/src/main/java/com/chopshop166/chopshoplib/commands/Commands.kt b/core/src/main/java/com/chopshop166/chopshoplib/commands/Commands.kt new file mode 100644 index 00000000..930a71ab --- /dev/null +++ b/core/src/main/java/com/chopshop166/chopshoplib/commands/Commands.kt @@ -0,0 +1,271 @@ +package com.chopshop166.chopshoplib.commands + +import com.chopshop166.chopshoplib.Resettable +import com.chopshop166.chopshoplib.commands.CommandRobot +import com.chopshop166.chopshoplib.commands.CommandUtils +import edu.wpi.first.wpilibj2.command.Command +import edu.wpi.first.wpilibj2.command.CommandBase +import edu.wpi.first.wpilibj2.command.CommandGroupBase +import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.RunCommand +import edu.wpi.first.wpilibj2.command.StartEndCommand +import edu.wpi.first.wpilibj2.command.Subsystem +import edu.wpi.first.wpilibj2.command.SubsystemBase +import edu.wpi.first.wpilibj2.command.WaitCommand +import edu.wpi.first.wpilibj2.command.WaitUntilCommand +import java.util.function.Supplier + +fun wait(time: Double) = WaitCommand(time) +fun wait(until: () -> Boolean) = WaitUntilCommand(until) + +fun exec(block: () -> Unit) = InstantCommand(block) + +fun repeat(name: String = "", num: Int, block: () -> Command) = + CommandUtils.repeat(num, Supplier(block)).apply { + if (name != "") { + this.name = name + } + } + +@DslMarker +annotation class CommandBuilderMarker + +@CommandBuilderMarker +class CommandBuilder(var cmdName: String = "", private vararg val sys: Subsystem) { + private var onInit: Command.() -> Unit = {} + private var onExecute: Command.() -> Unit = {} + private var onEnd: Command.(Boolean) -> Unit = {} + private var isFinishedCheck: Command.() -> Boolean = { true } + + fun initialize(onInit: Command.() -> Unit) { this.onInit = onInit } + fun execute(onExecute: Command.() -> Unit) { this.onExecute = onExecute } + fun end(onEnd: Command.(Boolean) -> Unit) { this.onEnd = onEnd } + fun isFinished(isFinishedCheck: Command.() -> Boolean) { this.isFinishedCheck = isFinishedCheck } + + fun build() = + object : CommandBase() { + init { + if (cmdName != "") { + this.name = cmdName + } + addRequirements(*sys) + } + override fun initialize() = onInit() + override fun execute() = onExecute() + override fun end(interrupted: Boolean) = onEnd(interrupted) + override fun isFinished() = isFinishedCheck() + } +} + +fun cmd(name: String = "", block: CommandBuilder.() -> Unit) = + CommandBuilder(name).apply(block).build() + +inline fun CommandRobot.getMapForName( + name: String, + pkg: String, + defaultValue: T +) = + CommandRobot.getMapForName(name, T::class.java, pkg, defaultValue) + +fun Subsystem.cmd(name: String = "", block: CommandBuilder.() -> Unit) = + CommandBuilder(name, this).apply(block).build() + +/** + * Create an {@link InstantCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun Subsystem.instant(name : String, action : () -> Unit) = + InstantCommand(action, this).withName(name) + +/** + * Create an {@link InstantCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun instant(name : String, action : () -> Unit) = + InstantCommand(action).withName(name) + +/** + * Create a {@link RunCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun Subsystem.running(name : String, action : () -> Unit) = + RunCommand(action, this).withName(name) + +/** + * Create a {@link RunCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun running(name : String, action : () -> Unit) = + RunCommand(action).withName(name) + +/** + * Create a {@link StartEndCommand}. + * + * @param name The name of the command. + * @param onStart The action to take on start. + * @param onEnd The action to take on end. + * @return A new command. + */ +fun Subsystem.startEnd(name : String, onStart : () -> Unit, onEnd : () -> Unit) = + StartEndCommand(onStart, onEnd, this).withName(name) + +/** + * Create a {@link StartEndCommand}. + * + * @param name The name of the command. + * @param onStart The action to take on start. + * @param onEnd The action to take on end. + * @return A new command. + */ +fun startEnd(name : String, onStart : () -> Unit, onEnd : () -> Unit) = + StartEndCommand(onStart, onEnd,).withName(name) + +/** + * Run a {@link Runnable} and then wait until a condition is true. + * + * @param name The name of the command. + * @param init The action to take. + * @param until The condition to wait until. + * @return A new command. + */ +fun Subsystem.initAndWait(name : String, init : () -> Unit, until : () -> Boolean) = + parallel(name, InstantCommand(init, this), wait(until)) + +/** + * Run a {@link Runnable} and then wait until a condition is true. + * + * @param name The name of the command. + * @param init The action to take. + * @param until The condition to wait until. + * @return A new command. + */ +fun initAndWait(name : String, init : () -> Unit, until : () -> Boolean) = + parallel(name, InstantCommand(init), wait(until)) + +/** + * Create a command to call a consumer function. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @return A new command. + */ +fun Subsystem.setter(name : String, value : T, func : (T) -> Unit) = + instant(name) { + func(value); + } + +/** + * Create a command to call a consumer function. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @return A new command. + */ +fun setter(name : String, value : T, func : (T) -> Unit) = + instant(name) { + func(value); + } + +/** + * Create a command to call a consumer function and wait. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @param until The condition to wait until. + * @return A new command. + */ +fun Subsystem.callAndWait(name : String, value : T, func : (T) -> Unit, until : () -> Boolean) = + initAndWait(name, { + func(value); + }, until); + +/** + * Create a command to call a consumer function and wait. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @param until The condition to wait until. + * @return A new command. + */ +fun callAndWait(name : String, value : T, func : (T) -> Unit, until : () -> Boolean) = + initAndWait(name, { + func(value); + }, until); + +/** + * Create a command to reset the subsystem. + * + * @return A reset command. + */ +fun T.resetCmd() where T : SubsystemBase, T : Resettable = + instant("Reset " + this.name, this::reset) + +/** + * Cancel the currently running command. + * + * @return A cancel command. + */ +fun SubsystemBase.cancel() = + instant("Cancel " + this.name) { + } + +/** + * Create a sequential command group with a name. + * + * @param name The name of the command group. + * @param cmds The commands to sequence. + * @return A new command group. + */ +fun sequence(name : String, vararg cmds : Command) = + CommandGroupBase.sequence(*cmds).withName(name) + +/** + * Create a parallel command group with a name. + * + * @param name The name of the command group. + * @param cmds The commands to run in parallel. + * @return A new command group. + */ +fun parallel(name : String, vararg cmds : Command) = + CommandGroupBase.parallel(*cmds).withName(name) + +/** + * Create a racing command group with a name. + * + * @param name The name of the command group. + * @param racers The commands to race. + * @return A new command group. + */ +fun race(name : String, vararg racers : Command) = + CommandGroupBase.race(*racers).withName(name) + +/** + * Create a deadline-limited command group with a name. + * + * @param name The name of the command group. + * @param limiter The deadline command. + * @param cmds The commands to run until the deadline ends. + * @return A new command group. + */ +fun deadline(name : String, limiter : Command, vararg cmds : Command) = + CommandGroupBase.deadline(limiter, *cmds).withName(name) \ No newline at end of file diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/PresetSubsystem.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/PresetSubsystem.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/PresetSubsystem.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/PresetSubsystem.java diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/RepeatWhileCommand.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/RepeatWhileCommand.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/RepeatWhileCommand.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/RepeatWhileCommand.java diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystem.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystem.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystem.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystem.java diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystemBase.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystemBase.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystemBase.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/SmartSubsystemBase.java diff --git a/src/main/java/com/chopshop166/chopshoplib/commands/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/commands/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/commands/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/commands/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/controls/ButtonJoystick.java b/core/src/main/java/com/chopshop166/chopshoplib/controls/ButtonJoystick.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/controls/ButtonJoystick.java rename to core/src/main/java/com/chopshop166/chopshoplib/controls/ButtonJoystick.java diff --git a/src/main/java/com/chopshop166/chopshoplib/controls/ButtonXboxController.java b/core/src/main/java/com/chopshop166/chopshoplib/controls/ButtonXboxController.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/controls/ButtonXboxController.java rename to core/src/main/java/com/chopshop166/chopshoplib/controls/ButtonXboxController.java diff --git a/src/main/java/com/chopshop166/chopshoplib/controls/CallbackUtils.java b/core/src/main/java/com/chopshop166/chopshoplib/controls/CallbackUtils.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/controls/CallbackUtils.java rename to core/src/main/java/com/chopshop166/chopshoplib/controls/CallbackUtils.java diff --git a/core/src/main/java/com/chopshop166/chopshoplib/controls/Controls.kt b/core/src/main/java/com/chopshop166/chopshoplib/controls/Controls.kt new file mode 100644 index 00000000..55ef9d7f --- /dev/null +++ b/core/src/main/java/com/chopshop166/chopshoplib/controls/Controls.kt @@ -0,0 +1,36 @@ +package com.chopshop166.chopshoplib.controls + +import com.chopshop166.chopshoplib.controls.ButtonXboxController +import com.chopshop166.chopshoplib.triggers.XboxTrigger +import edu.wpi.first.wpilibj.GenericHID.Hand +import edu.wpi.first.wpilibj.XboxController.Button +import edu.wpi.first.wpilibj2.command.button.JoystickButton +import edu.wpi.first.wpilibj2.command.button.Trigger + +typealias TriggerSetup = Trigger.() -> Unit +typealias ButtonSetup = JoystickButton.() -> Unit + +class ControllerConfigurer(val controller : ButtonXboxController) { + + private fun button(btn : Button) = JoystickButton(controller, btn.value) + + operator fun JoystickButton.invoke(block : ButtonSetup) = block() + operator fun XboxTrigger.invoke(block : TriggerSetup) = block() + + val a = button(Button.kA) + val b = button(Button.kB) + val x = button(Button.kX) + val y = button(Button.kY) + val start = button(Button.kStart) + val back = button(Button.kBack) + val l = button(Button.kBumperLeft) + val r = button(Button.kBumperRight) + val stickLeft = button(Button.kStickLeft) + val stickRight = button(Button.kStickRight) + val trigger = mapOf( + Hand.kLeft to XboxTrigger(controller, Hand.kLeft), + Hand.kRight to XboxTrigger(controller, Hand.kRight) + ) +} + +fun ButtonXboxController.configure(block : ControllerConfigurer.() -> Unit) = ControllerConfigurer(this).block() diff --git a/src/main/java/com/chopshop166/chopshoplib/controls/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/controls/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/controls/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/controls/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/maps/DifferentialDriveMap.java b/core/src/main/java/com/chopshop166/chopshoplib/maps/DifferentialDriveMap.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/maps/DifferentialDriveMap.java rename to core/src/main/java/com/chopshop166/chopshoplib/maps/DifferentialDriveMap.java diff --git a/src/main/java/com/chopshop166/chopshoplib/maps/RobotMapFor.java b/core/src/main/java/com/chopshop166/chopshoplib/maps/RobotMapFor.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/maps/RobotMapFor.java rename to core/src/main/java/com/chopshop166/chopshoplib/maps/RobotMapFor.java diff --git a/src/main/java/com/chopshop166/chopshoplib/maps/RobotMapForCollection.java b/core/src/main/java/com/chopshop166/chopshoplib/maps/RobotMapForCollection.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/maps/RobotMapForCollection.java rename to core/src/main/java/com/chopshop166/chopshoplib/maps/RobotMapForCollection.java diff --git a/src/main/java/com/chopshop166/chopshoplib/maps/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/maps/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/maps/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/maps/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/DigitalOutputDutyCycle.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/DigitalOutputDutyCycle.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/DigitalOutputDutyCycle.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/DigitalOutputDutyCycle.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/IDSolenoid.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/IDSolenoid.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/IDSolenoid.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/IDSolenoid.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/IDigitalOutput.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/IDigitalOutput.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/IDigitalOutput.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/IDigitalOutput.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/ISolenoid.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/ISolenoid.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/ISolenoid.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/ISolenoid.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/MockDSolenoid.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/MockDSolenoid.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/MockDSolenoid.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/MockDSolenoid.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/MockDigitalOutput.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/MockDigitalOutput.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/MockDigitalOutput.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/MockDigitalOutput.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/MockSolenoid.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/MockSolenoid.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/MockSolenoid.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/MockSolenoid.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/MockSpeedController.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/MockSpeedController.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/MockSpeedController.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/MockSpeedController.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/Modifier.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/Modifier.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/Modifier.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/Modifier.java diff --git a/core/src/main/java/com/chopshop166/chopshoplib/outputs/Motors.kt b/core/src/main/java/com/chopshop166/chopshoplib/outputs/Motors.kt new file mode 100644 index 00000000..02b74513 --- /dev/null +++ b/core/src/main/java/com/chopshop166/chopshoplib/outputs/Motors.kt @@ -0,0 +1,76 @@ +package com.chopshop166.chopshoplib.outputs + +import com.chopshop166.chopshoplib.sensors.IEncoder +import com.chopshop166.chopshoplib.sensors.MockEncoder +import com.ctre.phoenix.motorcontrol.ControlMode +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX +import com.revrobotics.CANSparkMax +import com.revrobotics.ControlType +import edu.wpi.first.wpilibj.Sendable +import edu.wpi.first.wpilibj.SpeedController +import edu.wpi.first.wpilibj.controller.PIDController + +enum class PIDControlType { + Velocity, + Position +} + +fun SmartMotorController.toSmart() = this + +fun T.toSmart(encoder: IEncoder = MockEncoder(), vararg mods: Modifier) where +T : Sendable, +T : SpeedController = SmartMotorController(this, encoder, *mods) + +fun CANSparkMax.follow(thisObj: PIDSparkMax, inverted: Boolean = false) = + follow(thisObj.motorController, inverted) + +fun CANSparkMax.withPID( + controlType: PIDControlType = PIDControlType.Velocity, + block: PIDSparkMax.() -> Unit = {} +) = + PIDSparkMax(this).apply { + this.controlType = + when (controlType) { + PIDControlType.Position -> ControlType.kPosition + PIDControlType.Velocity -> ControlType.kVelocity + } + block() + } + +fun WPI_TalonSRX.withPID( + controlType: PIDControlType = PIDControlType.Velocity, + block: WPI_TalonSRX.() -> Unit = {} +) = + PIDTalonSRX(this).apply { + this.controlType = + when (controlType) { + PIDControlType.Position -> ControlMode.Position + PIDControlType.Velocity -> ControlMode.Velocity + } + block() + } + +fun WPI_TalonFX.withPID( + controlType: PIDControlType = PIDControlType.Velocity, + block: WPI_TalonFX.() -> Unit = {} +) = + PIDTalonFX(this).apply { + this.controlType = + when (controlType) { + PIDControlType.Position -> ControlMode.Position + PIDControlType.Velocity -> ControlMode.Velocity + } + block() + } + +fun T.withPID( + pid: PIDController, + encoder: IEncoder, + controlType: PIDControlType = PIDControlType.Velocity, + block: SwPIDSpeedController.() -> Unit = {} +) where T : SpeedController, T : Sendable = + when (controlType) { + PIDControlType.Position -> SwPIDSpeedController.position(this, pid, encoder) + PIDControlType.Velocity -> SwPIDSpeedController.velocity(this, pid, encoder) + }.apply(block) diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/PIDSparkMax.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDSparkMax.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/PIDSparkMax.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDSparkMax.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonBase.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonBase.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonBase.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonBase.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonFX.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonFX.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonFX.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonFX.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonSRX.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonSRX.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonSRX.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/PIDTalonSRX.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/SmartMotorController.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/SmartMotorController.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/SmartMotorController.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/SmartMotorController.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/SwPIDSpeedController.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/SwPIDSpeedController.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/SwPIDSpeedController.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/SwPIDSpeedController.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/WDSolenoid.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/WDSolenoid.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/WDSolenoid.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/WDSolenoid.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/WSolenoid.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/WSolenoid.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/WSolenoid.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/WSolenoid.java diff --git a/src/main/java/com/chopshop166/chopshoplib/outputs/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/outputs/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/outputs/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/outputs/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/CTREEncoder.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/CTREEncoder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/CTREEncoder.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/CTREEncoder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/DigitalInputSource.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/DigitalInputSource.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/DigitalInputSource.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/DigitalInputSource.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/IAbsolutePosition.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/IAbsolutePosition.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/IAbsolutePosition.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/IAbsolutePosition.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/IColorSensor.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/IColorSensor.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/IColorSensor.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/IColorSensor.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/IEncoder.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/IEncoder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/IEncoder.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/IEncoder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/Lidar.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/Lidar.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/Lidar.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/Lidar.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/MockAccelerometer.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/MockAccelerometer.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/MockAccelerometer.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/MockAccelerometer.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/MockAnalogInput.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/MockAnalogInput.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/MockAnalogInput.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/MockAnalogInput.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/MockColorSensor.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/MockColorSensor.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/MockColorSensor.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/MockColorSensor.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/MockDigitalInput.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/MockDigitalInput.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/MockDigitalInput.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/MockDigitalInput.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/MockEncoder.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/MockEncoder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/MockEncoder.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/MockEncoder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/MockGyro.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/MockGyro.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/MockGyro.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/MockGyro.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/PigeonGyro.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/PigeonGyro.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/PigeonGyro.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/PigeonGyro.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/REVColorSensor.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/REVColorSensor.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/REVColorSensor.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/REVColorSensor.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/SparkMaxEncoder.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/SparkMaxEncoder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/SparkMaxEncoder.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/SparkMaxEncoder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/TalonEncoder.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/TalonEncoder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/TalonEncoder.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/TalonEncoder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/WDigitalInput.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/WDigitalInput.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/WDigitalInput.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/WDigitalInput.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/WEncoder.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/WEncoder.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/WEncoder.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/WEncoder.java diff --git a/src/main/java/com/chopshop166/chopshoplib/sensors/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/sensors/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/sensors/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/sensors/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/states/Direction.java b/core/src/main/java/com/chopshop166/chopshoplib/states/Direction.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/states/Direction.java rename to core/src/main/java/com/chopshop166/chopshoplib/states/Direction.java diff --git a/src/main/java/com/chopshop166/chopshoplib/states/OpenClose.java b/core/src/main/java/com/chopshop166/chopshoplib/states/OpenClose.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/states/OpenClose.java rename to core/src/main/java/com/chopshop166/chopshoplib/states/OpenClose.java diff --git a/src/main/java/com/chopshop166/chopshoplib/states/StateSubsystem.java b/core/src/main/java/com/chopshop166/chopshoplib/states/StateSubsystem.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/states/StateSubsystem.java rename to core/src/main/java/com/chopshop166/chopshoplib/states/StateSubsystem.java diff --git a/src/main/java/com/chopshop166/chopshoplib/states/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/states/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/states/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/states/package-info.java diff --git a/src/main/java/com/chopshop166/chopshoplib/triggers/XboxTrigger.java b/core/src/main/java/com/chopshop166/chopshoplib/triggers/XboxTrigger.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/triggers/XboxTrigger.java rename to core/src/main/java/com/chopshop166/chopshoplib/triggers/XboxTrigger.java diff --git a/src/main/java/com/chopshop166/chopshoplib/triggers/package-info.java b/core/src/main/java/com/chopshop166/chopshoplib/triggers/package-info.java similarity index 100% rename from src/main/java/com/chopshop166/chopshoplib/triggers/package-info.java rename to core/src/main/java/com/chopshop166/chopshoplib/triggers/package-info.java diff --git a/src/test/java/com/chopshop166/chopshoplib/DigitalInputSourceTest.java b/core/src/test/java/com/chopshop166/chopshoplib/DigitalInputSourceTest.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/DigitalInputSourceTest.java rename to core/src/test/java/com/chopshop166/chopshoplib/DigitalInputSourceTest.java diff --git a/src/test/java/com/chopshop166/chopshoplib/maps/MapA.java b/core/src/test/java/com/chopshop166/chopshoplib/maps/MapA.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/maps/MapA.java rename to core/src/test/java/com/chopshop166/chopshoplib/maps/MapA.java diff --git a/src/test/java/com/chopshop166/chopshoplib/maps/MapB.java b/core/src/test/java/com/chopshop166/chopshoplib/maps/MapB.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/maps/MapB.java rename to core/src/test/java/com/chopshop166/chopshoplib/maps/MapB.java diff --git a/src/test/java/com/chopshop166/chopshoplib/maps/MapGetterTest.java b/core/src/test/java/com/chopshop166/chopshoplib/maps/MapGetterTest.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/maps/MapGetterTest.java rename to core/src/test/java/com/chopshop166/chopshoplib/maps/MapGetterTest.java diff --git a/src/test/java/com/chopshop166/chopshoplib/maps/RobotMap.java b/core/src/test/java/com/chopshop166/chopshoplib/maps/RobotMap.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/maps/RobotMap.java rename to core/src/test/java/com/chopshop166/chopshoplib/maps/RobotMap.java diff --git a/src/test/java/com/chopshop166/chopshoplib/states/Claw.java b/core/src/test/java/com/chopshop166/chopshoplib/states/Claw.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/states/Claw.java rename to core/src/test/java/com/chopshop166/chopshoplib/states/Claw.java diff --git a/src/test/java/com/chopshop166/chopshoplib/states/Claw2.java b/core/src/test/java/com/chopshop166/chopshoplib/states/Claw2.java similarity index 100% rename from src/test/java/com/chopshop166/chopshoplib/states/Claw2.java rename to core/src/test/java/com/chopshop166/chopshoplib/states/Claw2.java diff --git a/core/vendordeps/LightDrive.json b/core/vendordeps/LightDrive.json new file mode 100644 index 00000000..f90f9c71 --- /dev/null +++ b/core/vendordeps/LightDrive.json @@ -0,0 +1,32 @@ +{ + "fileName": "LightDrive.json", + "name": "MACH-LightDrive", + "version": "2019.2.19", + "uuid": "8e771444-0691-4b6d-8d09-8868c3298009", + "mavenUrls": [ + "http://mach-engineering.com/products/maven/" + ], + "jsonUrl": "http://mach-engineering.com/products/maven/com/mach/LightDrive/LightDrive.json", + "javaDependencies": [ + { + "groupId": "com.mach.LightDrive", + "artifactId": "LightDrive-java", + "version": "2019.2.19" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.mach.LightDrive", + "artifactId": "LightDrive-cpp", + "version": "2019.2.13", + "libName": "mach", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix.json b/core/vendordeps/Phoenix.json similarity index 100% rename from vendordeps/Phoenix.json rename to core/vendordeps/Phoenix.json diff --git a/vendordeps/REVColorSensorV3.json b/core/vendordeps/REVColorSensorV3.json similarity index 100% rename from vendordeps/REVColorSensorV3.json rename to core/vendordeps/REVColorSensorV3.json diff --git a/vendordeps/REVRobotics.json b/core/vendordeps/REVRobotics.json similarity index 100% rename from vendordeps/REVRobotics.json rename to core/vendordeps/REVRobotics.json diff --git a/vendordeps/WPILibNewCommands.json b/core/vendordeps/WPILibNewCommands.json similarity index 100% rename from vendordeps/WPILibNewCommands.json rename to core/vendordeps/WPILibNewCommands.json diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index d2ba48d7..549d8442 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,5 +1,5 @@ distributionBase=GRADLE_USER_HOME -distributionPath=permwrapper/dists +distributionPath=wrapper/dists distributionUrl=https\://services.gradle.org/distributions/gradle-6.9-bin.zip zipStoreBase=GRADLE_USER_HOME -zipStorePath=permwrapper/dists +zipStorePath=wrapper/dists diff --git a/gradlew.bat b/gradlew.bat index ac1b06f9..107acd32 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -1,89 +1,89 @@ -@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=. -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%" == "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%"=="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! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega +@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=. +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%" == "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%"=="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! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/kotlinext/build.gradle b/kotlinext/build.gradle new file mode 100644 index 00000000..578241b2 --- /dev/null +++ b/kotlinext/build.gradle @@ -0,0 +1,31 @@ +plugins { + id "org.jetbrains.kotlin.jvm" version "1.5.30" + id 'com.chopshop166.chopshoplib.java-library-conventions' + id 'com.github.spotbugs' version '4.7.3' + id 'edu.wpi.first.GradleRIO' version '2021.3.1' +} + +compileKotlin { + kotlinOptions { + jvmTarget = "11" + freeCompilerArgs += "-Xopt-in=kotlin.RequiresOptIn" + } +} + +dependencies { + // WPIlib core + api wpi.deps.wpilib() + // Vendor dependencies + wpi.deps.vendor.loadFrom(project(":core")) + api wpi.deps.vendor.java() + // Core dependencies + api project(':core') +} + +publishing { + publications { + kotlinext(MavenPublication) { + from components.java + } + } +} diff --git a/kotlinext/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt b/kotlinext/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt new file mode 100644 index 00000000..a5b3580f --- /dev/null +++ b/kotlinext/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt @@ -0,0 +1,93 @@ +@file:OptIn(kotlin.experimental.ExperimentalTypeInference::class) +package com.chopshop166.chopshoplib + +import edu.wpi.cscore.VideoSink +import edu.wpi.cscore.VideoSource +import edu.wpi.first.cameraserver.CameraServer +import edu.wpi.first.wpilibj.Sendable +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard + +class DashboardWrapper internal constructor () { + operator fun set(name: String, value: Sendable) = (name displays value) + operator fun set(name: String, value: Boolean) = (name displays value) + operator fun set(name: String, value: String) = (name displays value) + operator fun set(name: String, value: Double) = (name displays value) + operator fun set(name: String, value: Int) = (name displays value) + + operator fun get(name: String) = SmartDashboard.getData(name) + + operator fun invoke(block: DashboardWrapper.() -> Unit = {}) = apply(block) + + infix fun String.displays(value: Sendable) = SmartDashboard.putData(this, value) + infix fun String.displays(value: Boolean) = SmartDashboard.putBoolean(this, value) + infix fun String.displays(value: String) = SmartDashboard.putString(this, value) + infix fun String.displays(value: Double) = SmartDashboard.putNumber(this, value) + infix fun String.displays(value: Int) = SmartDashboard.putNumber(this, value.toDouble()) + + fun entry(name: String) = SmartDashboard.getEntry(name) +} +val dashboard = DashboardWrapper() + +class ShuffleboardContainerWrapper internal constructor (val con : ShuffleboardContainer) { + + val title : String get() { return con.getTitle() } + + operator fun set(name: String, value: Sendable) = name(value) + @OverloadResolutionByLambdaReturnType + @JvmName("setBoolean") operator fun set(name: String, value: () -> Boolean) = name(value) + @JvmName("setString") operator fun set(name: String, value: () -> String) = name(value) + @JvmName("setNumber") operator fun set(name: String, value: () -> Double) = name(value) + @JvmName("setInt") operator fun set(name: String, value: () -> Int) = name(value) + + operator fun get(name: String) = ShuffleboardContainerWrapper(con.getLayout(name)) + fun layout(name : String, block: ShuffleboardContainerWrapper.() -> Unit = {}) = this[name].run(block) + + operator fun String.invoke(value: Sendable) = con.add(this, value) + @OverloadResolutionByLambdaReturnType + @JvmName("invokeBoolean") operator fun String.invoke(value: () -> Boolean) = con.addBoolean(this, value) + @JvmName("invokeString") operator fun String.invoke(value: () -> String) = con.addString(this, value) + @JvmName("invokeNumber") operator fun String.invoke(value: () -> Double) = con.addNumber(this, value) + @JvmName("invokeInt") operator fun String.invoke(value: () -> Int) = con.addNumber(this) { value().toDouble() } +} +fun shuffleboard(name : String, block: ShuffleboardContainerWrapper.() -> Unit = {}) = ShuffleboardContainerWrapper(Shuffleboard.getTab(name)).apply(block) + +class ChooserWrapper(val chooser: SendableChooser) { + infix fun String.default(value: T) { chooser.setDefaultOption(this, value) } + infix fun String.chooses(value: T) { chooser.addOption(this, value) } +} + +inline fun chooser(block: ChooserWrapper.() -> Unit) = SendableChooser().apply { + ChooserWrapper(this).block() +} + +class VideoSourceWrapper(val source: VideoSource) { + operator fun get(name: String) = source.getProperty(name).get() + operator fun set(name: String, value: Int) = source.getProperty(name).set(value) +} + +class VideoSinkWrapper(val sink: VideoSink) { + operator fun get(name: String) = sink.getProperty(name).get() + operator fun set(name: String, value: Int) = sink.getProperty(name).set(value) +} + +class CameraServerWrapper(private val base: CameraServer) { + fun server(block: VideoSinkWrapper.() -> Unit = {}) = + base.getServer().apply { VideoSinkWrapper(this).block() } + fun server(name: String, block: VideoSinkWrapper.() -> Unit = {}) = + base.getServer(name).apply { VideoSinkWrapper(this).block() } + fun source(block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture().apply { VideoSourceWrapper(this).block() } + fun source(dev: Int, block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture(dev).apply { VideoSourceWrapper(this).block() } + fun source(camera: VideoSource, block: VideoSinkWrapper.() -> Unit = {}) = + base.startAutomaticCapture(camera).apply { VideoSinkWrapper(this).block() } + fun source(name: String, dev: Int, block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture(name, dev).apply { VideoSourceWrapper(this).block() } + fun source(name: String, path: String, block: VideoSourceWrapper.() -> Unit = {}) = + base.startAutomaticCapture(name, path).apply { VideoSourceWrapper(this).block() } +} + +val cameraServer = CameraServerWrapper(CameraServer.getInstance()) diff --git a/kotlinext/src/main/java/com/chopshop166/chopshoplib/Utils.kt b/kotlinext/src/main/java/com/chopshop166/chopshoplib/Utils.kt new file mode 100644 index 00000000..51e7790d --- /dev/null +++ b/kotlinext/src/main/java/com/chopshop166/chopshoplib/Utils.kt @@ -0,0 +1,18 @@ +package com.chopshop166.chopshoplib + +import kotlin.math.max +import kotlin.math.min +import kotlin.math.pow +import kotlin.math.withSign + +fun Double.clamped(minVal : Double, maxVal : Double) = max(minVal, min(maxVal, this)) +fun Float.clamped(minVal : Float, maxVal : Float) = max(minVal, min(maxVal, this)) +fun Int.clamped(minVal : Int, maxVal : Int) = max(minVal, min(maxVal, this)) +fun Long.clamped(minVal : Long, maxVal : Long) = max(minVal, min(maxVal, this)) + +fun Double.signPow(exp : Double) = pow(exp).withSign(this) + +typealias BoolFunc = ()->Boolean +operator fun BoolFunc.not() = {!this()} +infix fun BoolFunc.and(other : BoolFunc) = {this() && other()} +infix fun BoolFunc.or(other : BoolFunc) = {this() || other()} diff --git a/kotlinext/src/main/java/com/chopshop166/chopshoplib/commands/Commands.kt b/kotlinext/src/main/java/com/chopshop166/chopshoplib/commands/Commands.kt new file mode 100644 index 00000000..930a71ab --- /dev/null +++ b/kotlinext/src/main/java/com/chopshop166/chopshoplib/commands/Commands.kt @@ -0,0 +1,271 @@ +package com.chopshop166.chopshoplib.commands + +import com.chopshop166.chopshoplib.Resettable +import com.chopshop166.chopshoplib.commands.CommandRobot +import com.chopshop166.chopshoplib.commands.CommandUtils +import edu.wpi.first.wpilibj2.command.Command +import edu.wpi.first.wpilibj2.command.CommandBase +import edu.wpi.first.wpilibj2.command.CommandGroupBase +import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.RunCommand +import edu.wpi.first.wpilibj2.command.StartEndCommand +import edu.wpi.first.wpilibj2.command.Subsystem +import edu.wpi.first.wpilibj2.command.SubsystemBase +import edu.wpi.first.wpilibj2.command.WaitCommand +import edu.wpi.first.wpilibj2.command.WaitUntilCommand +import java.util.function.Supplier + +fun wait(time: Double) = WaitCommand(time) +fun wait(until: () -> Boolean) = WaitUntilCommand(until) + +fun exec(block: () -> Unit) = InstantCommand(block) + +fun repeat(name: String = "", num: Int, block: () -> Command) = + CommandUtils.repeat(num, Supplier(block)).apply { + if (name != "") { + this.name = name + } + } + +@DslMarker +annotation class CommandBuilderMarker + +@CommandBuilderMarker +class CommandBuilder(var cmdName: String = "", private vararg val sys: Subsystem) { + private var onInit: Command.() -> Unit = {} + private var onExecute: Command.() -> Unit = {} + private var onEnd: Command.(Boolean) -> Unit = {} + private var isFinishedCheck: Command.() -> Boolean = { true } + + fun initialize(onInit: Command.() -> Unit) { this.onInit = onInit } + fun execute(onExecute: Command.() -> Unit) { this.onExecute = onExecute } + fun end(onEnd: Command.(Boolean) -> Unit) { this.onEnd = onEnd } + fun isFinished(isFinishedCheck: Command.() -> Boolean) { this.isFinishedCheck = isFinishedCheck } + + fun build() = + object : CommandBase() { + init { + if (cmdName != "") { + this.name = cmdName + } + addRequirements(*sys) + } + override fun initialize() = onInit() + override fun execute() = onExecute() + override fun end(interrupted: Boolean) = onEnd(interrupted) + override fun isFinished() = isFinishedCheck() + } +} + +fun cmd(name: String = "", block: CommandBuilder.() -> Unit) = + CommandBuilder(name).apply(block).build() + +inline fun CommandRobot.getMapForName( + name: String, + pkg: String, + defaultValue: T +) = + CommandRobot.getMapForName(name, T::class.java, pkg, defaultValue) + +fun Subsystem.cmd(name: String = "", block: CommandBuilder.() -> Unit) = + CommandBuilder(name, this).apply(block).build() + +/** + * Create an {@link InstantCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun Subsystem.instant(name : String, action : () -> Unit) = + InstantCommand(action, this).withName(name) + +/** + * Create an {@link InstantCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun instant(name : String, action : () -> Unit) = + InstantCommand(action).withName(name) + +/** + * Create a {@link RunCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun Subsystem.running(name : String, action : () -> Unit) = + RunCommand(action, this).withName(name) + +/** + * Create a {@link RunCommand}. + * + * @param name The name of the command. + * @param action The action to take. + * @return A new command. + */ +fun running(name : String, action : () -> Unit) = + RunCommand(action).withName(name) + +/** + * Create a {@link StartEndCommand}. + * + * @param name The name of the command. + * @param onStart The action to take on start. + * @param onEnd The action to take on end. + * @return A new command. + */ +fun Subsystem.startEnd(name : String, onStart : () -> Unit, onEnd : () -> Unit) = + StartEndCommand(onStart, onEnd, this).withName(name) + +/** + * Create a {@link StartEndCommand}. + * + * @param name The name of the command. + * @param onStart The action to take on start. + * @param onEnd The action to take on end. + * @return A new command. + */ +fun startEnd(name : String, onStart : () -> Unit, onEnd : () -> Unit) = + StartEndCommand(onStart, onEnd,).withName(name) + +/** + * Run a {@link Runnable} and then wait until a condition is true. + * + * @param name The name of the command. + * @param init The action to take. + * @param until The condition to wait until. + * @return A new command. + */ +fun Subsystem.initAndWait(name : String, init : () -> Unit, until : () -> Boolean) = + parallel(name, InstantCommand(init, this), wait(until)) + +/** + * Run a {@link Runnable} and then wait until a condition is true. + * + * @param name The name of the command. + * @param init The action to take. + * @param until The condition to wait until. + * @return A new command. + */ +fun initAndWait(name : String, init : () -> Unit, until : () -> Boolean) = + parallel(name, InstantCommand(init), wait(until)) + +/** + * Create a command to call a consumer function. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @return A new command. + */ +fun Subsystem.setter(name : String, value : T, func : (T) -> Unit) = + instant(name) { + func(value); + } + +/** + * Create a command to call a consumer function. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @return A new command. + */ +fun setter(name : String, value : T, func : (T) -> Unit) = + instant(name) { + func(value); + } + +/** + * Create a command to call a consumer function and wait. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @param until The condition to wait until. + * @return A new command. + */ +fun Subsystem.callAndWait(name : String, value : T, func : (T) -> Unit, until : () -> Boolean) = + initAndWait(name, { + func(value); + }, until); + +/** + * Create a command to call a consumer function and wait. + * + * @param The type to wrap. + * @param name The name of the command. + * @param value The value to call the function with. + * @param func The function to call. + * @param until The condition to wait until. + * @return A new command. + */ +fun callAndWait(name : String, value : T, func : (T) -> Unit, until : () -> Boolean) = + initAndWait(name, { + func(value); + }, until); + +/** + * Create a command to reset the subsystem. + * + * @return A reset command. + */ +fun T.resetCmd() where T : SubsystemBase, T : Resettable = + instant("Reset " + this.name, this::reset) + +/** + * Cancel the currently running command. + * + * @return A cancel command. + */ +fun SubsystemBase.cancel() = + instant("Cancel " + this.name) { + } + +/** + * Create a sequential command group with a name. + * + * @param name The name of the command group. + * @param cmds The commands to sequence. + * @return A new command group. + */ +fun sequence(name : String, vararg cmds : Command) = + CommandGroupBase.sequence(*cmds).withName(name) + +/** + * Create a parallel command group with a name. + * + * @param name The name of the command group. + * @param cmds The commands to run in parallel. + * @return A new command group. + */ +fun parallel(name : String, vararg cmds : Command) = + CommandGroupBase.parallel(*cmds).withName(name) + +/** + * Create a racing command group with a name. + * + * @param name The name of the command group. + * @param racers The commands to race. + * @return A new command group. + */ +fun race(name : String, vararg racers : Command) = + CommandGroupBase.race(*racers).withName(name) + +/** + * Create a deadline-limited command group with a name. + * + * @param name The name of the command group. + * @param limiter The deadline command. + * @param cmds The commands to run until the deadline ends. + * @return A new command group. + */ +fun deadline(name : String, limiter : Command, vararg cmds : Command) = + CommandGroupBase.deadline(limiter, *cmds).withName(name) \ No newline at end of file diff --git a/kotlinext/src/main/java/com/chopshop166/chopshoplib/controls/Controls.kt b/kotlinext/src/main/java/com/chopshop166/chopshoplib/controls/Controls.kt new file mode 100644 index 00000000..55ef9d7f --- /dev/null +++ b/kotlinext/src/main/java/com/chopshop166/chopshoplib/controls/Controls.kt @@ -0,0 +1,36 @@ +package com.chopshop166.chopshoplib.controls + +import com.chopshop166.chopshoplib.controls.ButtonXboxController +import com.chopshop166.chopshoplib.triggers.XboxTrigger +import edu.wpi.first.wpilibj.GenericHID.Hand +import edu.wpi.first.wpilibj.XboxController.Button +import edu.wpi.first.wpilibj2.command.button.JoystickButton +import edu.wpi.first.wpilibj2.command.button.Trigger + +typealias TriggerSetup = Trigger.() -> Unit +typealias ButtonSetup = JoystickButton.() -> Unit + +class ControllerConfigurer(val controller : ButtonXboxController) { + + private fun button(btn : Button) = JoystickButton(controller, btn.value) + + operator fun JoystickButton.invoke(block : ButtonSetup) = block() + operator fun XboxTrigger.invoke(block : TriggerSetup) = block() + + val a = button(Button.kA) + val b = button(Button.kB) + val x = button(Button.kX) + val y = button(Button.kY) + val start = button(Button.kStart) + val back = button(Button.kBack) + val l = button(Button.kBumperLeft) + val r = button(Button.kBumperRight) + val stickLeft = button(Button.kStickLeft) + val stickRight = button(Button.kStickRight) + val trigger = mapOf( + Hand.kLeft to XboxTrigger(controller, Hand.kLeft), + Hand.kRight to XboxTrigger(controller, Hand.kRight) + ) +} + +fun ButtonXboxController.configure(block : ControllerConfigurer.() -> Unit) = ControllerConfigurer(this).block() diff --git a/kotlinext/src/main/java/com/chopshop166/chopshoplib/outputs/Motors.kt b/kotlinext/src/main/java/com/chopshop166/chopshoplib/outputs/Motors.kt new file mode 100644 index 00000000..02b74513 --- /dev/null +++ b/kotlinext/src/main/java/com/chopshop166/chopshoplib/outputs/Motors.kt @@ -0,0 +1,76 @@ +package com.chopshop166.chopshoplib.outputs + +import com.chopshop166.chopshoplib.sensors.IEncoder +import com.chopshop166.chopshoplib.sensors.MockEncoder +import com.ctre.phoenix.motorcontrol.ControlMode +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX +import com.revrobotics.CANSparkMax +import com.revrobotics.ControlType +import edu.wpi.first.wpilibj.Sendable +import edu.wpi.first.wpilibj.SpeedController +import edu.wpi.first.wpilibj.controller.PIDController + +enum class PIDControlType { + Velocity, + Position +} + +fun SmartMotorController.toSmart() = this + +fun T.toSmart(encoder: IEncoder = MockEncoder(), vararg mods: Modifier) where +T : Sendable, +T : SpeedController = SmartMotorController(this, encoder, *mods) + +fun CANSparkMax.follow(thisObj: PIDSparkMax, inverted: Boolean = false) = + follow(thisObj.motorController, inverted) + +fun CANSparkMax.withPID( + controlType: PIDControlType = PIDControlType.Velocity, + block: PIDSparkMax.() -> Unit = {} +) = + PIDSparkMax(this).apply { + this.controlType = + when (controlType) { + PIDControlType.Position -> ControlType.kPosition + PIDControlType.Velocity -> ControlType.kVelocity + } + block() + } + +fun WPI_TalonSRX.withPID( + controlType: PIDControlType = PIDControlType.Velocity, + block: WPI_TalonSRX.() -> Unit = {} +) = + PIDTalonSRX(this).apply { + this.controlType = + when (controlType) { + PIDControlType.Position -> ControlMode.Position + PIDControlType.Velocity -> ControlMode.Velocity + } + block() + } + +fun WPI_TalonFX.withPID( + controlType: PIDControlType = PIDControlType.Velocity, + block: WPI_TalonFX.() -> Unit = {} +) = + PIDTalonFX(this).apply { + this.controlType = + when (controlType) { + PIDControlType.Position -> ControlMode.Position + PIDControlType.Velocity -> ControlMode.Velocity + } + block() + } + +fun T.withPID( + pid: PIDController, + encoder: IEncoder, + controlType: PIDControlType = PIDControlType.Velocity, + block: SwPIDSpeedController.() -> Unit = {} +) where T : SpeedController, T : Sendable = + when (controlType) { + PIDControlType.Position -> SwPIDSpeedController.position(this, pid, encoder) + PIDControlType.Velocity -> SwPIDSpeedController.velocity(this, pid, encoder) + }.apply(block) diff --git a/kotlinext/src/test/java/com/chopshop166/chopshoplib/Dashboard.kt b/kotlinext/src/test/java/com/chopshop166/chopshoplib/Dashboard.kt new file mode 100644 index 00000000..f3736765 --- /dev/null +++ b/kotlinext/src/test/java/com/chopshop166/chopshoplib/Dashboard.kt @@ -0,0 +1,22 @@ +package com.chopshop166.chopshoplib + +// Compilation test +fun testDashboard() { + dashboard { + "Foo" displays 1234.0 + "Bar" displays 5678 + "Baz" displays "Hello, world!" + } + dashboard["asdf"] = "qwerty" +} + +fun testShuf() { + shuffleboard("tabName") { + "Foo" { 1234.0 } + "Bar" { 5678 } + "Baz" { "Hello, world!" }.withSize(2, 1) + layout("x") { + "y" { "z" } + } + } +} \ No newline at end of file diff --git a/kotlinext/src/test/java/com/chopshop166/chopshoplib/commands/Commands.kt b/kotlinext/src/test/java/com/chopshop166/chopshoplib/commands/Commands.kt new file mode 100644 index 00000000..f32d5d23 --- /dev/null +++ b/kotlinext/src/test/java/com/chopshop166/chopshoplib/commands/Commands.kt @@ -0,0 +1,31 @@ +package com.chopshop166.chopshoplib.commands + +import edu.wpi.first.wpilibj2.command.ConditionalCommand +import edu.wpi.first.wpilibj2.command.PrintCommand +import edu.wpi.first.wpilibj2.command.CommandGroupBase.sequence +import edu.wpi.first.wpilibj2.command.CommandGroupBase.parallel +import edu.wpi.first.wpilibj2.command.CommandGroupBase.race +import edu.wpi.first.wpilibj2.command.CommandGroupBase.deadline +import edu.wpi.first.wpilibj2.command.WaitCommand +import java.util.function.BooleanSupplier + +fun testSequence() = + sequence( + PrintCommand("A"), + parallel( + PrintCommand("B"), + PrintCommand("C").withTimeout(2.0), + sequence( + PrintCommand("F1"), + wait(Math.PI), + PrintCommand("F2"), + exec { + System.out.println("2 + 2 = " + (2 + 2)) + } + ) + ), + PrintCommand("D"), + PrintCommand("E").withTimeout(3.0), + PrintCommand("G"), + ConditionalCommand(PrintCommand("It's true"), PrintCommand("It's false"), BooleanSupplier { -> true }) + ) diff --git a/kotlinext/src/test/java/com/chopshop166/chopshoplib/controls/Controls.kt b/kotlinext/src/test/java/com/chopshop166/chopshoplib/controls/Controls.kt new file mode 100644 index 00000000..5071a0d3 --- /dev/null +++ b/kotlinext/src/test/java/com/chopshop166/chopshoplib/controls/Controls.kt @@ -0,0 +1,18 @@ +package com.chopshop166.chopshoplib.controls + +import com.chopshop166.chopshoplib.controls.ButtonXboxController +import edu.wpi.first.wpilibj.XboxController +import edu.wpi.first.wpilibj2.command.PrintCommand + +fun configureTest(controller : ButtonXboxController) { + controller.configure { + a { + whenPressed(PrintCommand("A pressed")) + } + b { + whenPressed(PrintCommand("B pressed")) + whenReleased(PrintCommand("B released")) + } + x.whenPressed(PrintCommand("X pressed")) + } +} diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 00000000..11408f88 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,2 @@ +rootProject.name = 'chopshoplib' +include('core', 'kotlinext')