From 3d46113d1d7b0a1f80e9dcdbd9802c7d0ee53083 Mon Sep 17 00:00:00 2001 From: Robocubs-Bot Date: Sat, 11 Jan 2025 05:33:29 +0000 Subject: [PATCH] Publish on 01/11/25 at 12:33AM EST Check the repository README for details. Contact software@team6328.org with any questions. --- .github/workflows_private/build.yml | 23 ++ .github/workflows_private/publish-public.yml | 45 ++ .gitignore | 190 +++++++++ .vscode/launch.json | 17 + .vscode/settings.json | 64 +++ .wpilib/wpilib_preferences.json | 6 + LICENSE => LICENSE.md | 2 +- README.md | 6 +- build.gradle | 218 ++++++++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 252 ++++++++++++ gradlew.bat | 94 +++++ settings.gradle | 30 ++ src/main/deploy/example.txt | 3 + src/main/java/frc/robot/Constants.java | 23 ++ src/main/java/frc/robot/Main.java | 15 + src/main/java/frc/robot/Robot.java | 128 ++++++ src/main/java/frc/robot/RobotContainer.java | 78 ++++ src/main/java/frc/robot/RobotState.java | 82 ++++ .../java/frc/robot/commands/DriveToPose.java | 142 +++++++ .../robot/commands/DriveWithJoysticks.java | 98 +++++ .../frc/robot/subsystems/drive/Drive.java | 117 ++++++ .../subsystems/drive/DriveConstants.java | 42 ++ .../frc/robot/subsystems/drive/DriveIO.java | 20 + .../subsystems/drive/DriveIOHardware.java | 57 +++ .../robot/subsystems/drive/DriveIOSim.java | 26 ++ .../subsystems/drive/DriveMeasurement.java | 23 ++ .../subsystems/drive/SwerveDriveInputs.java | 68 +++ .../drive/SwerveDriveInputsStruct.java | 106 +++++ .../subsystems/drive/TunerConstants.java | 290 +++++++++++++ .../drive/controllers/PathController.java | 45 ++ .../java/frc/robot/util/TriggeredAlert.java | 25 ++ vendordeps/AdvantageKit.json | 34 ++ vendordeps/ChoreoLib2025.json | 44 ++ vendordeps/Phoenix6-frc2025-latest.json | 389 ++++++++++++++++++ vendordeps/WPILibNewCommands.json | 38 ++ 37 files changed, 2845 insertions(+), 2 deletions(-) create mode 100644 .github/workflows_private/build.yml create mode 100644 .github/workflows_private/publish-public.yml create mode 100644 .gitignore create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json rename LICENSE => LICENSE.md (99%) create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100755 gradlew create mode 100644 gradlew.bat create mode 100644 settings.gradle create mode 100644 src/main/deploy/example.txt 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/RobotState.java create mode 100644 src/main/java/frc/robot/commands/DriveToPose.java create mode 100644 src/main/java/frc/robot/commands/DriveWithJoysticks.java create mode 100644 src/main/java/frc/robot/subsystems/drive/Drive.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DriveConstants.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DriveIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DriveIOHardware.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DriveIOSim.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DriveMeasurement.java create mode 100644 src/main/java/frc/robot/subsystems/drive/SwerveDriveInputs.java create mode 100644 src/main/java/frc/robot/subsystems/drive/SwerveDriveInputsStruct.java create mode 100644 src/main/java/frc/robot/subsystems/drive/TunerConstants.java create mode 100644 src/main/java/frc/robot/subsystems/drive/controllers/PathController.java create mode 100644 src/main/java/frc/robot/util/TriggeredAlert.java create mode 100644 vendordeps/AdvantageKit.json create mode 100644 vendordeps/ChoreoLib2025.json create mode 100644 vendordeps/Phoenix6-frc2025-latest.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.github/workflows_private/build.yml b/.github/workflows_private/build.yml new file mode 100644 index 0000000..88f85f8 --- /dev/null +++ b/.github/workflows_private/build.yml @@ -0,0 +1,23 @@ +name: Build + +on: + pull_request: + branches: + - main + +jobs: + build: + name: Build + runs-on: ubuntu-latest + container: wpilib/roborio-cross-ubuntu:2025-24.04 + steps: + - name: Checkout repository + uses: actions/checkout@v4 + - name: Grant execute permission + run: chmod +x gradlew + - name: Check formatting + run: ./gradlew lint + env: + CI: 'true' + - name: Build and test + run: ./gradlew build \ No newline at end of file diff --git a/.github/workflows_private/publish-public.yml b/.github/workflows_private/publish-public.yml new file mode 100644 index 0000000..987c5c4 --- /dev/null +++ b/.github/workflows_private/publish-public.yml @@ -0,0 +1,45 @@ +# Thanks to FRC 6328 for the original version of this script +name: Public Release + +on: + workflow_dispatch: + schedule: + - cron: "0 10 * * *" # 10:00 UTC + +jobs: + build: + name: Public Release + runs-on: ubuntu-latest + steps: + - name: Checkout private repository + uses: actions/checkout@v4 + with: + repository: Robocubs/2025-RobotPrivate + path: code-private + - name: Checkout public repository + uses: actions/checkout@v4 + with: + repository: Robocubs/2025-RobotPublic + path: code-public + - name: Configure user + run: | + git config --global user.email "github@robocubs.com" + git config --global user.name "Robocubs-Bot" + - name: Copy files to public + run: | + rm code-private/README.md + mv code-private/README-Public.md code-private/README.md + mv code-private/.github/workflows code-private/.github/workflows_private + rsync -av --delete code-private/ code-public --exclude .git + - name: Create public commit + working-directory: code-public + run: | + git add -A + git diff-index --quiet HEAD || git commit -m "Publish on `TZ=":US/Eastern" date +"%D at %I:%M%p %Z"`" -m "Check the repository README for details. Contact software@team6328.org with any questions." + - name: Push public commit + working-directory: code-public + env: + GITHUB_TOKEN: ${{ secrets.BOT_TOKEN }} + run: | + git config --unset-all http.https://github.com/.extraheader + git push --set-upstream https://Robocubs-Bot:$GITHUB_TOKEN@github.com/Robocubs/2025-RobotPublic main \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..4c88cd3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,190 @@ +# 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 +networktables.json +simgui*.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath + +# Version file +src/main/java/frc/robot/BuildConstants.java diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..b8c1920 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,17 @@ +{ + "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..75a022e --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,64 @@ +{ + "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" + } + }, + null + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + null + ] +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..a59ff5e --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 1701 +} diff --git a/LICENSE b/LICENSE.md similarity index 99% rename from LICENSE rename to LICENSE.md index 30f69be..1dc3aeb 100644 --- a/LICENSE +++ b/LICENSE.md @@ -18,4 +18,4 @@ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. +SOFTWARE. \ No newline at end of file diff --git a/README.md b/README.md index 23b117a..7359958 100644 --- a/README.md +++ b/README.md @@ -1 +1,5 @@ -# 2025-RobotPublic \ No newline at end of file +# 2025-RobotPublic + +[![License](https://img.shields.io/badge/License-MIT-blue)](https://github.com/Robocubs/2025-RobotPublic/blob/main/LICENSE) ![Last Commit](https://img.shields.io/github/last-commit/Robocubs/2025-RobotPublic?color=yellow) + +This repository is a nightly published copy of 1701's robot code, [inspired by 6328](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2025-build-thread/477314/11). It is intended to be treated as a read-only copy of the code. Please reach out to robocubs@robocubs.com with any questions. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..a0eedf8 --- /dev/null +++ b/build.gradle @@ -0,0 +1,218 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.1.1" + id "com.peterabeles.gversion" version "1.10" + id "com.diffplug.spotless" version "6.25.0" +} + +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' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +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 = true + +// Configuration for AdvantageKit +task(replayWatch, type: JavaExec) { + mainClass = "org.littletonrobotics.junction.ReplayWatch" + classpath = sourceSets.main.runtimeClasspath +} + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + 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() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" +} + +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' +} + +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/New_York" + indent = " " +} + +// Create commit with working changes on event branches +task(eventDeploy) { + doLast { + if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) { + def branchPrefix = "event" + def branch = 'git branch --show-current'.execute().text.trim() + def commitMessage = "Update at '${new Date().toString()}'" + + if (branch.startsWith(branchPrefix)) { + exec { + workingDir(projectDir) + executable 'git' + args 'add', '-A' + } + exec { + workingDir(projectDir) + executable 'git' + args 'commit', '-m', commitMessage + ignoreExitValue = true + } + + println "Committed to branch: '$branch'" + println "Commit message: '$commitMessage'" + } else { + println "Not on an event branch, skipping commit" + } + } else { + println "Not running deploy task, skipping commit" + } + } +} +createVersionFile.dependsOn(eventDeploy) + +// Spotless formatting +project.compileJava.dependsOn(spotlessApply) +spotless { + java { + target fileTree('.') { + include '**/*.java' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/java/frc/robot/BuildConstants.java', 'bin/generated-sources/**', 'src/main/deploy/**' + } + removeUnusedImports() + palantirJavaFormat() + importOrder('java|javax', '', '\\#') + formatAnnotations() + } + groovyGradle { + target fileTree('.') { + include '**/*.gradle' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/deploy/**' + } + greclipse() + indentWithSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + format 'xml', { + target fileTree('.') { + include '**/*.xml' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/deploy/**' + } + eclipseWtp('xml') + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } + json { + target fileTree(".") { + include "**/*.json" + exclude "**/build/**", "**/build-*/**" + } + gson().indentWithSpaces(2) + } + format 'misc', { + target fileTree('.') { + include '**/*.md', '**/.gitignore' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/deploy/**' + } + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } +} + +// 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+validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..f5feea6 --- /dev/null +++ b/gradlew @@ -0,0 +1,252 @@ +#!/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. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# 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/platforms/jvm/plugins-application/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 -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || 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..9b42019 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,94 @@ +@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 +@rem SPDX-License-Identifier: Apache-2.0 +@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. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +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/settings.gradle b/settings.gradle new file mode 100644 index 0000000..969c7b0 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + 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/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..f0c14e4 --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,23 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +public final class Constants { + private static final Mode simMode = Mode.SIM; + private static final RobotType realBot = RobotType.COMP_BOT; + private static final RobotType simBot = RobotType.SIM_BOT; + + public static final Mode mode = RobotBase.isReal() ? Mode.REAL : simMode; + public static final RobotType robot = (mode == Mode.REAL || mode == Mode.REPLAY) ? realBot : simBot; + + public static enum RobotType { + COMP_BOT, + SIM_BOT + } + + public static enum Mode { + REAL, + REPLAY, + SIM + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..5333e77 --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,15 @@ +// 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; + +public final class Main { + private Main() {} + + 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..4ed8cda --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,128 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.Threads; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import org.littletonrobotics.junction.LogFileUtil; +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGReader; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; + +public class Robot extends LoggedRobot { + private final RobotContainer robotContainer; + private Command autonomousCommand; + + public Robot() { + // Record metadata + Logger.recordMetadata("RuntimeType", getRuntimeType().toString()); + Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0: + Logger.recordMetadata("GitDirty", "All changes committed"); + break; + case 1: + Logger.recordMetadata("GitDirty", "Uncomitted changes"); + break; + default: + Logger.recordMetadata("GitDirty", "Unknown"); + break; + } + + // Set up data receivers & replay source + switch (Constants.mode) { + case REAL: + // Running on a real robot, log to a USB stick ("/U/logs") + Logger.addDataReceiver(new WPILOGWriter()); + Logger.addDataReceiver(new NT4Publisher()); + break; + + case SIM: + // Running a physics simulator, log to NT + Logger.addDataReceiver(new NT4Publisher()); + break; + + case REPLAY: + // Replaying a log, set up replay source + setUseTiming(false); // Run as fast as possible + String logPath = LogFileUtil.findReplayLog(); + Logger.setReplaySource(new WPILOGReader(logPath)); + Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); + break; + } + + // Start AdvantageKit logger + Logger.start(); + + // Build robot container + robotContainer = new RobotContainer(); + + // Enable command logging + SmartDashboard.putData(CommandScheduler.getInstance()); + } + + @Override + public void robotPeriodic() { + // Switch thread to high priority to improve loop timing + Threads.setCurrentThreadPriority(true, 99); + + CommandScheduler.getInstance().run(); + + // Return to normal thread priority + Threads.setCurrentThreadPriority(false, 10); + } + + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + @Override + public void disabledExit() {} + + /*@Override + public void autonomousInit() { + autonomousCommand = robotContainer.getAutonomousCommand(); + + if (autonomousCommand != null) { + autonomousCommand.schedule(); + } + }*/ + + @Override + public void autonomousPeriodic() {} + + @Override + public void autonomousExit() {} + + @Override + public void teleopInit() { + if (autonomousCommand != null) { + autonomousCommand.cancel(); + } + } + + @Override + public void teleopPeriodic() {} + + @Override + public void teleopExit() {} + + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } + + @Override + public void testPeriodic() {} + + @Override + public void testExit() {} +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..3349a5e --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,78 @@ +package frc.robot; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.Mode; +import frc.robot.subsystems.drive.Drive; +import frc.robot.subsystems.drive.DriveIO; +import frc.robot.subsystems.drive.DriveIOHardware; +import frc.robot.subsystems.drive.DriveIOSim; +import frc.robot.util.TriggeredAlert; + +public class RobotContainer { + private final CommandXboxController driverController = new CommandXboxController(0); + + // Subsystems + private final RobotState robotState; + private final Drive drive; + + // state triggers + private final Trigger teleop = RobotModeTriggers.teleop(); + + public RobotContainer() { + Drive drive = null; + + this.robotState = new RobotState(); + + if (Constants.mode != Mode.REPLAY) { + switch (Constants.robot) { + case COMP_BOT: + drive = new Drive(new DriveIOHardware(), robotState); + break; + + case SIM_BOT: + drive = new Drive(new DriveIOSim(), robotState); + break; + } + } + + if (drive == null) { + drive = new Drive(new DriveIO() {}, robotState); + } + + this.drive = drive; + + configureBindings(); + } + + private void configureBindings() { + new TriggeredAlert( + "Driver controller disconnected", + AlertType.kError, + () -> !DriverStation.isJoystickConnected( + driverController.getHID().getPort()) + || !DriverStation.getJoystickIsXbox( + driverController.getHID().getPort())); + DriverStation.silenceJoystickConnectionWarning(true); + + drive.setDefaultCommand(drive.withJoysticks( + () -> -driverController.getLeftY(), + () -> -driverController.getLeftX(), + () -> -driverController.getRightX())); + + teleop.onTrue(drive.resetRotation(robotState::getHeading)); + + driverController.start().onTrue(drive.resetRotation()); + driverController.a().whileTrue(drive.brake()); + driverController + .b() + .whileTrue(drive.pointModules( + () -> new Rotation2d(driverController.getLeftY(), driverController.getLeftX()))); + driverController.x().whileTrue(drive.toPose(() -> new Pose2d(8.33, 4, Rotation2d.kCCW_90deg), false)); + } +} diff --git a/src/main/java/frc/robot/RobotState.java b/src/main/java/frc/robot/RobotState.java new file mode 100644 index 0000000..5bf368f --- /dev/null +++ b/src/main/java/frc/robot/RobotState.java @@ -0,0 +1,82 @@ +package frc.robot; + +import java.util.Optional; +import java.util.stream.Stream; + +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import frc.robot.subsystems.drive.DriveConstants; +import frc.robot.subsystems.drive.DriveMeasurement; +import org.littletonrobotics.junction.AutoLogOutput; + +public class RobotState { + private final SwerveDrivePoseEstimator poseEstimator = new SwerveDrivePoseEstimator( + DriveConstants.kinematics, + Rotation2d.kZero, + Stream.generate(SwerveModulePosition::new).limit(4).toArray(SwerveModulePosition[]::new), + Pose2d.kZero, + DriveConstants.odometryStdDevs, + VecBuilder.fill(1, 1, 1) // Vision std devs will be passed in with vision measurements + ); + + private ChassisSpeeds robotVelocity = new ChassisSpeeds(); + private ChassisSpeeds fieldVelocity = new ChassisSpeeds(); + + public RobotState() {} + + public static boolean isBlue() { + return DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue; + } + + public static boolean isRed() { + return !isBlue(); + } + + @AutoLogOutput(key = "RobotState/Pose") + public Pose2d getPose() { + return poseEstimator.getEstimatedPosition(); + } + + public Optional getPose(double timestamp) { + return poseEstimator.sampleAt(timestamp); + } + + @AutoLogOutput(key = "RobotState/Heading") + public Rotation2d getHeading() { + return poseEstimator.getEstimatedPosition().getRotation(); + } + + @AutoLogOutput(key = "RobotState/RobotVelocity") + public ChassisSpeeds getRobotVelocity() { + return fieldVelocity; + } + + @AutoLogOutput(key = "RobotState/FieldVelocity") + public ChassisSpeeds getFieldVelocity() { + return fieldVelocity; + } + + public void addDriveMeasurements(DriveMeasurement... measurements) { + for (var measurement : measurements) { + poseEstimator.updateWithTime( + measurement.timestampSeconds, measurement.gyroAngle, measurement.modulePositions); + } + + if (measurements.length == 0) { + return; + } + + robotVelocity = measurements[measurements.length - 1].chassisSpeeds; + fieldVelocity = ChassisSpeeds.fromRobotRelativeSpeeds(robotVelocity, getHeading()); + } + + public void resetPose(Pose2d pose) { + poseEstimator.resetPose(pose); + } +} diff --git a/src/main/java/frc/robot/commands/DriveToPose.java b/src/main/java/frc/robot/commands/DriveToPose.java new file mode 100644 index 0000000..a6379da --- /dev/null +++ b/src/main/java/frc/robot/commands/DriveToPose.java @@ -0,0 +1,142 @@ +package frc.robot.commands; + +import java.util.function.Supplier; + +import com.ctre.phoenix6.swerve.SwerveRequest; +import edu.wpi.first.math.MathUtil; +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.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.RobotState; +import frc.robot.subsystems.drive.Drive; +import org.littletonrobotics.junction.Logger; + +import static frc.robot.subsystems.drive.DriveConstants.*; + +public class DriveToPose extends Command { + private static final double maxSpeedPercent = 0.8; + private static final double maxAccelerationPercent = 0.8; + + private static final double translationTolerance = 0.05; + private static final double rotationTolerance = Units.degreesToRadians(1.5); + private static final double ffMinRadius = 0.2; + private static final double ffMaxRadius = 0.8; + private static final ChassisSpeeds zeroSpeeds = new ChassisSpeeds(); + + private final SwerveRequest.ApplyRobotSpeeds applyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds(); + + private final Drive drive; + private final RobotState robotState; + private final Supplier targetPose; + private final boolean finishAtGoal; + private final ProfiledPIDController translationController; + private final ProfiledPIDController rotationController; + + private Translation2d translationSetpoint = Translation2d.kZero; + + public DriveToPose(Drive drive, RobotState robotState, Supplier targetPose, boolean finishAtGoal) { + this.drive = drive; + this.robotState = robotState; + this.targetPose = targetPose; + this.finishAtGoal = finishAtGoal; + + translationController = new ProfiledPIDController( + translationP, + translationI, + translationD, + new TrapezoidProfile.Constraints(maxSpeed * maxSpeedPercent, maxAcceleration * maxAccelerationPercent), + 0.02); + rotationController = new ProfiledPIDController( + rotationP, + rotationI, + rotationD, + new TrapezoidProfile.Constraints(maxAngularRate, maxAngularAcceleration), + 0.02); + rotationController.enableContinuousInput(-Math.PI, Math.PI); + + addRequirements(drive); + } + + @Override + public void initialize() { + var currentPose = robotState.getPose(); + var targetPose = this.targetPose.get(); + var rotationToTarget = + targetPose.getTranslation().minus(currentPose.getTranslation()).getAngle(); + var fieldVelocity = robotState.getFieldVelocity(); + var velocityToTarget = ChassisSpeeds.fromFieldRelativeSpeeds(fieldVelocity, rotationToTarget).vxMetersPerSecond; + var currentDistance = currentPose.getTranslation().getDistance(targetPose.getTranslation()); + translationController.reset(currentDistance, -velocityToTarget); + translationController.setTolerance(translationTolerance); + rotationController.reset(currentPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); + rotationController.setTolerance(rotationTolerance); + translationSetpoint = currentPose.getTranslation(); + } + + @Override + public void execute() { + var currentPose = robotState.getPose(); + var targetPose = this.targetPose.get(); + + var currentDistance = currentPose.getTranslation().getDistance(targetPose.getTranslation()); + var previousSetpointDistance = translationSetpoint.getDistance(targetPose.getTranslation()); + var ffScalar = MathUtil.clamp( + (currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), + 0.5, + 1.0); // Fudge factor to prevent overdriving + translationController.reset( + Math.min(currentDistance, previousSetpointDistance), translationController.getSetpoint().velocity); + var targetSpeed = translationController.calculate(currentDistance) + + translationController.getSetpoint().velocity * ffScalar; + if (translationController.atGoal()) { + targetSpeed = 0.0; + } + + var rotationTargetToRobot = + currentPose.getTranslation().minus(targetPose.getTranslation()).getAngle(); + var translationalVelocity = new Translation2d(targetSpeed, 0).rotateBy(rotationTargetToRobot); + translationSetpoint = new Pose2d(targetPose.getTranslation(), rotationTargetToRobot) + .transformBy(new Transform2d(translationController.getSetpoint().position, 0.0, Rotation2d.kZero)) + .getTranslation(); + + var rotationalVelocity = rotationController.calculate( + currentPose.getRotation().getRadians(), + targetPose.getRotation().getRadians()) + + rotationController.getSetpoint().velocity; + if (rotationController.atGoal()) { + rotationalVelocity = 0.0; + } + + drive.setRequest(applyRobotSpeeds.withSpeeds(ChassisSpeeds.fromFieldRelativeSpeeds( + translationalVelocity.getX(), + translationalVelocity.getY(), + rotationalVelocity, + currentPose.getRotation()))); + + Logger.recordOutput( + "Commands/DriveToPose/SetpointPose", + new Pose2d(translationSetpoint, Rotation2d.fromRadians(rotationController.getSetpoint().position))); + Logger.recordOutput("Commands/DriveToPose/TargetPose", targetPose); + Logger.recordOutput( + "Commands/DriveToPose/AtGoal", translationController.atGoal() && rotationController.atGoal()); + } + + @Override + public void end(boolean interrupted) { + drive.setRequest(applyRobotSpeeds.withSpeeds(zeroSpeeds)); + + Logger.recordOutput("Commands/DriveToPose/SetpointPose", Pose2d.kZero); + Logger.recordOutput("Commands/DriveToPose/TargetPose", Pose2d.kZero); + } + + @Override + public boolean isFinished() { + return finishAtGoal && translationController.atGoal() && rotationController.atGoal(); + } +} diff --git a/src/main/java/frc/robot/commands/DriveWithJoysticks.java b/src/main/java/frc/robot/commands/DriveWithJoysticks.java new file mode 100644 index 0000000..def31b7 --- /dev/null +++ b/src/main/java/frc/robot/commands/DriveWithJoysticks.java @@ -0,0 +1,98 @@ +package frc.robot.commands; + +import java.util.Optional; +import java.util.function.DoubleSupplier; + +import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; +import com.ctre.phoenix6.swerve.SwerveRequest; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.RobotState; +import frc.robot.subsystems.drive.Drive; +import org.littletonrobotics.junction.Logger; + +import static frc.robot.subsystems.drive.DriveConstants.*; + +public class DriveWithJoysticks extends Command { + private static final double rotationTimeout = 0.25; + private static final double rotationRateThreshold = Units.degreesToRadians(10); + + private final SwerveRequest.FieldCentric fieldCentric = new SwerveRequest.FieldCentric() + .withDeadband(maxSpeed * translationDeadband) + .withRotationalDeadband(maxAngularRate * rotationDeadband) + .withDriveRequestType(DriveRequestType.Velocity); + private final SwerveRequest.FieldCentricFacingAngle fieldCentricFacingAngle = + new SwerveRequest.FieldCentricFacingAngle() + .withDeadband(maxSpeed * translationDeadband) + .withDriveRequestType(DriveRequestType.Velocity); + + private final Drive drive; + private final RobotState robotState; + private final DoubleSupplier throttle; + private final DoubleSupplier strafe; + private final DoubleSupplier rotation; + + private Optional headingSetpoint = Optional.empty(); + private double joystickLastTouched = 0.0; + private double odometryPoseLastReset = 0.0; + + public DriveWithJoysticks( + Drive drive, + RobotState robotState, + DoubleSupplier throttle, + DoubleSupplier strafe, + DoubleSupplier rotation) { + this.drive = drive; + this.robotState = robotState; + this.throttle = throttle; + this.strafe = strafe; + this.rotation = rotation; + + addRequirements(drive); + } + + @Override + public void initialize() { + headingSetpoint = Optional.empty(); + fieldCentricFacingAngle.HeadingController.setPID(7.0, 0.0, 0.0); + } + + @Override + public void execute() { + var throttle = this.throttle.getAsDouble() * maxSpeed * (RobotState.isBlue() ? 1.0 : -1.0); + var strafe = this.strafe.getAsDouble() * maxSpeed * (RobotState.isBlue() ? 1.0 : -1.0); + var rotation = this.rotation.getAsDouble() * maxAngularRate; + + var rotationDemandIsZero = MathUtil.isNear(0.0, rotation, fieldCentric.RotationalDeadband); + if (!rotationDemandIsZero) { + joystickLastTouched = Logger.getTimestamp(); + } + + var headingLocked = rotationDemandIsZero + && (Logger.getTimestamp() > joystickLastTouched + rotationTimeout + || robotState.getRobotVelocity().omegaRadiansPerSecond < rotationRateThreshold); + Logger.recordOutput("Commands/DriveWithJoystick/HeadingLocked", headingLocked); + + if (headingLocked) { + if (odometryPoseLastReset != drive.getOdometryPoseLastReset()) { + headingSetpoint = Optional.of(drive.getOdometryPose().getRotation()); + odometryPoseLastReset = drive.getOdometryPoseLastReset(); + } else if (headingSetpoint.isEmpty()) { + headingSetpoint = Optional.of(drive.getOdometryPose().getRotation()); + } + + drive.setRequest(fieldCentricFacingAngle + .withVelocityX(throttle) + .withVelocityY(strafe) + .withTargetDirection(headingSetpoint.get())); + + Logger.recordOutput("Commands/DriveWithJoystick/HeadingSetpoint", headingSetpoint.get()); + } else { + headingSetpoint = Optional.empty(); + drive.setRequest( + fieldCentric.withVelocityX(throttle).withVelocityY(strafe).withRotationalRate(rotation)); + } + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java new file mode 100644 index 0000000..680eae4 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -0,0 +1,117 @@ +package frc.robot.subsystems.drive; + +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; +import java.util.stream.Stream; + +import choreo.trajectory.SwerveSample; +import com.ctre.phoenix6.swerve.SwerveRequest; +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.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.RobotState; +import frc.robot.commands.DriveToPose; +import frc.robot.commands.DriveWithJoysticks; +import frc.robot.subsystems.drive.controllers.PathController; +import org.littletonrobotics.junction.Logger; + +import static frc.robot.subsystems.drive.DriveConstants.*; + +public class Drive extends SubsystemBase { + // Swerve drive requests + private final SwerveRequest.SwerveDriveBrake brakeRequest = new SwerveRequest.SwerveDriveBrake(); + private final SwerveRequest.PointWheelsAt pointRequest = new SwerveRequest.PointWheelsAt(); + + private final DriveIO io; + private final DriveIOInputsAutoLogged inputs = new DriveIOInputsAutoLogged(); + private final RobotState robotState; + private final PathController choreoTrajectoryController = new PathController(); + + private Pose2d odometryPose = Pose2d.kZero; + private double odometryPoseLastReset = 0.0; + + public Drive(DriveIO io, RobotState robotState) { + this.io = io; + this.robotState = robotState; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Drive", inputs); + + var measurements = Stream.of(inputs.inputs) + .map(input -> new DriveMeasurement( + input.timestamp, + input.rawHeading, + input.modulePositions, + kinematics.toChassisSpeeds(input.moduleStates))) + .toArray(DriveMeasurement[]::new); + robotState.addDriveMeasurements(measurements); + + if (inputs.inputs.length > 0) { + var lastInput = inputs.inputs[inputs.inputs.length - 1]; + odometryPose = lastInput.pose; + } + } + + public Pose2d getOdometryPose() { + return odometryPose; + } + + public double getOdometryPoseLastReset() { + return odometryPoseLastReset; + } + + public void setRequest(SwerveRequest request) { + io.setControl(request); + } + + public void followPath(SwerveSample sample) { + io.setControl(choreoTrajectoryController.update(sample, robotState.getPose())); + } + + public Command resetRotation() { + return resetRotation(() -> RobotState.isBlue() ? Rotation2d.kZero : Rotation2d.k180deg); + } + + public Command resetRotation(Supplier rotation) { + return Commands.runOnce(() -> { + var rotationValue = rotation.get(); + io.resetRotation(rotationValue); + odometryPose = new Pose2d(odometryPose.getTranslation(), rotationValue); + odometryPoseLastReset = Logger.getTimestamp(); + }) + .withName("DriveResetRotation"); + } + + public Command withJoysticks(DoubleSupplier throttle, DoubleSupplier strafe, DoubleSupplier rotation) { + return new DriveWithJoysticks(this, robotState, throttle, strafe, rotation); + } + + public Command toPose(Supplier poseSupplier, boolean finishAtGoal) { + return new DriveToPose(this, robotState, poseSupplier, finishAtGoal); + } + + public Command brake() { + return run(() -> io.setControl(brakeRequest)).withName("DriveBrake"); + } + + public Command pointModulesAt(Supplier target) { + return run(() -> { + var pose = robotState.getPose(); + var rotationToTarget = + target.get().minus(pose.getTranslation()).getAngle(); + io.setControl(pointRequest.withModuleDirection(rotationToTarget.minus(pose.getRotation()))); + }) + .withName("DrivePointModules"); + } + + public Command pointModules(Supplier rotation) { + return run(() -> io.setControl(pointRequest.withModuleDirection(rotation.get()))) + .withName("DrivePointModules"); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java new file mode 100644 index 0000000..9717ccf --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java @@ -0,0 +1,42 @@ +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; +import com.ctre.phoenix6.swerve.SwerveModuleConstants; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.units.Units; + +/** All Constants Measured in Meters and Radians (m/s, m/s^2, rad/s, rad/s^2) */ +public final class DriveConstants { + public static final SwerveDrivetrainConstants drivetrainConstants = TunerConstants.DrivetrainConstants; + public static final SwerveModuleConstants[] moduleConstants = new SwerveModuleConstants[] { + TunerConstants.FrontLeft, TunerConstants.FrontRight, TunerConstants.BackLeft, TunerConstants.BackRight, + }; + + public static final Translation2d[] moduleTranslations = java.util.Arrays.stream(moduleConstants) + .map(module -> new Translation2d(module.LocationX, module.LocationY)) + .toArray(Translation2d[]::new); + public static final SwerveDriveKinematics kinematics = new SwerveDriveKinematics(moduleTranslations); + public static final Matrix odometryStdDevs = new Matrix<>(VecBuilder.fill(0.003, 0.003, 0.0002)); + + public static final double maxSpeed = TunerConstants.kSpeedAt12Volts.in(Units.MetersPerSecond); + public static final double maxAcceleration = maxSpeed * 3.0; + public static final double maxAngularRate = + Units.RotationsPerSecond.of(0.75).in(Units.RadiansPerSecond); + public static final double maxAngularAcceleration = maxAngularRate * 3.0; + + public static final double translationDeadband = 0.1; + public static final double rotationDeadband = 0.1; + + public static final double translationP = 10.0; + public static final double translationI = 0.0; + public static final double translationD = 0.0; + + public static final double rotationP = 7.0; + public static final double rotationI = 0.0; + public static final double rotationD = 0.0; +} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIO.java b/src/main/java/frc/robot/subsystems/drive/DriveIO.java new file mode 100644 index 0000000..7a6ad8c --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DriveIO.java @@ -0,0 +1,20 @@ +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.swerve.SwerveRequest; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import org.littletonrobotics.junction.AutoLog; + +public interface DriveIO { + @AutoLog + public class DriveIOInputs { + public SwerveDriveInputs[] inputs = new SwerveDriveInputs[0]; + public Rotation3d rotation = Rotation3d.kZero; + } + + public default void updateInputs(DriveIOInputs inputs) {} + + public default void setControl(SwerveRequest request) {} + + public default void resetRotation(Rotation2d rotation2d) {} +} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIOHardware.java b/src/main/java/frc/robot/subsystems/drive/DriveIOHardware.java new file mode 100644 index 0000000..1118da1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DriveIOHardware.java @@ -0,0 +1,57 @@ +package frc.robot.subsystems.drive; + +import java.util.Queue; +import java.util.concurrent.ArrayBlockingQueue; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; + +import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState; +import com.ctre.phoenix6.swerve.SwerveRequest; +import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.subsystems.drive.TunerConstants.TunerSwerveDrivetrain; + +public class DriveIOHardware implements DriveIO { + protected final TunerSwerveDrivetrain swerveDrivetrain; + private final Queue inputsQueue = new ArrayBlockingQueue<>(20); + private final Lock inputsLock = new ReentrantLock(); + + public DriveIOHardware() { + swerveDrivetrain = + new TunerSwerveDrivetrain(DriveConstants.drivetrainConstants, DriveConstants.moduleConstants); + swerveDrivetrain.registerTelemetry(this::addTelemetry); + } + + @Override + public void updateInputs(DriveIOInputs inputs) { + inputsLock.lock(); + try { + inputs.inputs = inputsQueue.toArray(new SwerveDriveInputs[inputsQueue.size()]); + inputsQueue.clear(); + } finally { + inputsLock.unlock(); + } + + inputs.rotation = swerveDrivetrain.getRotation3d(); + } + + private void addTelemetry(SwerveDriveState state) { + var inputs = SwerveDriveInputs.fromSwerveDriveState(state); + inputsLock.lock(); + try { + inputsQueue.add(inputs); + } finally { + inputsLock.unlock(); + } + } + + @Override + public void setControl(SwerveRequest request) { + swerveDrivetrain.setControl(request); + swerveDrivetrain.getOperatorForwardDirection(); + } + + @Override + public void resetRotation(Rotation2d rotation2d) { + swerveDrivetrain.resetRotation(rotation2d); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java b/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java new file mode 100644 index 0000000..6500178 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java @@ -0,0 +1,26 @@ +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.Utils; +import edu.wpi.first.wpilibj.Notifier; +import edu.wpi.first.wpilibj.RobotController; + +public class DriveIOSim extends DriveIOHardware { + private static final double kSimLoopPeriod = 0.005; + private final Notifier simNotifier; + private double lastSimTime; + + public DriveIOSim() { + lastSimTime = Utils.getCurrentTimeSeconds(); + + // Run simulation at a faster rate so PID gains behave more reasonably + simNotifier = new Notifier(() -> { + final var currentTime = Utils.getCurrentTimeSeconds(); + var deltaTime = currentTime - lastSimTime; + lastSimTime = currentTime; + + // Use the measured time delta, get battery voltage from WPILib + swerveDrivetrain.updateSimState(deltaTime, RobotController.getBatteryVoltage()); + }); + simNotifier.startPeriodic(kSimLoopPeriod); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveMeasurement.java b/src/main/java/frc/robot/subsystems/drive/DriveMeasurement.java new file mode 100644 index 0000000..f728f7a --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DriveMeasurement.java @@ -0,0 +1,23 @@ +package frc.robot.subsystems.drive; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModulePosition; + +public class DriveMeasurement { + public final double timestampSeconds; + public final Rotation2d gyroAngle; + public final SwerveModulePosition[] modulePositions; + public final ChassisSpeeds chassisSpeeds; + + public DriveMeasurement( + double timestamp, + Rotation2d gyroAngle, + SwerveModulePosition[] modulePositions, + ChassisSpeeds chassisSpeeds) { + this.timestampSeconds = timestamp; + this.gyroAngle = gyroAngle; + this.modulePositions = modulePositions; + this.chassisSpeeds = chassisSpeeds; + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveDriveInputs.java b/src/main/java/frc/robot/subsystems/drive/SwerveDriveInputs.java new file mode 100644 index 0000000..e6846e8 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/SwerveDriveInputs.java @@ -0,0 +1,68 @@ +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.Utils; +import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.util.struct.StructSerializable; +import edu.wpi.first.wpilibj.Timer; + +public class SwerveDriveInputs implements StructSerializable { + public final Pose2d pose; + public final ChassisSpeeds speeds; + public final SwerveModuleState[] moduleStates; + public final SwerveModuleState[] moduleTargets; + public final SwerveModulePosition[] modulePositions; + public final Rotation2d rawHeading; + public final double timestamp; + public final double odometryPeriod; + public final int successfulDaqs; + public final int failedDaqs; + + public SwerveDriveInputs( + Pose2d pose, + ChassisSpeeds speeds, + SwerveModuleState[] moduleStates, + SwerveModuleState[] moduleTargets, + SwerveModulePosition[] modulePositions, + Rotation2d rawHeading, + double timestamp, + double odometryPeriod, + int successfulDaqs, + int failedDaqs) { + this.pose = pose; + this.speeds = speeds; + this.moduleStates = moduleStates; + this.moduleTargets = moduleTargets; + this.modulePositions = modulePositions; + this.rawHeading = rawHeading; + this.timestamp = timestamp; + this.odometryPeriod = odometryPeriod; + this.successfulDaqs = successfulDaqs; + this.failedDaqs = failedDaqs; + } + + public static SwerveDriveInputs fromSwerveDriveState(SwerveDriveState state) { + return new SwerveDriveInputs( + state.Pose, + state.Speeds, + state.ModuleStates, + state.ModuleTargets, + state.ModulePositions, + state.RawHeading, + toFpgaTimestamp(state.Timestamp), + state.OdometryPeriod, + state.SuccessfulDaqs, + state.FailedDaqs); + } + + private static double toFpgaTimestamp(double timestamp) { + return timestamp + Timer.getFPGATimestamp() - Utils.getCurrentTimeSeconds(); + } + + /** SwerveDriveInputs struct for serialization. */ + public static final SwerveDriveInputsStruct struct = new SwerveDriveInputsStruct(); +} diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveDriveInputsStruct.java b/src/main/java/frc/robot/subsystems/drive/SwerveDriveInputsStruct.java new file mode 100644 index 0000000..bd71205 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/SwerveDriveInputsStruct.java @@ -0,0 +1,106 @@ +package frc.robot.subsystems.drive; + +import java.nio.ByteBuffer; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.util.struct.Struct; + +public class SwerveDriveInputsStruct implements Struct { + @Override + public Class getTypeClass() { + return SwerveDriveInputs.class; + } + + @Override + public String getTypeName() { + return "SwerveDriveInputs"; + } + + @Override + public int getSize() { + return Pose2d.struct.getSize() + + ChassisSpeeds.struct.getSize() + + (SwerveModuleState.struct.getSize() * 4) + + (SwerveModuleState.struct.getSize() * 4) + + (SwerveModulePosition.struct.getSize() * 4) + + Rotation2d.struct.getSize() + + kSizeDouble + + kSizeDouble + + kSizeInt32 + + kSizeInt32; + } + + @Override + public String getSchema() { + return "Pose2d pose;ChassisSpeeds speeds;SwerveModuleState moduleStates[4];SwerveModuleState targetStates[4];SwerveModulePosition modulePositions[4];Rotation2d rawHeading;double timestamp;double odometryPeriod;int32 successfulDaqs;int32 failedDaqs"; + } + + @Override + public Struct[] getNested() { + return new Struct[] {SwerveModuleState.struct, SwerveModulePosition.struct, Rotation2d.struct}; + } + + @Override + public SwerveDriveInputs unpack(ByteBuffer bb) { + var pose = Pose2d.struct.unpack(bb); + var speeds = ChassisSpeeds.struct.unpack(bb); + + var moduleStates = new SwerveModuleState[4]; + for (var i = 0; i < 4; i++) { + moduleStates[i] = SwerveModuleState.struct.unpack(bb); + } + var moduleTargets = new SwerveModuleState[4]; + for (var i = 0; i < 4; i++) { + moduleTargets[i] = SwerveModuleState.struct.unpack(bb); + } + + var modulePositions = new SwerveModulePosition[4]; + for (var i = 0; i < 4; i++) { + modulePositions[i] = SwerveModulePosition.struct.unpack(bb); + } + + var rawHeading = Rotation2d.struct.unpack(bb); + var timestamp = bb.getDouble(); + var odometryPeriod = bb.getDouble(); + var successfulDaqs = bb.getInt(); + var failedDaqs = bb.getInt(); + return new SwerveDriveInputs( + pose, + speeds, + moduleStates, + moduleTargets, + modulePositions, + rawHeading, + timestamp, + odometryPeriod, + successfulDaqs, + failedDaqs); + } + + @Override + public void pack(ByteBuffer bb, SwerveDriveInputs value) { + Pose2d.struct.pack(bb, value.pose); + ChassisSpeeds.struct.pack(bb, value.speeds); + + for (var moduleState : value.moduleStates) { + SwerveModuleState.struct.pack(bb, moduleState); + } + for (var moduleTarget : value.moduleTargets) { + SwerveModuleState.struct.pack(bb, moduleTarget); + } + + for (var modulePosition : value.modulePositions) { + SwerveModulePosition.struct.pack(bb, modulePosition); + } + + Rotation2d.struct.pack(bb, value.rawHeading); + bb.putDouble(value.timestamp); + bb.putDouble(value.odometryPeriod); + bb.putInt(value.successfulDaqs); + bb.putInt(value.failedDaqs); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/TunerConstants.java b/src/main/java/frc/robot/subsystems/drive/TunerConstants.java new file mode 100644 index 0000000..5841615 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/TunerConstants.java @@ -0,0 +1,290 @@ +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.configs.*; +import com.ctre.phoenix6.hardware.*; +import com.ctre.phoenix6.signals.*; +import com.ctre.phoenix6.swerve.*; +import com.ctre.phoenix6.swerve.SwerveModuleConstants.*; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.units.measure.*; + +import static edu.wpi.first.units.Units.*; + +// Generated by the Tuner X Swerve Project Generator +// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html +public class TunerConstants { + // Both sets of gains need to be tuned to your individual robot. + + // The steer motor uses any SwerveModule.SteerRequestType control request with the + // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput + private static final Slot0Configs steerGains = new Slot0Configs() + .withKP(100) + .withKI(0) + .withKD(0.5) + .withKS(0.1) + .withKV(1.91) + .withKA(0) + .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + // When using closed-loop control, the drive motor uses the control + // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput + private static final Slot0Configs driveGains = + new Slot0Configs().withKP(0.1).withKI(0).withKD(0).withKS(0).withKV(0.124); + + // The closed-loop output type to use for the steer motors; + // This affects the PID/FF gains for the steer motors + private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage; + // The closed-loop output type to use for the drive motors; + // This affects the PID/FF gains for the drive motors + private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage; + + // The type of motor used for the drive motor + private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated; + // The type of motor used for the drive motor + private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated; + + // The remote sensor feedback type to use for the steer motors; + // When not Pro-licensed, FusedCANcoder/SyncCANcoder automatically fall back to RemoteCANcoder + private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; + + // The stator current at which the wheels start to slip; + // This needs to be tuned to your individual robot + private static final Current kSlipCurrent = Amps.of(120.0); + + // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. + // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. + private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration(); + private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration() + .withCurrentLimits(new CurrentLimitsConfigs() + // Swerve azimuth does not require much torque output, so we can set a relatively low + // stator current limit to help avoid brownouts without impacting performance. + .withStatorCurrentLimit(Amps.of(60)) + .withStatorCurrentLimitEnable(true)); + private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration(); + // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs + private static final Pigeon2Configuration pigeonConfigs = null; + + // CAN bus that the devices are located on; + // All swerve devices must share the same CAN bus + public static final CANBus kCANBus = new CANBus("canivore", "./logs/example.hoot"); + + // Theoretical free speed (m/s) at 12 V applied output; + // This needs to be tuned to your individual robot + public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.69); + + // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; + // This may need to be tuned to your individual robot + private static final double kCoupleRatio = 3.8181818181818183; + + private static final double kDriveGearRatio = 7.363636363636365; + private static final double kSteerGearRatio = 15.42857142857143; + private static final Distance kWheelRadius = Inches.of(2.167); + + private static final boolean kInvertLeftSide = false; + private static final boolean kInvertRightSide = true; + + private static final int kPigeonId = 1; + + // These are only used for simulation + private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); + private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01); + // Simulated voltage necessary to overcome friction + private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); + private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); + + public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants() + .withCANBusName(kCANBus.getName()) + .withPigeon2Id(kPigeonId) + .withPigeon2Configs(pigeonConfigs); + + private static final SwerveModuleConstantsFactory + ConstantCreator = new SwerveModuleConstantsFactory< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() + .withDriveMotorGearRatio(kDriveGearRatio) + .withSteerMotorGearRatio(kSteerGearRatio) + .withCouplingGearRatio(kCoupleRatio) + .withWheelRadius(kWheelRadius) + .withSteerMotorGains(steerGains) + .withDriveMotorGains(driveGains) + .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) + .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) + .withSlipCurrent(kSlipCurrent) + .withSpeedAt12Volts(kSpeedAt12Volts) + .withDriveMotorType(kDriveMotorType) + .withSteerMotorType(kSteerMotorType) + .withFeedbackSource(kSteerFeedbackType) + .withDriveMotorInitialConfigs(driveInitialConfigs) + .withSteerMotorInitialConfigs(steerInitialConfigs) + .withEncoderInitialConfigs(encoderInitialConfigs) + .withSteerInertia(kSteerInertia) + .withDriveInertia(kDriveInertia) + .withSteerFrictionVoltage(kSteerFrictionVoltage) + .withDriveFrictionVoltage(kDriveFrictionVoltage); + + // Front Left + private static final int kFrontLeftDriveMotorId = 3; + private static final int kFrontLeftSteerMotorId = 2; + private static final int kFrontLeftEncoderId = 1; + private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.15234375); + private static final boolean kFrontLeftSteerMotorInverted = true; + private static final boolean kFrontLeftEncoderInverted = false; + + private static final Distance kFrontLeftXPos = Inches.of(10); + private static final Distance kFrontLeftYPos = Inches.of(10); + + // Front Right + private static final int kFrontRightDriveMotorId = 1; + private static final int kFrontRightSteerMotorId = 0; + private static final int kFrontRightEncoderId = 0; + private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.4873046875); + private static final boolean kFrontRightSteerMotorInverted = true; + private static final boolean kFrontRightEncoderInverted = false; + + private static final Distance kFrontRightXPos = Inches.of(10); + private static final Distance kFrontRightYPos = Inches.of(-10); + + // Back Left + private static final int kBackLeftDriveMotorId = 7; + private static final int kBackLeftSteerMotorId = 6; + private static final int kBackLeftEncoderId = 3; + private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.219482421875); + private static final boolean kBackLeftSteerMotorInverted = true; + private static final boolean kBackLeftEncoderInverted = false; + + private static final Distance kBackLeftXPos = Inches.of(-10); + private static final Distance kBackLeftYPos = Inches.of(10); + + // Back Right + private static final int kBackRightDriveMotorId = 5; + private static final int kBackRightSteerMotorId = 4; + private static final int kBackRightEncoderId = 2; + private static final Angle kBackRightEncoderOffset = Rotations.of(0.17236328125); + private static final boolean kBackRightSteerMotorInverted = true; + private static final boolean kBackRightEncoderInverted = false; + + private static final Distance kBackRightXPos = Inches.of(-10); + private static final Distance kBackRightYPos = Inches.of(-10); + + public static final SwerveModuleConstants + FrontLeft = ConstantCreator.createModuleConstants( + kFrontLeftSteerMotorId, + kFrontLeftDriveMotorId, + kFrontLeftEncoderId, + kFrontLeftEncoderOffset, + kFrontLeftXPos, + kFrontLeftYPos, + kInvertLeftSide, + kFrontLeftSteerMotorInverted, + kFrontLeftEncoderInverted); + public static final SwerveModuleConstants + FrontRight = ConstantCreator.createModuleConstants( + kFrontRightSteerMotorId, + kFrontRightDriveMotorId, + kFrontRightEncoderId, + kFrontRightEncoderOffset, + kFrontRightXPos, + kFrontRightYPos, + kInvertRightSide, + kFrontRightSteerMotorInverted, + kFrontRightEncoderInverted); + public static final SwerveModuleConstants + BackLeft = ConstantCreator.createModuleConstants( + kBackLeftSteerMotorId, + kBackLeftDriveMotorId, + kBackLeftEncoderId, + kBackLeftEncoderOffset, + kBackLeftXPos, + kBackLeftYPos, + kInvertLeftSide, + kBackLeftSteerMotorInverted, + kBackLeftEncoderInverted); + public static final SwerveModuleConstants + BackRight = ConstantCreator.createModuleConstants( + kBackRightSteerMotorId, + kBackRightDriveMotorId, + kBackRightEncoderId, + kBackRightEncoderOffset, + kBackRightXPos, + kBackRightYPos, + kInvertRightSide, + kBackRightSteerMotorInverted, + kBackRightEncoderInverted); + + /** + * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. + */ + public static class TunerSwerveDrivetrain extends SwerveDrivetrain { + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct + * the devices themselves. If they need the devices, they can access them through + * getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, SwerveModuleConstants... modules) { + super(TalonFX::new, TalonFX::new, CANcoder::new, drivetrainConstants, modules); + } + + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct + * the devices themselves. If they need the devices, they can access them through + * getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param odometryUpdateFrequency The frequency to run the odometry loop. If + * unspecified or set to 0 Hz, this is 250 Hz on + * CAN FD, and 100 Hz on CAN 2.0. + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + SwerveModuleConstants... modules) { + super(TalonFX::new, TalonFX::new, CANcoder::new, drivetrainConstants, odometryUpdateFrequency, modules); + } + + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct + * the devices themselves. If they need the devices, they can access them through + * getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param odometryUpdateFrequency The frequency to run the odometry loop. If + * unspecified or set to 0 Hz, this is 250 Hz on + * CAN FD, and 100 Hz on CAN 2.0. + * @param odometryStandardDeviation The standard deviation for odometry calculation + * in the form [x, y, theta]ᵀ, with units in meters + * and radians + * @param visionStandardDeviation The standard deviation for vision calculation + * in the form [x, y, theta]ᵀ, with units in meters + * and radians + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + Matrix odometryStandardDeviation, + Matrix visionStandardDeviation, + SwerveModuleConstants... modules) { + super( + TalonFX::new, + TalonFX::new, + CANcoder::new, + drivetrainConstants, + odometryUpdateFrequency, + odometryStandardDeviation, + visionStandardDeviation, + modules); + } + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/controllers/PathController.java b/src/main/java/frc/robot/subsystems/drive/controllers/PathController.java new file mode 100644 index 0000000..8e5c62f --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/controllers/PathController.java @@ -0,0 +1,45 @@ +package frc.robot.subsystems.drive.controllers; + +import choreo.trajectory.SwerveSample; +import com.ctre.phoenix6.swerve.SwerveRequest; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import frc.robot.subsystems.drive.DriveConstants; +import org.littletonrobotics.junction.Logger; + +public class PathController { + private final PIDController xController; + private final PIDController yController; + private final PIDController rotationController; + + private final SwerveRequest.ApplyRobotSpeeds applyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds(); + + public PathController() { + xController = new PIDController( + DriveConstants.translationP, DriveConstants.translationI, DriveConstants.translationD); + yController = new PIDController( + DriveConstants.translationP, DriveConstants.translationI, DriveConstants.translationD); + rotationController = + new PIDController(DriveConstants.rotationP, DriveConstants.rotationI, DriveConstants.rotationD); + rotationController.enableContinuousInput(-Math.PI, Math.PI); + } + + public SwerveRequest update(SwerveSample sample, Pose2d pose) { + var targetPose = sample.getPose(); + + var vx = sample.vx + xController.calculate(pose.getTranslation().getX(), targetPose.getX()); + var vy = sample.vy + yController.calculate(pose.getTranslation().getY(), targetPose.getY()); + var omega = sample.omega + + rotationController.calculate( + pose.getRotation().getRadians(), + targetPose.getRotation().getRadians()); + + Logger.recordOutput("Choreo/TargetPose", targetPose); + + return applyRobotSpeeds + .withSpeeds(ChassisSpeeds.fromFieldRelativeSpeeds(vx, vy, omega, pose.getRotation())) + .withWheelForceFeedforwardsX(sample.moduleForcesX()) + .withWheelForceFeedforwardsY(sample.moduleForcesY()); + } +} diff --git a/src/main/java/frc/robot/util/TriggeredAlert.java b/src/main/java/frc/robot/util/TriggeredAlert.java new file mode 100644 index 0000000..3f175ed --- /dev/null +++ b/src/main/java/frc/robot/util/TriggeredAlert.java @@ -0,0 +1,25 @@ +package frc.robot.util; + +import java.util.function.BooleanSupplier; + +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.Trigger; + +public class TriggeredAlert { + private final Alert alert; + + public TriggeredAlert(String message, AlertType type, BooleanSupplier trigger) { + this(message, type, new Trigger(trigger)); + } + + public TriggeredAlert(String message, AlertType type, Trigger trigger) { + alert = new Alert(message, type); + trigger.onTrue( + Commands.runOnce(() -> alert.set(true)).ignoringDisable(true).withName("EnableAlert")); + trigger.onFalse( + Commands.runOnce(() -> alert.set(false)).ignoringDisable(true).withName("DisableAlert")); + alert.set(trigger.getAsBoolean()); + } +} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..c7f5262 --- /dev/null +++ b/vendordeps/AdvantageKit.json @@ -0,0 +1,34 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "4.0.0", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2025", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.0.0", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] +} diff --git a/vendordeps/ChoreoLib2025.json b/vendordeps/ChoreoLib2025.json new file mode 100644 index 0000000..16de3a6 --- /dev/null +++ b/vendordeps/ChoreoLib2025.json @@ -0,0 +1,44 @@ +{ + "fileName": "ChoreoLib2025.json", + "name": "ChoreoLib", + "version": "2025.0.0", + "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", + "frcYear": "2025", + "mavenUrls": [ + "https://lib.choreo.autos/dep", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json", + "javaDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-java", + "version": "2025.0.0" + }, + { + "groupId": "com.google.code.gson", + "artifactId": "gson", + "version": "2.11.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-cpp", + "version": "2025.0.0", + "libName": "ChoreoLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} diff --git a/vendordeps/Phoenix6-frc2025-latest.json b/vendordeps/Phoenix6-frc2025-latest.json new file mode 100644 index 0000000..b1f42e3 --- /dev/null +++ b/vendordeps/Phoenix6-frc2025-latest.json @@ -0,0 +1,389 @@ +{ + "fileName": "Phoenix6-frc2025-latest.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.1.0", + "frcYear": "2025", + "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-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "25.1.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.1.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "25.1.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.1.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.1.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.1.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.1.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.1.0", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.1.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.1.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.1.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.1.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..3718e0a --- /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": "2025", + "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" + ] + } + ] +}