Merge branch 'main' into vision-lib

chopshop-166 · Jan 23, 2025 · 4881c2c · 4881c2c
2 parents d2af39a + bae3ab7
commit 4881c2c
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Showing 11 changed files with 119 additions and 96 deletions.
diff --git a/src/main/java/frc/robot/maps/subsystems/AlgaeDestageMap.java b/src/main/java/frc/robot/maps/subsystems/AlgaeDestageMap.java
@@ -7,7 +7,7 @@
 
 public class AlgaeDestageMap implements LoggableMap<AlgaeDestageMap.Data> {
 
-    public SmartMotorController motor;
+    public final SmartMotorController motor;
 
     public AlgaeDestageMap() {
         this(new SmartMotorController());

diff --git a/src/main/java/frc/robot/maps/subsystems/CoralManipMap.java b/src/main/java/frc/robot/maps/subsystems/CoralManipMap.java
@@ -1,30 +1,39 @@
 package frc.robot.maps.subsystems;
 
+import java.util.function.BooleanSupplier;
+
 import com.chopshop166.chopshoplib.logging.DataWrapper;
 import com.chopshop166.chopshoplib.logging.LoggableMap;
 import com.chopshop166.chopshoplib.logging.data.MotorControllerData;
 import com.chopshop166.chopshoplib.motors.SmartMotorController;
 
 public class CoralManipMap implements LoggableMap<CoralManipMap.Data> {
-    public SmartMotorController motor;
+    public final SmartMotorController leftMotor;
+    public final SmartMotorController rightMotor;
+    public final BooleanSupplier sensor;
 
     public CoralManipMap() {
-        this(new SmartMotorController());
+        this(new SmartMotorController(), new SmartMotorController(), () -> false);
     }
 
-    public CoralManipMap(SmartMotorController motor) {
-        this.motor = motor;
+    public CoralManipMap(SmartMotorController leftMotor, SmartMotorController rightMotor, BooleanSupplier sensor) {
+        this.leftMotor = leftMotor;
+        this.rightMotor = rightMotor;
+        this.sensor = sensor;
     }
 
-    // Will add data/logging stuff when we need it
-
     @Override
     public void updateData(Data data) {
-        data.motor.updateData(motor);
+        data.leftMotor.updateData(leftMotor);
+        data.rightMotor.updateData(rightMotor);
+        data.gamePieceDetected = sensor.getAsBoolean();
+
     }
 
     public static class Data extends DataWrapper {
-        public MotorControllerData motor = new MotorControllerData();
+        public MotorControllerData leftMotor = new MotorControllerData();
+        public MotorControllerData rightMotor = new MotorControllerData();
+        public boolean gamePieceDetected;
     }
 
 }
diff --git a/src/main/java/frc/robot/maps/subsystems/DeepClimbMap.java b/src/main/java/frc/robot/maps/subsystems/DeepClimbMap.java
@@ -4,27 +4,31 @@
 import com.chopshop166.chopshoplib.logging.LoggableMap;
 import com.chopshop166.chopshoplib.logging.data.MotorControllerData;
 import com.chopshop166.chopshoplib.motors.SmartMotorController;
+import com.chopshop166.chopshoplib.sensors.IEncoder;
+import com.chopshop166.chopshoplib.sensors.MockEncoder;
 
 public class DeepClimbMap implements LoggableMap<DeepClimbMap.Data> {
 
-    public SmartMotorController motor;
+    public final SmartMotorController motor;
+    public final IEncoder encoder;
 
     public DeepClimbMap() {
-        this(new SmartMotorController());
+        this(new SmartMotorController(), new MockEncoder());
     }
 
-    public DeepClimbMap(SmartMotorController motor) {
+    public DeepClimbMap(SmartMotorController motor, IEncoder encoder) {
         this.motor = motor;
+        this.encoder = encoder;
     }
 
-    // Will add data/logging stuff when we need it
-
     @Override
     public void updateData(Data data) {
         data.motor.updateData(motor);
+        data.rotationAbsAngleDegrees = encoder.getAbsolutePosition();
     }
 
     public static class Data extends DataWrapper {
         public MotorControllerData motor = new MotorControllerData();
+        public double rotationAbsAngleDegrees;
     }
 }
diff --git a/src/main/java/frc/robot/maps/subsystems/ElevatorMap.java b/src/main/java/frc/robot/maps/subsystems/ElevatorMap.java
@@ -4,27 +4,39 @@
 import com.chopshop166.chopshoplib.logging.LoggableMap;
 import com.chopshop166.chopshoplib.logging.data.MotorControllerData;
 import com.chopshop166.chopshoplib.motors.SmartMotorController;
+import com.chopshop166.chopshoplib.sensors.IEncoder;
+import com.chopshop166.chopshoplib.sensors.MockEncoder;
 
 public class ElevatorMap implements LoggableMap<ElevatorMap.Data> {
 
-    public SmartMotorController motor;
+    public final SmartMotorController leftMotor;
+    public final SmartMotorController rightMotor;
+    public final IEncoder encoder;
+    public final double conversionRate;
 
     public ElevatorMap() {
-        this(new SmartMotorController());
+        this(new SmartMotorController(), new SmartMotorController(), new MockEncoder(), 1);
     }
 
-    public ElevatorMap(SmartMotorController motor) {
-        this.motor = motor;
+    public ElevatorMap(SmartMotorController leftMotor, SmartMotorController rightMotor, IEncoder encoder,
+            double conversionRate) {
+        this.leftMotor = leftMotor;
+        this.rightMotor = rightMotor;
+        this.encoder = encoder;
+        this.conversionRate = conversionRate;
     }
 
-    // Will add data/logging stuff when we need it
-
     @Override
     public void updateData(Data data) {
-        data.motor.updateData(motor);
+        data.leftMotor.updateData(leftMotor);
+        data.rightMotor.updateData(rightMotor);
+        data.heightAbsInches = encoder.getAbsolutePosition() * conversionRate; // need to do math to figure out the
+                                                                               // right value
     }
 
     public static class Data extends DataWrapper {
-        public MotorControllerData motor = new MotorControllerData();
+        public MotorControllerData leftMotor = new MotorControllerData();
+        public MotorControllerData rightMotor = new MotorControllerData();
+        public double heightAbsInches;
     }
 }
diff --git a/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java b/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java
@@ -11,7 +11,7 @@ public class OuttakeMap implements LoggableMap<OuttakeMap.Data> {
 
     public final SmartMotorController leftMotor;
     public final SmartMotorController rightMotor;
-    public BooleanSupplier sensor;
+    public final BooleanSupplier sensor;
 
     public OuttakeMap() {
         this(new SmartMotorController(), new SmartMotorController(), () -> false);

diff --git a/src/main/java/frc/robot/subsystems/CoralManip.java b/src/main/java/frc/robot/subsystems/CoralManip.java
@@ -14,8 +14,7 @@ public CoralManip(CoralManipMap coralManipMap) {
 
     @Override
     public void safeState() {
-        // TODO Auto-generated method stub
-        throw new UnsupportedOperationException("Unimplemented method 'safeState'");
+        // no safe state to set
     }
 
 }
diff --git a/src/main/java/frc/robot/subsystems/DeepClimb.java b/src/main/java/frc/robot/subsystems/DeepClimb.java
@@ -14,8 +14,7 @@ public DeepClimb(DeepClimbMap deepClimbMap) {
 
     @Override
     public void safeState() {
-        // TODO Auto-generated method stub
-        throw new UnsupportedOperationException("Unimplemented method 'safeState'");
+        // no safestate to set
     }
 
 }
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -15,8 +15,7 @@ public Elevator(ElevatorMap elevatorMap) {
 
     @Override
     public void safeState() {
-        // TODO Auto-generated method stub
-        throw new UnsupportedOperationException("Unimplemented method 'safeState'");
+        // No safe state to set
     }
 
 }
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
@@ -1,34 +1,35 @@
 {
-  "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": []
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "4.1.0",
+    "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": "4.1.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit",
+            "artifactId": "akit-wpilibio",
+            "version": "4.1.0",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": []
 }