diff --git a/src/main/java/frc/robot/maps/subsystems/AlgaeDestageMap.java b/src/main/java/frc/robot/maps/subsystems/AlgaeDestageMap.java index 101b38e..c2fbc1a 100644 --- 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 { - 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 index b88aaf2..55a2667 100644 --- 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 { - 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 index aeab69e..bb8f42e 100644 --- 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 { - 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; } } \ No newline at end of file diff --git a/src/main/java/frc/robot/maps/subsystems/ElevatorMap.java b/src/main/java/frc/robot/maps/subsystems/ElevatorMap.java index 99ad91f..1932cdc 100644 --- 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 { - 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 index 24e56a4..c0160eb 100644 --- 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 { 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 index 4038864..fd33d61 100644 --- 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 index 1e07a7a..cd4ee20 100644 --- 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 index 9f2522c..01a1cce 100644 --- 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 index 55f77b3..03df051 100644 --- 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": [] } \ No newline at end of file diff --git a/vendordeps/Phoenix6-25.2.0.json b/vendordeps/Phoenix6-25.2.1.json similarity index 92% rename from vendordeps/Phoenix6-25.2.0.json rename to vendordeps/Phoenix6-25.2.1.json index 38747fb..1397da1 100644 --- a/vendordeps/Phoenix6-25.2.0.json +++ b/vendordeps/Phoenix6-25.2.1.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-25.2.0.json", + "fileName": "Phoenix6-25.2.1.json", "name": "CTRE-Phoenix (v6)", - "version": "25.2.0", + "version": "25.2.1", "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.2.0" + "version": "25.2.1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.2.0", + "version": "25.2.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -210,7 +210,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -226,7 +226,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -242,7 +242,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -258,7 +258,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -274,7 +274,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -290,7 +290,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -306,7 +306,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -322,7 +322,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -338,7 +338,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -354,7 +354,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -370,7 +370,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -386,7 +386,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -402,7 +402,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.2.0", + "version": "25.2.1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib-2025.0.1.json b/vendordeps/REVLib-2025.0.2.json similarity index 90% rename from vendordeps/REVLib-2025.0.1.json rename to vendordeps/REVLib-2025.0.2.json index c998054..c29aefa 100644 --- a/vendordeps/REVLib-2025.0.1.json +++ b/vendordeps/REVLib-2025.0.2.json @@ -1,7 +1,7 @@ { - "fileName": "REVLib-2025.0.1.json", + "fileName": "REVLib-2025.0.2.json", "name": "REVLib", - "version": "2025.0.1", + "version": "2025.0.2", "frcYear": "2025", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.1" + "version": "2025.0.2" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.1", + "version": "2025.0.2", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +36,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.1", + "version": "2025.0.2", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +53,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.1", + "version": "2025.0.2", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false,