commit 0d99cc805519d5da6f8d30420f4b33bcaf849962 Author: Thomas Date: Mon Aug 8 08:39:35 2022 -0400 Initial commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..4b2a896 --- /dev/null +++ b/.gitignore @@ -0,0 +1,162 @@ +# 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/ + +# Simulation GUI and other tools window save file +*-window.json diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..5b804e8 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "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..57a3a25 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,83 @@ +{ + "java.configuration.updateBuildConfiguration": "disabled", + "java.import.gradle.enabled": false, + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "C_Cpp.default.configurationProvider": "vscode-wpilib", + "files.associations": { + "*.inc": "cpp", + "ratio": "cpp", + "*.tcc": "cpp", + "deque": "cpp", + "vector": "cpp", + "array": "cpp", + "atomic": "cpp", + "hash_map": "cpp", + "hash_set": "cpp", + "cctype": "cpp", + "chrono": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "codecvt": "cpp", + "complex": "cpp", + "condition_variable": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdint": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "list": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "filesystem": "cpp", + "functional": "cpp", + "iterator": "cpp", + "map": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "set": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "fstream": "cpp", + "future": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cinttypes": "cpp", + "typeinfo": "cpp" + } +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..cfe69ae --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": true, + "currentLanguage": "cpp", + "projectYear": "2022", + "teamNumber": 1592 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..ba35a02 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2021 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..64365f9 --- /dev/null +++ b/build.gradle @@ -0,0 +1,99 @@ +plugins { + id "cpp" + id "google-test-test-suite" + id "edu.wpi.first.GradleRIO" version "2022.4.1" +} + +// 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 + + frcCpp(getArtifactTypeClass('FRCNativeArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcCpp + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Set to true to run simulation in debug mode +wpi.cpp.debugSimulation = false + +// Default enable simgui +wpi.sim.addGui().defaultEnabled = true +// Enable DS but not by default +wpi.sim.addDriverstation() + +model { + components { + frcUserProgram(NativeExecutableSpec) { + targetPlatform wpi.platforms.roborio + if (includeDesktopSupport) { + targetPlatform wpi.platforms.desktop + } + + sources.cpp { + source { + srcDir 'src/main/cpp' + include '**/*.cpp', '**/*.cc' + } + exportedHeaders { + srcDir 'src/main/include' + } + } + + // Set deploy task to deploy this component + deployArtifact.component = it + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + // Enable simulation for this component + wpi.sim.enable(it) + // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + } + } + testSuites { + frcUserProgramTest(GoogleTestTestSuiteSpec) { + testing $.components.frcUserProgram + + sources.cpp { + source { + srcDir 'src/test/cpp' + include '**/*.cpp' + } + } + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + wpi.cpp.deps.googleTest(it) + } + } +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..7454180 Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..a71c7a7 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,5 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..c53aefa --- /dev/null +++ b/gradlew @@ -0,0 +1,234 @@ +#!/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. +# + +############################################################################## +# +# 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/master/subprojects/plugins/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 + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit + +APP_NAME="Gradle" +APP_BASE_NAME=${0##*/} + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&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: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$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 + +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# 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..ac1b06f --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,89 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..aa06df7 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,27 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2022' + 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 + } + } +} diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..51044eb --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,113 @@ +{ + "Keyboard 0 Settings": { + "window": { + "visible": true + } + }, + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "incKey": 82 + } + ], + "axisCount": 3, + "buttonCount": 10, + "buttonKeys": [ + 90, + 88, + 67, + 86, + -1, + -1, + -1, + -1, + 57, + 48 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ], + "robotJoysticks": [ + { + "guid": "Keyboard0" + }, + {}, + {}, + {}, + {}, + { + "guid": "0300000051090000a416000011010000", + "name": "asddsa" + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..82546ad --- /dev/null +++ b/simgui.json @@ -0,0 +1,152 @@ +{ + "HALProvider": { + "RoboRIO": { + "window": { + "visible": true + } + } + }, + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/LiveWindow/Ungrouped/Scheduler": "Scheduler", + "/LiveWindow/Ungrouped/frc2::SubsystemBase": "Subsystem", + "/SmartDashboard/chassis": "Subsystem", + "/SmartDashboard/frc2::SubsystemBase": "Subsystem", + "/SmartDashboard/potato_cannon": "Subsystem" + }, + "windows": { + "/SmartDashboard/chassis": { + "window": { + "visible": true + } + } + } + }, + "NetworkTables": { + "FMSInfo": { + "open": true + }, + "LiveWindow": { + ".status": { + "open": true + }, + "Ungrouped": { + "Scheduler": { + "open": true + }, + "frc2::SubsystemBase": { + "open": true + }, + "open": true + }, + "open": true + }, + "SmartDashboard": { + "chassis": { + "open": true + }, + "frc2::SubsystemBase": { + "open": true + }, + "open": true, + "potato_cannon": { + "open": true + } + } + }, + "Plot": { + "Plot <0>": { + "plots": [ + { + "axis": [ + { + "autoFit": true + } + ], + "height": 320, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "Rio 6V Voltage" + }, + { + "color": [ + 0.8666667342185974, + 0.5176470875740051, + 0.32156863808631897, + 1.0 + ], + "id": "Joystick[0] Axis[0]" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "Joystick[0] Axis[1]" + }, + { + "color": [ + 0.7686275243759155, + 0.30588236451148987, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/lb_pod.angle" + }, + { + "color": [ + 0.5058823823928833, + 0.44705885648727417, + 0.7019608020782471, + 1.0 + ], + "id": "NT:/SmartDashboard/lf_pod.angle" + }, + { + "color": [ + 0.5764706134796143, + 0.4705882668495178, + 0.3764706254005432, + 1.0 + ], + "id": "NT:/SmartDashboard/rb_pod.angle" + }, + { + "color": [ + 0.8549020290374756, + 0.545098066329956, + 0.7647059559822083, + 1.0 + ], + "id": "NT:/SmartDashboard/rf_pod.angle" + }, + { + "color": [ + 0.2724913954734802, + 1.0, + 0.14705884456634521, + 1.0 + ], + "id": "NT:/SmartDashboard/lb_pod.mag" + } + ], + "yaxis2": true + } + ] + }, + "Plot <1>": { + "window": { + "visible": false + } + } + } +} diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp new file mode 100644 index 0000000..ee50bca --- /dev/null +++ b/src/main/cpp/Robot.cpp @@ -0,0 +1,82 @@ +// 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. + +#include "Robot.h" + +#include +#include + +void Robot::RobotInit() {} + +/** + * This function is called every 20 ms, no matter the mode. Use + * this for items like diagnostics that you want to run during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ +void Robot::RobotPeriodic() { + frc2::CommandScheduler::GetInstance().Run(); +} + +/** + * This function is called once each time the robot enters Disabled mode. You + * can use it to reset any subsystem information you want to clear when the + * robot is disabled. + */ +void Robot::DisabledInit() {} + +void Robot::DisabledPeriodic() {} + +/** + * This autonomous runs the autonomous command selected by your {@link + * RobotContainer} class. + */ +void Robot::AutonomousInit() { + m_autonomous_command = m_container.get_autonomous_command(); + + if (m_autonomous_command != nullptr) { + m_autonomous_command->Schedule(); + } +} + +void Robot::AutonomousPeriodic() {} + +void Robot::TeleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomous_command != nullptr) { + m_autonomous_command->Cancel(); + m_autonomous_command = nullptr; + } +} + +/** + * This function is called periodically during operator control. + */ +void Robot::TeleopPeriodic() {} + +/** + * This function is called periodically during test mode. + */ +void Robot::TestPeriodic() {} + +/** + * This function is called once when the robot is first started up. + */ +void Robot::SimulationInit() {} + +/** + * This function is called periodically whilst in simulation. + */ +void Robot::SimulationPeriodic() {} + +#ifndef RUNNING_FRC_TESTS +int main() { + return frc::StartRobot(); +} +#endif diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp new file mode 100644 index 0000000..391b014 --- /dev/null +++ b/src/main/cpp/RobotContainer.cpp @@ -0,0 +1,55 @@ +// 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. + +#include "Constants.h" +#include "RobotContainer.h" + +#include +#include +#include +#include + +RobotContainer::RobotContainer() : + m_autonomous_command(m_chassis, m_driver) { + // Initialize all of your commands and subsystems here + m_chassis.SetDefaultCommand(DriveWithJoysticks(m_chassis, m_driver)); + + frc::SmartDashboard::PutData("chassis", &m_chassis); + frc::SmartDashboard::PutData("shooter", &m_shooter); + + // Configure the button bindings + map_buttons(); +} + +void RobotContainer::map_buttons() { + // Configure your button bindings here + // frc2::JoystickButton(&m_manip, 4).WhenPressed( + // SetShooterSpeed(&m_potatoCannon, SHOOTER_RPM)); + + // Zero gyro + frc2::JoystickButton(&m_driver, 10).WhenPressed( + frc2::InstantCommand{[this] { + m_chassis.zero_gyro(); }, {&m_chassis}}); + + // Shooter speeds + frc2::JoystickButton(&m_manip, 4).WhenPressed( + frc2::InstantCommand{[this] { + m_shooter.set(constants::shooter::HIGH); }}); + frc2::JoystickButton(&m_manip, 3).WhenPressed( + frc2::InstantCommand{[this] { + m_shooter.set(constants::shooter::MED); }}); + frc2::JoystickButton(&m_manip, 1).WhenPressed( + frc2::InstantCommand{[this] { + m_shooter.set(constants::shooter::LOW); }}); + frc2::JoystickButton(&m_manip, 2).WhenPressed( + frc2::InstantCommand{[this] { + m_shooter.set(0_rpm); }}); + + // Gatherer +} + +frc2::Command* RobotContainer::get_autonomous_command() { + // An example command will be run in autonomous + return &m_autonomous_command; +} diff --git a/src/main/cpp/commands/DriveWithJoysticks.cpp b/src/main/cpp/commands/DriveWithJoysticks.cpp new file mode 100644 index 0000000..40b0f82 --- /dev/null +++ b/src/main/cpp/commands/DriveWithJoysticks.cpp @@ -0,0 +1,40 @@ +// 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. + +#include "commands/DriveWithJoysticks.h" +#include "Utils.h" + +DriveWithJoysticks::DriveWithJoysticks(Chassis &chassis, frc::Joystick &joystick) + : m_chassis{chassis}, m_joystick{joystick} { + SetName("DriveWithJoysticks"); + AddRequirements(&m_chassis); +} + +// Called when the command is initially scheduled. +void DriveWithJoysticks::Initialize() {} + +// Called repeatedly when this Command is scheduled to run +void DriveWithJoysticks::Execute() { + auto x = m_joystick.GetX(); + auto y = m_joystick.GetY(); + auto z = m_joystick.GetZ(); + + x = utils::joy_expo(x, constants::joysticks::JOY_DRIVE_EXPO); + y = utils::joy_expo(y, constants::joysticks::JOY_DRIVE_EXPO); + z = utils::joy_expo(z, constants::joysticks::JOY_TURN_EXPO); + + auto forward = -y * 2_fps; + auto left = -x * 2_fps; + auto theta = z * 1.5_rad_per_s; + + m_chassis.drive_field_relative(forward, left, theta); +} + +// Called once the command ends or is interrupted. +void DriveWithJoysticks::End(bool interrupted) {} + +// Returns true when the command should end. +bool DriveWithJoysticks::IsFinished() { + return false; +} diff --git a/src/main/cpp/commands/Eject.cpp b/src/main/cpp/commands/Eject.cpp new file mode 100644 index 0000000..e943f12 --- /dev/null +++ b/src/main/cpp/commands/Eject.cpp @@ -0,0 +1,30 @@ +// 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. + +#include "commands/Eject.h" + +Eject::Eject(Gatherer &gatherer) : + m_gatherer(gatherer) { + // Use addRequirements() here to declare subsystem dependencies. + SetName("Eject"); + AddRequirements(&m_gatherer); +} + +// Called when the command is initially scheduled. +void Eject::Initialize() { + m_gatherer.eject(); +} + +// Called repeatedly when this Command is scheduled to run +void Eject::Execute() {} + +// Called once the command ends or is interrupted. +void Eject::End(bool interrupted) { + m_gatherer.stop(); +} + +// Returns true when the command should end. +bool Eject::IsFinished() { + return false; +} diff --git a/src/main/cpp/commands/Gather.cpp b/src/main/cpp/commands/Gather.cpp new file mode 100644 index 0000000..333cf58 --- /dev/null +++ b/src/main/cpp/commands/Gather.cpp @@ -0,0 +1,30 @@ +// 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. + +#include "commands/Gather.h" + +Gather::Gather(Gatherer &gatherer) : + m_gatherer(gatherer) { + // Use addRequirements() here to declare subsystem dependencies. + SetName("Gather"); + AddRequirements(&m_gatherer); +} + +// Called when the command is initially scheduled. +void Gather::Initialize() { + m_gatherer.gather(); +} + +// Called repeatedly when this Command is scheduled to run +void Gather::Execute() {} + +// Called once the command ends or is interrupted. +void Gather::End(bool interrupted) { + m_gatherer.stop(); +} + +// Returns true when the command should end. +bool Gather::IsFinished() { + return false; +} diff --git a/src/main/cpp/commands/Shoot.cpp b/src/main/cpp/commands/Shoot.cpp new file mode 100644 index 0000000..01fb5d2 --- /dev/null +++ b/src/main/cpp/commands/Shoot.cpp @@ -0,0 +1,35 @@ +// 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. + +#include "commands/Shoot.h" + +#include + +Shoot::Shoot(Gatherer &gatherer, Shooter &shooter) : + m_gatherer(gatherer), m_shooter(shooter) { + // Use addRequirements() here to declare subsystem dependencies. + SetName("Shoot"); + AddRequirements({&m_gatherer, &m_shooter}); +} + +// Called when the command is initially scheduled. +void Shoot::Initialize() { + m_start_time = frc::Timer::GetFPGATimestamp(); +} + +// Called repeatedly when this Command is scheduled to run +void Shoot::Execute() { + bool full = frc::Timer::GetFPGATimestamp() - m_start_time > 1_s; + m_gatherer.shoot(full); +} + +// Called once the command ends or is interrupted. +void Shoot::End(bool interrupted) { + m_gatherer.stop(); +} + +// Returns true when the command should end. +bool Shoot::IsFinished() { + return false; +} diff --git a/src/main/cpp/subsystems/Chassis.cpp b/src/main/cpp/subsystems/Chassis.cpp new file mode 100644 index 0000000..c81efd7 --- /dev/null +++ b/src/main/cpp/subsystems/Chassis.cpp @@ -0,0 +1,112 @@ +// 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. + +#include "subsystems/Chassis.h" +#include "Units.h" + +#include +#include +#include + +Chassis::Chassis() { + // Implementation of subsystem constructor goes here. + zero_pod_encoders(); + + configure_pod(m_lf_pod); + configure_pod(m_rf_pod); + configure_pod(m_lb_pod); + configure_pod(m_rb_pod); +} + +void Chassis::zero_pod_encoders() { + m_lf_pod.turn.SetSelectedSensorPosition(0); + m_rf_pod.turn.SetSelectedSensorPosition(0); + m_lb_pod.turn.SetSelectedSensorPosition(0); + m_rb_pod.turn.SetSelectedSensorPosition(0); +} + +void Chassis::zero_gyro() { + // m_gyro.ZeroYaw(); +} + +void Chassis::drive(frc::ChassisSpeeds speeds) { + auto module_states = m_kinematics.ToSwerveModuleStates(speeds); + m_kinematics.DesaturateWheelSpeeds(&module_states, constants::chassis::MAX_SPEED); + + auto lf_optimized = frc::SwerveModuleState::Optimize( + module_states[0], + get_pod_angle(m_lf_pod)); + auto rf_optimized = frc::SwerveModuleState::Optimize( + module_states[1], + get_pod_angle(m_rf_pod)); + auto lb_optimized = frc::SwerveModuleState::Optimize( + module_states[2], + get_pod_angle(m_lb_pod)); + auto rb_optimized = frc::SwerveModuleState::Optimize( + module_states[3], + get_pod_angle(m_rb_pod)); + + set_pod(m_lf_pod, lf_optimized); + set_pod(m_rf_pod, rf_optimized); + set_pod(m_lb_pod, lb_optimized); + set_pod(m_rb_pod, rb_optimized); +} + +void Chassis::drive_field_relative( + units::meters_per_second_t forward, + units::meters_per_second_t left, + units::radians_per_second_t theta) { + auto speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds( + forward, + left, + theta, + // frc::Rotation2d(units::degree_t(-m_gyro.GetAngle())) + frc::Rotation2d(units::degree_t(0)) + ); + + drive(speeds); +} + +void Chassis::configure_pod(Pod &pod) { + pod.turn.ConfigSelectedFeedbackSensor(TalonSRXFeedbackDevice::CTRE_MagEncoder_Relative); + pod.turn.SetSensorPhase(true); + pod.turn.Config_kP(0, constants::chassis::TURN_P); + pod.turn.Config_kI(0, constants::chassis::TURN_I); + pod.turn.Config_kD(0, constants::chassis::TURN_D); + + pod.drive.ConfigSupplyCurrentLimit({true, 15, 0, 0.01}); +} + +void Chassis::set_pod(Pod &pod, frc::SwerveModuleState command) { + // TODO: I can't remember if we waited for the angle target to be met before we + // start to apply the drive velocity, look into that + double drive_percent = command.speed / constants::chassis::MAX_SPEED; + units::ctre_count_t counts = + command.angle.Degrees() * constants::chassis::ROTATE_RATIO; + + std::string pod_name; + if(&pod == &m_lf_pod) + pod_name = "lf_pod"; + if(&pod == &m_rf_pod) + pod_name = "rf_pod"; + if(&pod == &m_lb_pod) + pod_name = "lb_pod"; + if(&pod == &m_rb_pod) + pod_name = "rb_pod"; + frc::SmartDashboard::PutNumber(pod_name + ".angle", command.angle.Degrees().value()); + frc::SmartDashboard::PutNumber(pod_name + ".mag", drive_percent); + + if(abs(drive_percent) > constants::chassis::MIN_DRIVE_PERCENT) + pod.turn.Set(ControlMode::Position, counts.value()); + pod.drive.Set(ControlMode::PercentOutput, drive_percent); + pod.tmp = command.angle.Degrees().value(); +} + +frc::Rotation2d Chassis::get_pod_angle(Pod &pod) { + units::ctre_count_t counts{pod.turn.GetSelectedSensorPosition()}; + units::radian_t angle{counts / constants::chassis::ROTATE_RATIO}; + return frc::Rotation2d{units::degree_t{pod.tmp}}; + + //return frc::Rotation2d{angle}; +} diff --git a/src/main/cpp/subsystems/Gatherer.cpp b/src/main/cpp/subsystems/Gatherer.cpp new file mode 100644 index 0000000..990c187 --- /dev/null +++ b/src/main/cpp/subsystems/Gatherer.cpp @@ -0,0 +1,40 @@ +// 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. + +#include "subsystems/Gatherer.h" + +Gatherer::Gatherer() { + m_gather_low.SetInverted(false); + m_gather_high_back.SetInverted(true); + m_gather_high_front.SetInverted(false); +} + +// This method will be called once per scheduler run +void Gatherer::Periodic() {} + +void Gatherer::gather() { + m_gather_low.Set(ControlMode::PercentOutput, 1.0); + m_gather_high_back.Set(ControlMode::PercentOutput, -0.6); + m_gather_high_front.Set(ControlMode::PercentOutput, 0.6); +} + +void Gatherer::eject() { + m_gather_low.Set(ControlMode::PercentOutput, -1.0); + m_gather_high_back.Set(ControlMode::PercentOutput, -0.6); + m_gather_high_front.Set(ControlMode::PercentOutput, -0.6); +} + +void Gatherer::shoot(bool full) { + if(full) + m_gather_low.Set(ControlMode::PercentOutput, 1.0); + + m_gather_high_back.Set(ControlMode::PercentOutput, 0.5); + m_gather_high_front.Set(ControlMode::PercentOutput, 1.0); +} + +void Gatherer::stop() { + m_gather_low.Set(ControlMode::PercentOutput, 0.0); + m_gather_high_back.Set(ControlMode::PercentOutput, 0.0); + m_gather_high_front.Set(ControlMode::PercentOutput, 0.0); +} diff --git a/src/main/cpp/subsystems/Shear.cpp b/src/main/cpp/subsystems/Shear.cpp new file mode 100644 index 0000000..ac18dd5 --- /dev/null +++ b/src/main/cpp/subsystems/Shear.cpp @@ -0,0 +1,10 @@ +// 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. + +#include "subsystems/Shear.h" + +Shear::Shear() = default; + +// This method will be called once per scheduler run +void Shear::Periodic() {} diff --git a/src/main/cpp/subsystems/Shooter.cpp b/src/main/cpp/subsystems/Shooter.cpp new file mode 100644 index 0000000..c96e237 --- /dev/null +++ b/src/main/cpp/subsystems/Shooter.cpp @@ -0,0 +1,35 @@ +// 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. + +#include "subsystems/Shooter.h" +#include "Units.h" + +#include + +Shooter::Shooter() { + m_shooter.SetInverted(false); + + /* + m_shooter.ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0); + m_shooter.SetSensorPhase(true); + m_shooter.Config_kP(0, constants::shooter::P); + m_shooter.Config_kI(0, constants::shooter::I); + m_shooter.Config_kD(0, constants::shooter::D); + */ +} + +void Shooter::set(units::revolutions_per_minute_t rpm) { + rpm = rpm * constants::shooter::RATIO; + m_shooter.Set(ControlMode::PercentOutput, rpm / constants::shooter::MAX_RPM); + frc::SmartDashboard::PutNumber("rpm", rpm / constants::shooter::MAX_RPM); +} + +bool Shooter::at_speed() { + units::ctre_count_t counts{m_shooter.GetClosedLoopError()}; + units::revolutions_per_minute_t error{counts / 1_min / constants::shooter::RATIO}; + return error < constants::shooter::SHOOTER_TARGET_ERROR; +} + +// This method will be called once per scheduler run +void Shooter::Periodic() {} diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..6839539 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,4 @@ +Files placed in this directory will be deployed to the RoboRIO into the + 'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory' + function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy + directory. \ No newline at end of file diff --git a/src/main/include/Constants.h b/src/main/include/Constants.h new file mode 100644 index 0000000..e0fa8a0 --- /dev/null +++ b/src/main/include/Constants.h @@ -0,0 +1,89 @@ +#pragma once + +#include "Units.h" + +#include +#include +#include + +namespace constants { + namespace can_ids { + const int LF_DRIVE = 1; + const int LF_TURN = 2; + const int RF_DRIVE = 3; + const int RF_TURN = 4; + const int LB_DRIVE = 5; + const int LB_TURN = 6; + const int RB_DRIVE = 7; + const int RB_TURN = 8; + + const int SHOOTER = 10; + + const int GATHER_LOW = 20; + const int GATHER_HIGH_BACK = 21; + const int GATHER_HIGH_FRONT = 22; + + const int SHEAR_LEFT = 30; + const int SHEAR_RIGHT = 31; + } // End namespace can_ids + + namespace dio { + const int LF_POD_ZERO = 0; + const int RF_POD_ZERO = 1; + const int LB_POD_ZERO = 2; + const int RB_POD_ZERO = 3; + const int GATHER_LOW = 4; + const int GATHER_HIGH = 5; + } // End namespace dio + + namespace chassis { + // drive full speed meters + const auto MAX_SPEED = 30_fps; + // double MAX_SPEED = 1.0; + + // % of max speed that the turn motors will start to move + // Prevents abrupt angle changes when basically zero velocity is being commanded + const double MIN_DRIVE_PERCENT = 0.05; + + // Gear ratio 72:44 + const auto ROTATE_RATIO = 72_tr / 44_tr; + + const double TURN_P = 1.0; + const double TURN_I = 0.0; + const double TURN_D = 0.0; + + const auto SWERVE_X_FROM_CENTER = 11_in; + const auto SWERVE_Y_FROM_CENTER = 12.5_in; + } // End namespace chassis + + namespace shear { + const double SHEAR_P = 1.0; + const double SHEAR_I = 0.0; + const double SHEAR_D = 0.0; + + // Gearbox ratio 100:1 + const auto RATIO = 100_tr / 1_tr; + + const auto SHEAR_TOLERANCE = 0.1_deg; + } // End namespace shear + + namespace joysticks { + const double JOY_DRIVE_EXPO = 5.0; + const double JOY_TURN_EXPO = 5.0; + } // End namespace joysticks + + namespace shooter { + const auto RATIO = 1_tr / 1_tr; + + const auto MAX_RPM = 1.0_rpm; + const auto SHOOTER_TARGET_ERROR = 0.1_rpm; + + const double P = 1.0; + const double I = 0.0; + const double D = 0.0; + + const auto LOW = 0.4_rpm; + const auto MED = 2_rpm / 3; + const auto HIGH = 1.0_rpm; + } // End namespace shooter +} // End namespace Constants \ No newline at end of file diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h new file mode 100644 index 0000000..71d2d4f --- /dev/null +++ b/src/main/include/Robot.h @@ -0,0 +1,32 @@ +// 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. + +#pragma once + +#include +#include + +#include "RobotContainer.h" + +class Robot : public frc::TimedRobot { + public: + void RobotInit() override; + void RobotPeriodic() override; + void DisabledInit() override; + void DisabledPeriodic() override; + void AutonomousInit() override; + void AutonomousPeriodic() override; + void TeleopInit() override; + void TeleopPeriodic() override; + void TestPeriodic() override; + void SimulationInit() override; + void SimulationPeriodic() override; + + private: + // Have it null by default so that if testing teleop it + // doesn't have undefined behavior and potentially crash. + frc2::Command* m_autonomous_command = nullptr; + + RobotContainer m_container; +}; diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h new file mode 100644 index 0000000..e18cd93 --- /dev/null +++ b/src/main/include/RobotContainer.h @@ -0,0 +1,46 @@ +// 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. + +#pragma once + +#include +#include +#include +#include + +#include "commands/DriveWithJoysticks.h" +#include "subsystems/Chassis.h" +#include "subsystems/Shooter.h" +#include "subsystems/Gatherer.h" +#include "subsystems/Shear.h" + +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a "declarative" paradigm, very little robot logic should + * actually be handled in the {@link Robot} periodic methods (other than the + * scheduler calls). Instead, the structure of the robot (including subsystems, + * commands, and button mappings) should be declared here. + */ +class RobotContainer { + public: + RobotContainer(); + + frc2::Command* get_autonomous_command(); + + private: + // The robot's subsystems and commands are defined here... + frc::PowerDistribution m_pdp{}; + + frc::Joystick m_driver{0}; + frc::Joystick m_manip{1}; + + Chassis m_chassis; + Shooter m_shooter; + Gatherer m_gatherer; + Shear m_shear; + + DriveWithJoysticks m_autonomous_command; + + void map_buttons(); +}; diff --git a/src/main/include/Units.h b/src/main/include/Units.h new file mode 100644 index 0000000..832aed6 --- /dev/null +++ b/src/main/include/Units.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +namespace units { + +UNIT_ADD(encoder_counts, ctre_count, ctre_counts, ctre_cnt, units::unit, units::turn>) + +using namespace encoder_counts; +} // End namespace units \ No newline at end of file diff --git a/src/main/include/Utils.h b/src/main/include/Utils.h new file mode 100644 index 0000000..9b97b25 --- /dev/null +++ b/src/main/include/Utils.h @@ -0,0 +1,17 @@ +#pragma once + +#include + +namespace utils { + + double joy_expo(double in, double exp) { + double out; + + out = std::exp(std::abs(in) * exp) - 1; + out = out / (std::exp(exp) - 1); + out = std::copysign(out, in); + + return out; + } + +} // End namespace utils \ No newline at end of file diff --git a/src/main/include/commands/DriveWithJoysticks.h b/src/main/include/commands/DriveWithJoysticks.h new file mode 100644 index 0000000..5e48264 --- /dev/null +++ b/src/main/include/commands/DriveWithJoysticks.h @@ -0,0 +1,36 @@ +// 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. + +#pragma once + +#include +#include +#include + +#include "subsystems/Chassis.h" + +/** + * An example command that uses an example subsystem. + * + *

Note that this extends CommandHelper, rather extending CommandBase + * directly; this is crucially important, or else the decorator functions in + * Command will *not* work! + */ +class DriveWithJoysticks + : public frc2::CommandHelper { + public: + DriveWithJoysticks(Chassis &chassis, frc::Joystick &joystick); + + void Initialize() override; + + void Execute() override; + + void End(bool interrupted) override; + + bool IsFinished() override; + + private: + Chassis& m_chassis; + frc::Joystick& m_joystick; +}; diff --git a/src/main/include/commands/Eject.h b/src/main/include/commands/Eject.h new file mode 100644 index 0000000..8476bb9 --- /dev/null +++ b/src/main/include/commands/Eject.h @@ -0,0 +1,34 @@ +// 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. + +#pragma once + +#include +#include + +#include "subsystems/Gatherer.h" + +/** + * An example command. + * + *

Note that this extends CommandHelper, rather extending CommandBase + * directly; this is crucially important, or else the decorator functions in + * Command will *not* work! + */ +class Eject + : public frc2::CommandHelper { + public: + Eject(Gatherer &gatherer); + + void Initialize() override; + + void Execute() override; + + void End(bool interrupted) override; + + bool IsFinished() override; + + private: + Gatherer &m_gatherer; +}; diff --git a/src/main/include/commands/Gather.h b/src/main/include/commands/Gather.h new file mode 100644 index 0000000..f239f29 --- /dev/null +++ b/src/main/include/commands/Gather.h @@ -0,0 +1,34 @@ +// 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. + +#pragma once + +#include +#include + +#include "subsystems/Gatherer.h" + +/** + * An example command. + * + *

Note that this extends CommandHelper, rather extending CommandBase + * directly; this is crucially important, or else the decorator functions in + * Command will *not* work! + */ +class Gather + : public frc2::CommandHelper { + public: + Gather(Gatherer &gatherer); + + void Initialize() override; + + void Execute() override; + + void End(bool interrupted) override; + + bool IsFinished() override; + + private: + Gatherer &m_gatherer; +}; diff --git a/src/main/include/commands/Shoot.h b/src/main/include/commands/Shoot.h new file mode 100644 index 0000000..4e4feaa --- /dev/null +++ b/src/main/include/commands/Shoot.h @@ -0,0 +1,39 @@ +// 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. + +#pragma once + +#include +#include +#include + +#include "subsystems/Gatherer.h" +#include "subsystems/Shooter.h" + +/** + * An example command. + * + *

Note that this extends CommandHelper, rather extending CommandBase + * directly; this is crucially important, or else the decorator functions in + * Command will *not* work! + */ +class Shoot + : public frc2::CommandHelper { + public: + Shoot(Gatherer &gatherer, Shooter &shooter); + + void Initialize() override; + + void Execute() override; + + void End(bool interrupted) override; + + bool IsFinished() override; + + private: + Gatherer &m_gatherer; + Shooter &m_shooter; + + units::second_t m_start_time; +}; diff --git a/src/main/include/subsystems/Chassis.h b/src/main/include/subsystems/Chassis.h new file mode 100644 index 0000000..f3340e0 --- /dev/null +++ b/src/main/include/subsystems/Chassis.h @@ -0,0 +1,73 @@ +// 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. + +#pragma once + +#include "Constants.h" + +#include "AHRS.h" +#include +#include +#include +#include +#include +#include + + +class Chassis : public frc2::SubsystemBase { + struct Pod { + TalonSRX turn; + TalonFX drive; + double tmp; + }; + + public: + Chassis(); + + void zero_pod_encoders(); + void zero_gyro(); + + void drive(frc::ChassisSpeeds speeds); + void drive_field_relative( + units::meters_per_second_t forward, + units::meters_per_second_t left, + units::radians_per_second_t theta); + + private: + void configure_pod(Pod &pod); + void set_pod(Pod &pod, frc::SwerveModuleState command); + frc::Rotation2d get_pod_angle(Pod &pod); + + + private: + // Components (e.g. motor controllers and sensors) should generally be + // declared private and exposed only through public methods. + + Pod m_lf_pod{{constants::can_ids::LF_TURN}, {constants::can_ids::LF_DRIVE}}; + Pod m_rf_pod{{constants::can_ids::RF_TURN}, {constants::can_ids::RF_DRIVE}}; + Pod m_lb_pod{{constants::can_ids::LB_TURN}, {constants::can_ids::LB_DRIVE}}; + Pod m_rb_pod{{constants::can_ids::RB_TURN}, {constants::can_ids::RB_DRIVE}}; + + // AHRS m_gyro{frc::SPI::Port::kMXP}; + + const frc::Translation2d LF_POD_LOCATION{ + constants::chassis::SWERVE_X_FROM_CENTER, + constants::chassis::SWERVE_Y_FROM_CENTER}; + const frc::Translation2d RF_POD_LOCATION{ + constants::chassis::SWERVE_X_FROM_CENTER, + -constants::chassis::SWERVE_Y_FROM_CENTER}; + const frc::Translation2d LB_POD_LOCATION{ + -constants::chassis::SWERVE_X_FROM_CENTER, + constants::chassis::SWERVE_Y_FROM_CENTER}; + const frc::Translation2d RB_POD_LOCATION{ + -constants::chassis::SWERVE_X_FROM_CENTER, + -constants::chassis::SWERVE_Y_FROM_CENTER}; + + frc::SwerveDriveKinematics<4> m_kinematics{ + LF_POD_LOCATION, + RF_POD_LOCATION, + LB_POD_LOCATION, + RB_POD_LOCATION + }; +}; diff --git a/src/main/include/subsystems/Gatherer.h b/src/main/include/subsystems/Gatherer.h new file mode 100644 index 0000000..aafc511 --- /dev/null +++ b/src/main/include/subsystems/Gatherer.h @@ -0,0 +1,38 @@ +// 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. + +#pragma once + +#include "Constants.h" + +#include +#include +#include + +class Gatherer : public frc2::SubsystemBase { + public: + Gatherer(); + + void gather(); + void eject(); + void shoot(bool full); + void stop(); + + /** + * Will be called periodically whenever the CommandScheduler runs. + */ + void Periodic() override; + + private: + // Components (e.g. motor controllers and sensors) should generally be + // declared private and exposed only through public methods. + TalonSRX m_gather_low{constants::can_ids::GATHER_LOW}; + TalonSRX m_gather_high_back{constants::can_ids::GATHER_HIGH_BACK}; + TalonSRX m_gather_high_front{constants::can_ids::GATHER_HIGH_FRONT}; + + /* + frc::DigitalInput m_low_sensor{constants::dio::GATHER_LOW}; + frc::DigitalInput m_high_sensor{constants::dio::GATHER_HIGH}; + */ +}; diff --git a/src/main/include/subsystems/Shear.h b/src/main/include/subsystems/Shear.h new file mode 100644 index 0000000..bcda6f3 --- /dev/null +++ b/src/main/include/subsystems/Shear.h @@ -0,0 +1,21 @@ +// 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. + +#pragma once + +#include + +class Shear : public frc2::SubsystemBase { + public: + Shear(); + + /** + * Will be called periodically whenever the CommandScheduler runs. + */ + void Periodic() override; + + private: + // Components (e.g. motor controllers and sensors) should generally be + // declared private and exposed only through public methods. +}; diff --git a/src/main/include/subsystems/Shooter.h b/src/main/include/subsystems/Shooter.h new file mode 100644 index 0000000..88afce5 --- /dev/null +++ b/src/main/include/subsystems/Shooter.h @@ -0,0 +1,30 @@ +// 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. + +#pragma once + +#include "Constants.h" + +#include +#include +#include + +class Shooter : public frc2::SubsystemBase { + public: + Shooter(); + + void set(units::revolutions_per_minute_t rpm); + + bool at_speed(); + + /** + * Will be called periodically whenever the CommandScheduler runs. + */ + void Periodic() override; + + private: + // Components (e.g. motor controllers and sensors) should generally be + // declared private and exposed only through public methods. + TalonSRX m_shooter{constants::can_ids::SHOOTER}; +}; diff --git a/src/test/cpp/main.cpp b/src/test/cpp/main.cpp new file mode 100644 index 0000000..cab8aa4 --- /dev/null +++ b/src/test/cpp/main.cpp @@ -0,0 +1,10 @@ +#include + +#include "gtest/gtest.h" + +int main(int argc, char** argv) { + HAL_Initialize(500, 0); + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json new file mode 100644 index 0000000..dd0b3f4 --- /dev/null +++ b/vendordeps/Phoenix.json @@ -0,0 +1,257 @@ +{ + "fileName": "Phoenix.json", + "name": "CTRE-Phoenix", + "version": "5.21.2", + "frcYear": 2022, + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json", + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.21.2" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.21.2" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simVictorSPX", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.21.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.21.2", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.21.2", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.21.2", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.21.2", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.21.2", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.21.2", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.21.2", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.21.2", + "libName": "CTRE_SimTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simVictorSPX", + "version": "5.21.2", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.21.2", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.21.2", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..fb66227 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,37 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "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", + "linuxraspbian", + "linuxaarch64bionic", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxx86-64" + ] + } + ] +} diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json new file mode 100644 index 0000000..0fb49a7 --- /dev/null +++ b/vendordeps/navx_frc.json @@ -0,0 +1,35 @@ +{ + "fileName": "navx_frc.json", + "name": "KauaiLabs_navX_FRC", + "version": "4.0.442", + "uuid": 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