Matthew backup m a drivetrain

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 java {
@@ -47,6 +48,17 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
+allprojects {
+    repositories {
+        maven { url 'https://jitpack.io' }//for lib199
+    }
+}
+
+// Don't cache changing modules
+configurations.all {
+    resolutionStrategy.cacheChangingModulesFor 0, 'seconds'
+}
+
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
@@ -68,11 +80,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    implementation('org.carlmontrobotics:lib199') {
-        version {
-            branch = '2024'
-        }
-    }
+    implementation "com.github.deepbluerobotics:lib199:400693b52180c82a1f26c08025bc12f144b930f9"
 }
 
 test {
@@ -103,3 +111,13 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    language = "Properties"
+    srcDir       = "src/main/deploy/"
+    className    = "BuildInfo.properties"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Los_Angeles"
+    indent       = "  "
+}

src/main/deploy/BuildInfo.properties

@@ -0,0 +1,12 @@
+#Created by build system. Do not modify
+#"2024-09-28 18:42:00 PDT"
+version="unspecified"
+revision=9
+name="EmptyProject2024"
+timestamp=1727574120858
+group=""
+sha="e0a5b83b19826fcc5a1cef794b05680ea0cf1d02"
+git_date="2024-09-27 22:31:58 PDT"
+git_branch="Matthew-Backup-M-A-Drivetrain"
+build_date="2024-09-28 18:42:00 PDT"
+dirty=1

src/main/java/org/carlmontrobotics/Constants.java

@@ -1,15 +1,17 @@
 package org.carlmontrobotics;
 
 public final class Constants {
-    // public static final class Drivetrain {
-    //     public static final double MAX_SPEED_MPS = 2;
-    // }
-    public static final class OI {
-        public static final class Driver {
-            public static final int port = 0;
-        }
-        public static final class Manipulator {
-            public static final int port = 1;
-        }
+
+    public final class Drivetrainc{
+        public static final double halfDriveSpeedMultiplier = 0.5;
+        public static final double GOAL_FEET = 6.5;
+        public static final int WHEEL_RADIUS = 2;
+        public static final int RIGHTDT_PORT = 0;
+        public static final int LEFTDT_PORT = 1;  
+    }
+
+    public final class IO{
+        public static final int MANIPULATOR_CONTROLLER_PORT = 3;
+        public static final int DRIVER_CONTROLLER_PORT = 2;
     }
 }

src/main/java/org/carlmontrobotics/RobotContainer.java

@@ -7,10 +7,14 @@
 //199 files
 // import org.carlmontrobotics.subsystems.*;
 // import org.carlmontrobotics.commands.*;
-import static org.carlmontrobotics.Constants.OI;
+
+import org.carlmontrobotics.Constants.*;
+import org.carlmontrobotics.commands.Autonomous;
 
 //controllers
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Axis;
 
 //commands
@@ -24,69 +28,45 @@
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.POVButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.carlmontrobotics.subsystems.Drivetrain;
+
 
 public class RobotContainer {
 
   //1. using GenericHID allows us to use different kinds of controllers
   //2. Use absolute paths from constants to reduce confusion
-  public final GenericHID driverController = new GenericHID(OI.Driver.port);
-  public final GenericHID manipulatorController = new GenericHID(OI.Manipulator.port);
+  private final XboxController driverController = new XboxController(Constants.IO.DRIVER_CONTROLLER_PORT);
+  private final XboxController manipulatorController = new XboxController(Constants.IO.MANIPULATOR_CONTROLLER_PORT);
+  private final Drivetrain drivetrain = new Drivetrain(driverController);
 
   public RobotContainer() {
-
     setDefaultCommands();
     setBindingsDriver();
     setBindingsManipulator();
   }
 
   private void setDefaultCommands() {
-    // drivetrain.setDefaultCommand(new TeleopDrive(
-    //   drivetrain,
-    //   () -> ProcessedAxisValue(driverController, Axis.kLeftY)),
-    //   () -> ProcessedAxisValue(driverController, Axis.kLeftX)),
-    //   () -> ProcessedAxisValue(driverController, Axis.kRightX)),
-    //   () -> driverController.getRawButton(OI.Driver.slowDriveButton)
-    // ));
+
   }
-  private void setBindingsDriver() {}
-  private void setBindingsManipulator() {}
+  private void setBindingsDriver() {
 
-  public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+  }
+  private void setBindingsManipulator() {
+
   }
 
-  /**
-   * Flips an axis' Y coordinates upside down, but only if the select axis is a joystick axis
-   * 
-   * @param hid The controller/plane joystick the axis is on
-   * @param axis The processed axis
-   * @return The processed value.
-   */
-  private double getStickValue(GenericHID hid, Axis axis) {
-    return hid.getRawAxis(axis.value) * (axis == Axis.kLeftY || axis == Axis.kRightY ? -1 : 1);
+
+
+  public double rightJoystickValue() {
+    return driverController.getRightY();
   }
-  /**
-   * Processes an input from the joystick into a value between -1 and 1, sinusoidally instead of linearly
-   * 
-   * @param value The value to be processed.
-   * @return The processed value.
-   */
-  private double inputProcessing(double value) {
-    double processedInput;
-    // processedInput =
-    // (((1-Math.cos(value*Math.PI))/2)*((1-Math.cos(value*Math.PI))/2))*(value/Math.abs(value));
-    processedInput = Math.copySign(((1 - Math.cos(value * Math.PI)) / 2) * ((1 - Math.cos(value * Math.PI)) / 2),
-        value);
-    return processedInput;
+  public double leftJoystickValue() {
+    return driverController.getLeftY();
   }
-  /**
-   * Combines both getStickValue and inputProcessing into a single function for processing joystick outputs
-   * 
-   * @param hid The controller/plane joystick the axis is on
-   * @param axis The processed axis
-   * @return The processed value.
-   */
-  private double ProcessedAxisValue(GenericHID hid, Axis axis){
-    return inputProcessing(getStickValue(hid, axis));
+
+
+
+  public Command getAutonomousCommand() {
+    return new Autonomous(drivetrain);
   }
 }

src/main/java/org/carlmontrobotics/commands/Autonomous.java

@@ -0,0 +1,44 @@
+// 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 org.carlmontrobotics.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+import org.carlmontrobotics.Constants;
+import org.carlmontrobotics.subsystems.Drivetrain;
+
+public class Autonomous extends Command {
+  /** Creates a new Autonomous. */
+  private final Drivetrain dt;
+
+  public Autonomous(Drivetrain drivetrain) {
+    addRequirements(dt = drivetrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    dt.setAuto(true);
+    dt.autoDrive();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    dt.setAuto(false);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return dt.rightPosition() * (Constants.Drivetrainc.WHEEL_RADIUS*2) >= (Constants.Drivetrainc.GOAL_FEET)/12;
+    //TODO: for MA, change wheel radius and goal pos if needed
+  }
+}

src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java

@@ -0,0 +1,69 @@
+// 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 org.carlmontrobotics.subsystems;
+
+import org.carlmontrobotics.lib199.MotorConfig;
+import org.carlmontrobotics.lib199.MotorControllerFactory;
+
+import org.carlmontrobotics.Constants.*;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+
+import org.carlmontrobotics.subsystems.*;
+import static org.carlmontrobotics.Constants.Drivetrainc.*;
+import static org.carlmontrobotics.RobotContainer.*;
+
+import org.carlmontrobotics.Constants;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.carlmontrobotics.RobotContainer.*;
+
+public class Drivetrain extends SubsystemBase {
+  /** Creates a new Drivetrain. */
+  //private final CANSparkMax left = MotorControllerFactory.createSparkMax(Constants.Driver.leftDriveSparkMax, TemperatureLimit.NEO);
+  //private final CANSparkMax right = MotorControllerFactory.createSparkMax(Constants.MotorPorts.rightDriveSparkMax, TemperatureLimit.NEO);
+  private boolean isAuto = false;
+
+  private final CANSparkMax right = MotorControllerFactory.createSparkMax(LEFTDT_PORT, MotorConfig.NEO);
+  private final CANSparkMax left = MotorControllerFactory.createSparkMax(RIGHTDT_PORT, MotorConfig.NEO);
+  private RelativeEncoder rightEncoder = right.getEncoder();
+  private final XboxController controller;
+
+  public Drivetrain(XboxController driverController) {
+    this.controller = driverController;
+  }
+  public void drive(double rightJoystickValue, double leftJoystickValue) {
+    //TODO: If needed, set inversions for motors
+    left.set(leftJoystickValue);
+    right.set(rightJoystickValue);
+  }
+  public void slowmode() {
+      double rightSlow = controller.getRightY() * Constants.Drivetrainc.halfDriveSpeedMultiplier;
+      double leftSlow = controller.getLeftY() * Constants.Drivetrainc.halfDriveSpeedMultiplier;
+      left.set(leftSlow);
+      right.set(rightSlow);
+  }
+
+
+  public double rightPosition() {
+    return rightEncoder.getPosition();
+  }
+  public void setAuto(boolean isAutonomous) {
+    isAuto = isAutonomous;
+  }
+  public void autoDrive() {
+    left.set(0.3);
+    right.set(0.3);
+  }
+
+
+  @Override
+  public void periodic() {}
+}