From cd4edca4529d55f5d74c028036b1ecf24bdeace7 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Thu, 8 Aug 2024 23:07:13 -0700 Subject: [PATCH 1/8] editing pass on CommandBased.md --- Docs/Architecture/CommandBased.md | 43 +++++++++++++------ .../CommandBasedPresentationNotes.md | 2 +- 2 files changed, 31 insertions(+), 14 deletions(-) diff --git a/Docs/Architecture/CommandBased.md b/Docs/Architecture/CommandBased.md index cf1b57d..1f54218 100644 --- a/Docs/Architecture/CommandBased.md +++ b/Docs/Architecture/CommandBased.md @@ -2,26 +2,47 @@ ## Command Based is a way of structuring our code to make it easy to do complicated tasks, and write control logic in a concise way -Command based programming revolves around two concepts: Subsystems and Commands. +Command based programming revolves around three concepts: **Subsystems**, **Commands**, and **Triggers**. + A Subsystem is a set of hardware that forms one system on our robot, like the drivetrain, elevator, arm, or intake. Each subsystem contains some associated hardware (motors, pistons, sensors, etc.) They are the "nouns" of our robot, what it is. +Each Subsystem is generally made to contain as broad of a set of hardware that will always operate as a unit as possible. + Commands are the "verbs" of the robt, or what our robot does. Each Subsystem can be used by one Command at the same time, but Commands may use many Subsystems. -Commands can be composed together, so the `Line Up`, `Extend`, and `Outake` Commands might be put together to make a `Score` Command. +Commands can be composed together, so the `LineUp`, `Extend`, and `Outake` Commands might be put together to make a `Score` Command. Because each Subsystem can only be used by one Command at once, we are safe from multiple pieces of code trying to command the same motor to different speeds, for example. +Subsystems are ways to organize resources that can be used by one Command at a time. + +Some hardware might not be stored in a Subsystem if multiple things can/should use it. +For example, a vision setup can be read from by many things, and might not need to be locked by Commands. +Therefore, it might not be stored in a Subsystem. + +On the other hand, a roller that is driven by a motor can only go at one speed at a time. +Therefore, we would wrap it in a Subsystem so that only one Command can use it at once. + +A Trigger is something which can start a Command. +The classic form of this is a button on the driver's controller. +Another common type is one which checks for when the robot enables. +One non-obvious Trigger we used in 2024 was one which checked when we had detected a game piece in the robot, which we used to flash our LEDs and vibrate the driver controller. +Triggers can be made of any function that returns a boolean which makes them very powerful. +Some large Commands are better represented by several Commands and some Triggers! + ### Resources +- [WPILib intro to functional programming](https://docs.wpilib.org/en/stable/docs/software/basic-programming/functions-as-data.html). + Read through this article on lambda expressions and functional programming if you haven't already. - [WPILib docs](https://docs.wpilib.org/en/stable/docs/software/commandbased/index.html). - Read through these docs until you finish "The Command Scheduler" + Read through these docs until you finish "Organizing Command-Based Robot Projects" OR watch [this video](https://drive.google.com/file/d/1ykFDfXVYk27aHlXYKTAqtj1U2T80Szdj/view?usp=drive_link). - Presentation notes for the video are [here](CommandBasedPresentationNotes.md) - The important segment to remember is: + Presentation notes for the video are [here](CommandBasedPresentationNotes.md). + If you watch the video, it is recommended to also read the [Subsystems](https://docs.wpilib.org/en/stable/docs/software/commandbased/subsystems.html), [Binding Commands to Triggers](https://docs.wpilib.org/en/stable/docs/software/commandbased/binding-commands-to-triggers.html), and [Organizing Command-Based Robot Projects](https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#) for addition details on using Command-Based. + + The important segment of all of this to remember is: > Commands represent actions the robot can take. Commands run when scheduled, until they are interrupted or their end condition is met. Commands are very recursively composable: commands can be composed to accomplish more-complicated tasks. See Commands for more info. > > Subsystems represent independently-controlled collections of robot hardware (such as motor controllers, sensors, pneumatic actuators, etc.) that operate together. Subsystems back the resource-management system of command-based: only one command can use a given subsystem at the same time. Subsystems allow users to “hide” the internal complexity of their actual hardware from the rest of their code - this both simplifies the rest of the robot code, and allows changes to the internal details of a subsystem’s hardware without also changing the rest of the robot code. -- [WPILib intro to functional programming](https://docs.wpilib.org/en/stable/docs/software/basic-programming/functions-as-data.html). - Read through this article on lambda expressions and functional programming. ### Examples @@ -35,11 +56,7 @@ Because each Subsystem can only be used by one Command at once, we are safe from ### Notes - We prefer making simple Commands with Command factories, or methods in a subsystem that return a Command. - These methods should be simple interactions like `setTargetExtensionInches()` or `extendIntake()`. + These methods should be simple interactions like `setTargetExtensionMeters()` or `extendIntake()`. Then you can use decorators as described [here](https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html) to compose the basic Commands into more complex sequences. - Generally we make these compositions in `RobotContainer` but you can also make single-Subsystem compositions within that Subsystem. + Generally we make these compositions in `Robot` but you can also make single-Subsystem compositions within that Subsystem. See our code from previous years for examples of this pattern, or talk to a software lead. -- In our 2023 code we started using a pattern called the `SuperstructureSubsystem`. - This pattern involves creating a Subsystem that has references to most other Subsystems to make Command factory methods with multiple Subsystems. - This pattern doesn't really make sense on inspection though, since the `SuperstructureSubsystem` doesn't actually lock any hardware from multiple-access and you can just make the composed Commands in `RobotContainer` instead. - In the future, just make multiple-Subsystem Command factories in `RobotContainer`. diff --git a/Docs/Architecture/CommandBasedPresentationNotes.md b/Docs/Architecture/CommandBasedPresentationNotes.md index 272b7a6..76fc569 100644 --- a/Docs/Architecture/CommandBasedPresentationNotes.md +++ b/Docs/Architecture/CommandBasedPresentationNotes.md @@ -18,7 +18,7 @@ Note that some of the code shown in the video differs from the current version o - Motors - Pneumatics - Sensors -- Mutex, prevents multiple things from using the same hardware at the same time +- [Mutex](https://en.wikipedia.org/wiki/Lock_(computer_science)), prevents multiple things from using the same hardware at the same time ### Commands From 86fcd543df1b3bbf1edaac20301a843b681fe657 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Sat, 10 Aug 2024 23:17:28 -0700 Subject: [PATCH 2/8] kevin pr feedback --- Docs/Architecture/CommandBased.md | 4 ++-- .../CommandBasedPresentationNotes.md | 18 ++++++++---------- Docs/Architecture/KitbotExampleWalkthrough.md | 10 +++++----- Docs/Architecture/WPILib.md | 2 +- .../main/java/frc/robot/RobotContainer.java | 4 ++-- .../robot/Subsystems/DrivetrainSubsystem.java | 2 +- .../main/java/frc/robot/RobotContainer.java | 4 ++-- .../Drivetrain/DrivetrainSubsystem.java | 2 +- .../main/java/frc/robot/RobotContainer.java | 4 ++-- .../Drivetrain/DrivetrainSubsystem.java | 2 +- 10 files changed, 25 insertions(+), 27 deletions(-) diff --git a/Docs/Architecture/CommandBased.md b/Docs/Architecture/CommandBased.md index 1f54218..02948f9 100644 --- a/Docs/Architecture/CommandBased.md +++ b/Docs/Architecture/CommandBased.md @@ -6,7 +6,7 @@ Command based programming revolves around three concepts: **Subsystems**, **Comm A Subsystem is a set of hardware that forms one system on our robot, like the drivetrain, elevator, arm, or intake. Each subsystem contains some associated hardware (motors, pistons, sensors, etc.) They are the "nouns" of our robot, what it is. -Each Subsystem is generally made to contain as broad of a set of hardware that will always operate as a unit as possible. +Each Subsystem is generally made to contain a broad set of hardware that will always operate as a unit. Commands are the "verbs" of the robt, or what our robot does. Each Subsystem can be used by one Command at the same time, but Commands may use many Subsystems. @@ -15,7 +15,7 @@ Because each Subsystem can only be used by one Command at once, we are safe from Subsystems are ways to organize resources that can be used by one Command at a time. -Some hardware might not be stored in a Subsystem if multiple things can/should use it. +Some hardware might not be stored in a Subsystem if multiple things can/should use it at the same time safely. For example, a vision setup can be read from by many things, and might not need to be locked by Commands. Therefore, it might not be stored in a Subsystem. diff --git a/Docs/Architecture/CommandBasedPresentationNotes.md b/Docs/Architecture/CommandBasedPresentationNotes.md index 76fc569..7222a97 100644 --- a/Docs/Architecture/CommandBasedPresentationNotes.md +++ b/Docs/Architecture/CommandBasedPresentationNotes.md @@ -36,12 +36,12 @@ For example: ```Java // Runs the intake rollers forever -Commands.run(() -> intakeSubsystem.spinRoller(), intakeSubsystem); +Commands.run(intakeSubsystem::spinRoller, intakeSubsystem); // Retracts the intake // Note that the real hardware doesn't move instantly // But we only need to set it once in code -Commands.runOnce(() -> intakeSubsystem.retract(), intakeSubsystem); +Commands.runOnce(intakeSubsystem::retract, intakeSubsystem); ``` If these Commands are defined in a Subsystem file, we can make them even simpler by calling `run` and `runOnce` on the subsystem itself @@ -51,9 +51,9 @@ If these Commands are defined in a Subsystem file, we can make them even simpler // Notice how we don't need to define the requirements for these // The subsystem does it implicitly -this.run(() -> spinRoller()); +this.run(this::spinRoller); -this.runOnce(() -> retract()); +this.runOnce(this::retract); ``` Anatomy of a Command declaration: @@ -70,7 +70,7 @@ Anatomy of a Command declaration: ```Java // In RobotContainer.java // When the a button on the controller is pressed, run the rollers on the intake -controller.a().whenPressed(Commands.run(() -> intakeSubsystem.runRollers(), intakeSubsystem)); +controller.a().whenPressed(Commands.run(intakeSubsystem::runRollers, intakeSubsystem)); ``` - This is somewhat wordy @@ -81,7 +81,7 @@ controller.a().whenPressed(Commands.run(() -> intakeSubsystem.runRollers(), inta // In IntakeSubsystem.java public CommandBase runRollersCommand() { // Note implicit requirements - return this.run(() -> runRollers()); + return this.run(this::runRollers); } ``` @@ -113,9 +113,7 @@ intakeSubsystem.extendCommand().andThen(intakeSubsystem.runRollersCommand()) // An example of a more complex group intakeSubsystem.extend().andThen( - intakeSubsystem.runRollers().until(() -> - intakeSubsystem.hasGamePiece() - ), + intakeSubsystem.runRollers().until(intakeSubsystem::hasGamePiece), intakeSubsystem.retract() ) @@ -124,7 +122,7 @@ intakeSubsystem.extend().andThen( elevatorSubsystem.runToScoringHeight() .alongWith( grabberSubsystem.holdGamePiece() - ).until(() -> elevatorSubsystem.isAtScoringHeight()) + ).until(elevatorSubsystem::isAtScoringHeight) .andThen( // Outtake game piece for 1 second grabberSubsystem.outtakeGamePiece().withTimeout(1.0) diff --git a/Docs/Architecture/KitbotExampleWalkthrough.md b/Docs/Architecture/KitbotExampleWalkthrough.md index 781600a..b282de2 100644 --- a/Docs/Architecture/KitbotExampleWalkthrough.md +++ b/Docs/Architecture/KitbotExampleWalkthrough.md @@ -143,7 +143,7 @@ To do this we need to make a Command factory method, or a method that returns `C ```Java public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble()), this); + return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this); } ``` @@ -219,8 +219,8 @@ This line is a little long now, so break it up into a few lines to keep it reada ```Java drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - () -> controller.getLeftY(), - () -> controller.getRightX())); + controller::getLeftY, + controller::getRightX)); ``` Using the joystick values directly is perfectly fine, but sometimes our driver wants a different feel to the controls. @@ -270,8 +270,8 @@ Now we can add this method into our drive command. ```Java drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - () -> modifyJoystick(controller.getLeftY()), - () -> modifyJoystick(controller.getRightX()))); + modifyJoystick(controller::getLeftY), + modifyJoystick(controller::getRightX))); ``` Congratulations! diff --git a/Docs/Architecture/WPILib.md b/Docs/Architecture/WPILib.md index 22f0f0a..d952ce9 100644 --- a/Docs/Architecture/WPILib.md +++ b/Docs/Architecture/WPILib.md @@ -10,7 +10,7 @@ However, it becomes very clumsy and difficult to interface with these parts dire WPILib is an open source library built for FRC which abstracts away the low level code to allow us to focus on the high-level control logic. The project has a large number of features and is the main building block that our code is built on top of. It also has extensive documentation both for it's own API and for the concepts and math behind many of its features. -Venders (companies that sell us parts) also often have libraries to interface with their parts. +Vendors (companies that sell us parts) also often have libraries to interface with their parts. These include the [Phoenix library](https://v6.docs.ctr-electronics.com/en/stable/) made by CTRE, the manufacturer of the majority of our motor controllers. We also use other libraries for other tasks that WPILib doesn't support. One of these is [Photonvision](../Specifics/Vision.md), a library that processes our camera feeds to turn them into useful target information. diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java index 65311c5..f1efcfd 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java @@ -21,8 +21,8 @@ public RobotContainer() { private void configureBindings() { drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - () -> modifyJoystick(controller.getLeftY()), - () -> modifyJoystick(controller.getRightX()))); + modifyJoystick(controller::getLeftY), + modifyJoystick(controller::getRightX))); } public Command getAutonomousCommand() { diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java index 1ffaad3..55185fe 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java @@ -32,7 +32,7 @@ private void setVoltages(double left, double right) { } public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble()), this); + return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this); } public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java index b1c4448..038eeda 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java @@ -22,8 +22,8 @@ private void configureBindings() { // Default Command drivetrainSubsystem .setDefaultCommand(drivetrainSubsystem.driveCommand( - () -> modifyJoystickAxis(controller.getLeftY()), - () -> modifyJoystickAxis(-controller.getLeftX()), + modifyJoystickAxis(controller::getLeftY), + modifyJoystickAxis(-controller::getLeftX), () -> false)); } diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java index 814e684..55395b2 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java @@ -45,7 +45,7 @@ public void drive(double speed, double angle, boolean isClosedLoop) { // Command that wraps drive method public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { - return new RunCommand(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean()), this); + return new RunCommand(drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop::getAsBoolean), this); } @Override diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java index b8aadee..eabca5d 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java @@ -21,8 +21,8 @@ public RobotContainer() { private void configureBindings() { drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - () -> modifyJoystick(controller.getLeftY()), - () -> modifyJoystick(controller.getRightX()))); + modifyJoystick(controller::getLeftY), + modifyJoystick(controller::getRightX))); } public Command getAutonomousCommand() { diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java index a8df8a9..9a938f4 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java @@ -35,7 +35,7 @@ private void setVoltages(double left, double right) { } public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble()), this); + return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this); } public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { From 0f045bd5fc4648f12ffd113464e839f5f51a6d93 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Wed, 21 Aug 2024 18:43:19 -0700 Subject: [PATCH 3/8] fixed examples --- Docs/Architecture/CommandBasedPresentationNotes.md | 2 +- .../src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../main/java/frc/robot/Subsystems/DrivetrainSubsystem.java | 6 +++--- .../src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../robot/subsystems/Drivetrain/DrivetrainSubsystem.java | 4 ++-- .../src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../robot/Subsystems/Drivetrain/DrivetrainSubsystem.java | 6 +++--- 7 files changed, 15 insertions(+), 15 deletions(-) diff --git a/Docs/Architecture/CommandBasedPresentationNotes.md b/Docs/Architecture/CommandBasedPresentationNotes.md index 7222a97..947f93c 100644 --- a/Docs/Architecture/CommandBasedPresentationNotes.md +++ b/Docs/Architecture/CommandBasedPresentationNotes.md @@ -18,7 +18,7 @@ Note that some of the code shown in the video differs from the current version o - Motors - Pneumatics - Sensors -- [Mutex](https://en.wikipedia.org/wiki/Lock_(computer_science)), prevents multiple things from using the same hardware at the same time +- [Mutex (short for "mutually exclusive")](https://en.wikipedia.org/wiki/Lock_(computer_science)), prevents multiple things from using the same hardware at the same time ### Commands diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java index f1efcfd..65311c5 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/RobotContainer.java @@ -21,8 +21,8 @@ public RobotContainer() { private void configureBindings() { drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - modifyJoystick(controller::getLeftY), - modifyJoystick(controller::getRightX))); + () -> modifyJoystick(controller.getLeftY()), + () -> modifyJoystick(controller.getRightX()))); } public Command getAutonomousCommand() { diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java index 55185fe..e2eecd4 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java @@ -32,14 +32,14 @@ private void setVoltages(double left, double right) { } public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this); + return this.run(this.setVoltages(left.getAsDouble(), right.getAsDouble())); } public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { - return new RunCommand(() -> { + return this.run(() -> { var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); this.setVoltages(speeds.left * 12, speeds.right * 12); - }, this); + }); } @Override diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java index 038eeda..b1c4448 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java @@ -22,8 +22,8 @@ private void configureBindings() { // Default Command drivetrainSubsystem .setDefaultCommand(drivetrainSubsystem.driveCommand( - modifyJoystickAxis(controller::getLeftY), - modifyJoystickAxis(-controller::getLeftX), + () -> modifyJoystickAxis(controller.getLeftY()), + () -> modifyJoystickAxis(-controller.getLeftX()), () -> false)); } diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java index 55395b2..1e05b54 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java @@ -25,7 +25,7 @@ public class DrivetrainSubsystem extends SubsystemBase { // We could make this select an io type based off of if the robot was real or // not - // Robot.isReal() ? new DrivetrainIOFalcon() : new DrivetrainIOSim() + // Robot.isReal() ? new DrivetrainIOReal() : new DrivetrainIOSim() DrivetrainIO io = new DrivetrainIOSim(); DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); @@ -45,7 +45,7 @@ public void drive(double speed, double angle, boolean isClosedLoop) { // Command that wraps drive method public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { - return new RunCommand(drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop::getAsBoolean), this); + return this.run(drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean())); } @Override diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java index eabca5d..b8aadee 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java @@ -21,8 +21,8 @@ public RobotContainer() { private void configureBindings() { drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - modifyJoystick(controller::getLeftY), - modifyJoystick(controller::getRightX))); + () -> modifyJoystick(controller.getLeftY()), + () -> modifyJoystick(controller.getRightX()))); } public Command getAutonomousCommand() { diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java index 9a938f4..6371bb5 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java @@ -35,14 +35,14 @@ private void setVoltages(double left, double right) { } public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this); + return this.run(this.setVoltages(left.getAsDouble(), right.getAsDouble())); } public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { - return new RunCommand(() -> { + return this.run(() -> { var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); this.setVoltages(speeds.left * 12, speeds.right * 12); - }, this); + }); } @Override From 19f958a9d4247041f76db5f8328643964e14fdd6 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Thu, 12 Sep 2024 12:44:09 -0700 Subject: [PATCH 4/8] fix kitbot examples\ (who wouldve thought that installing a java syntax checker would be a good idea --- Docs/Architecture/KitbotExampleWalkthrough.md | 6 +++--- .../java/frc/robot/Subsystems/DrivetrainSubsystem.java | 4 ++-- .../frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java | 2 -- .../robot/subsystems/Drivetrain/DrivetrainSubsystem.java | 3 +-- .../robot/Subsystems/Drivetrain/DrivetrainSubsystem.java | 7 +------ 5 files changed, 7 insertions(+), 15 deletions(-) diff --git a/Docs/Architecture/KitbotExampleWalkthrough.md b/Docs/Architecture/KitbotExampleWalkthrough.md index b282de2..8100830 100644 --- a/Docs/Architecture/KitbotExampleWalkthrough.md +++ b/Docs/Architecture/KitbotExampleWalkthrough.md @@ -143,7 +143,7 @@ To do this we need to make a Command factory method, or a method that returns `C ```Java public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this); + return new RunCommand(this.setVoltages(left.getAsDouble(), right.getAsDouble()), this); } ``` @@ -270,8 +270,8 @@ Now we can add this method into our drive command. ```Java drivetrainSubsystem.setDefaultCommand( drivetrainSubsystem.setVoltagesArcadeCommand( - modifyJoystick(controller::getLeftY), - modifyJoystick(controller::getRightX))); + () -> modifyJoystick(controller.getLeftY()), + () -> modifyJoystick(controller.getRightX()))); ``` Congratulations! diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java index e2eecd4..3394127 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java @@ -31,8 +31,8 @@ private void setVoltages(double left, double right) { rightFalcon.setControl(rightVoltage.withOutput(left)); } - public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return this.run(this.setVoltages(left.getAsDouble(), right.getAsDouble())); + public CommandBase setVoltagesCommandBase(DoubleSupplier left, DoubleSupplier right) { + return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); } public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java index 7811f3a..382ed5e 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java @@ -4,8 +4,6 @@ package frc.robot.subsystems.Drivetrain; -import org.littletonrobotics.junction.Logger; - import com.ctre.phoenixpro.controls.VelocityDutyCycle; import com.ctre.phoenixpro.controls.VoltageOut; import com.ctre.phoenixpro.hardware.TalonFX; diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java index 1e05b54..d54714e 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java @@ -14,7 +14,6 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj2.command.CommandBase; -import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class DrivetrainSubsystem extends SubsystemBase { @@ -45,7 +44,7 @@ public void drive(double speed, double angle, boolean isClosedLoop) { // Command that wraps drive method public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { - return this.run(drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean())); + return this.run(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean())); } @Override diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java index 6371bb5..6ffae15 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java @@ -8,17 +8,12 @@ import org.littletonrobotics.junction.Logger; -import com.ctre.phoenixpro.controls.VoltageOut; -import com.ctre.phoenixpro.hardware.TalonFX; - import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj2.command.CommandBase; -import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants; public class DrivetrainSubsystem extends SubsystemBase { DrivetrainIO io = new DrivetrainIOSim(); @@ -35,7 +30,7 @@ private void setVoltages(double left, double right) { } public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return this.run(this.setVoltages(left.getAsDouble(), right.getAsDouble())); + return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); } public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { From fc34f75ead406460fd1cb71d10fd75c577d799e6 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Mon, 16 Sep 2024 18:16:41 -0700 Subject: [PATCH 5/8] replace pathplanner reference to choreo reference in wpilib intro --- Docs/Architecture/WPILib.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/Architecture/WPILib.md b/Docs/Architecture/WPILib.md index d952ce9..22def58 100644 --- a/Docs/Architecture/WPILib.md +++ b/Docs/Architecture/WPILib.md @@ -14,7 +14,7 @@ Vendors (companies that sell us parts) also often have libraries to interface wi These include the [Phoenix library](https://v6.docs.ctr-electronics.com/en/stable/) made by CTRE, the manufacturer of the majority of our motor controllers. We also use other libraries for other tasks that WPILib doesn't support. One of these is [Photonvision](../Specifics/Vision.md), a library that processes our camera feeds to turn them into useful target information. -Another is Pathplanner, a library to create and follow paths for the Autonomous portion of a match. +Another is Choreo, a library to follow paths generated in a standalone app for the Autonomous portion of a match. Many of these libraries will have their own articles here as well as their own documentation. ## Resources From 52b51e79b3349b4d4d352954a89bdb45e7ecc692 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 26 Jul 2025 16:35:40 -0700 Subject: [PATCH 6/8] update projects to 2025 (surely there's a better way to do this :sob:) --- .../robot/Subsystems/DrivetrainSubsystem.java | 1 - Examples/KitbotDemoFinal-Imported/.gitignore | 187 +++++++ .../.vscode/launch.json | 21 + .../.vscode/settings.json | 60 +++ .../.wpilib/wpilib_preferences.json | 6 + .../WPILib-License.md | 24 + .../KitbotDemoFinal-Imported/build.gradle | 112 ++++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + Examples/KitbotDemoFinal-Imported/gradlew | 252 +++++++++ Examples/KitbotDemoFinal-Imported/gradlew.bat | 94 ++++ .../KitbotDemoFinal-Imported/settings.gradle | 30 ++ .../src/main/deploy/example.txt | 3 + .../main/java/frc/robot/BuildConstants.java | 19 + .../src/main/java/frc/robot/Main.java | 15 + .../src/main/java/frc/robot/Robot.java | 101 ++++ .../main/java/frc/robot/RobotContainer.java | 38 ++ .../subsystems/Drivetrain/DrivetrainIO.java | 36 ++ .../Drivetrain/DrivetrainIOSim.java | 105 ++++ .../Drivetrain/DrivetrainSubsystem.java | 65 +++ .../vendordeps/AdvantageKit.json | 35 ++ .../vendordeps/Phoenix6-frc2025-latest.json | 479 ++++++++++++++++++ .../vendordeps/WPILibNewCommands.json | 38 ++ .../main/java/frc/robot/BuildConstants.java | 12 +- .../vendordeps/AdvantageKit.json | 34 +- .../vendordeps/PhoenixPro.json | 48 +- Examples/KitbotDemoSim-Imported/.gitignore | 187 +++++++ .../.vscode/launch.json | 21 + .../.vscode/settings.json | 60 +++ .../.wpilib/wpilib_preferences.json | 6 + .../KitbotDemoSim-Imported/WPILib-License.md | 24 + Examples/KitbotDemoSim-Imported/build.gradle | 112 ++++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + Examples/KitbotDemoSim-Imported/gradlew | 252 +++++++++ Examples/KitbotDemoSim-Imported/gradlew.bat | 94 ++++ .../KitbotDemoSim-Imported/settings.gradle | 30 ++ .../src/main/deploy/example.txt | 3 + .../src/main/java/frc/robot/Constants.java | 11 + .../src/main/java/frc/robot/Main.java | 15 + .../src/main/java/frc/robot/Robot.java | 91 ++++ .../main/java/frc/robot/RobotContainer.java | 38 ++ .../Subsystems/Drivetrain/DrivetrainIO.java | 30 ++ .../Drivetrain/DrivetrainIOSim.java | 62 +++ .../Drivetrain/DrivetrainSubsystem.java | 57 +++ .../vendordeps/AdvantageKit.json | 35 ++ .../vendordeps/Phoenix6-frc2025-latest.json | 479 ++++++++++++++++++ .../vendordeps/WPILibNewCommands.json | 38 ++ 48 files changed, 3423 insertions(+), 51 deletions(-) create mode 100644 Examples/KitbotDemoFinal-Imported/.gitignore create mode 100644 Examples/KitbotDemoFinal-Imported/.vscode/launch.json create mode 100644 Examples/KitbotDemoFinal-Imported/.vscode/settings.json create mode 100644 Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json create mode 100644 Examples/KitbotDemoFinal-Imported/WPILib-License.md create mode 100644 Examples/KitbotDemoFinal-Imported/build.gradle create mode 100644 Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.jar create mode 100644 Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.properties create mode 100644 Examples/KitbotDemoFinal-Imported/gradlew create mode 100644 Examples/KitbotDemoFinal-Imported/gradlew.bat create mode 100644 Examples/KitbotDemoFinal-Imported/settings.gradle create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java create mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java create mode 100644 Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json create mode 100644 Examples/KitbotDemoFinal-Imported/vendordeps/Phoenix6-frc2025-latest.json create mode 100644 Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json create mode 100644 Examples/KitbotDemoSim-Imported/.gitignore create mode 100644 Examples/KitbotDemoSim-Imported/.vscode/launch.json create mode 100644 Examples/KitbotDemoSim-Imported/.vscode/settings.json create mode 100644 Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json create mode 100644 Examples/KitbotDemoSim-Imported/WPILib-License.md create mode 100644 Examples/KitbotDemoSim-Imported/build.gradle create mode 100644 Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.jar create mode 100644 Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.properties create mode 100644 Examples/KitbotDemoSim-Imported/gradlew create mode 100644 Examples/KitbotDemoSim-Imported/gradlew.bat create mode 100644 Examples/KitbotDemoSim-Imported/settings.gradle create mode 100644 Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java create mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java create mode 100644 Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json create mode 100644 Examples/KitbotDemoSim-Imported/vendordeps/Phoenix6-frc2025-latest.json create mode 100644 Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java index 3394127..294c57a 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java @@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj2.command.CommandBase; -import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; diff --git a/Examples/KitbotDemoFinal-Imported/.gitignore b/Examples/KitbotDemoFinal-Imported/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/Examples/KitbotDemoFinal-Imported/.vscode/launch.json b/Examples/KitbotDemoFinal-Imported/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/.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/Examples/KitbotDemoFinal-Imported/.vscode/settings.json b/Examples/KitbotDemoFinal-Imported/.vscode/settings.json new file mode 100644 index 0000000..612cdd0 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/.vscode/settings.json @@ -0,0 +1,60 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] +} diff --git a/Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..ecbd975 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 8033 +} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/WPILib-License.md b/Examples/KitbotDemoFinal-Imported/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 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/Examples/KitbotDemoFinal-Imported/build.gradle b/Examples/KitbotDemoFinal-Imported/build.gradle new file mode 100644 index 0000000..3134468 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/build.gradle @@ -0,0 +1,112 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.2.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} + +task(replayWatch, type: JavaExec) { + mainClass = "org.littletonrobotics.junction.ReplayWatch" + classpath = sourceSets.main.runtimeClasspath +} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.jar b/Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 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b/Examples/KitbotDemoFinal-Imported/gradlew new file mode 100644 index 0000000..f5feea6 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/Examples/KitbotDemoFinal-Imported/gradlew.bat b/Examples/KitbotDemoFinal-Imported/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/Examples/KitbotDemoFinal-Imported/settings.gradle b/Examples/KitbotDemoFinal-Imported/settings.gradle new file mode 100644 index 0000000..c493958 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name = 'frcHome' + url = frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt b/Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java new file mode 100644 index 0000000..e9cf366 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java @@ -0,0 +1,19 @@ +package frc.robot; + +/** + * Automatically generated file containing build version information. + */ +public final class BuildConstants { + public static final String MAVEN_GROUP = ""; + public static final String MAVEN_NAME = "KitbotDemoFinal"; + public static final String VERSION = "unspecified"; + public static final int GIT_REVISION = 202; + public static final String GIT_SHA = "2cc4b1e3ca5e56dc3af091243ce8814702adb871"; + public static final String GIT_DATE = "2025-07-25 17:20:42 PDT"; + public static final String GIT_BRANCH = "command-based-2024"; + public static final String BUILD_DATE = "2025-07-26 16:23:37 PDT"; + public static final long BUILD_UNIX_TIME = 1753572217766L; + public static final int DIRTY = 1; + + private BuildConstants(){} +} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..fe215d7 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java @@ -0,0 +1,15 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +public final class Main { + private Main() {} + + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..01aa48d --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java @@ -0,0 +1,101 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; + +import edu.wpi.first.wpilibj.PowerDistribution; +import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +public class Robot extends LoggedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + @Override + public void robotInit() { + Logger.recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value + + if (isReal()) { + Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging + } else { + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + } + + Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may + // be added. + + m_robotContainer = new RobotContainer(); + } + + @Override + public void robotPeriodic() { + CommandScheduler.getInstance().run(); + } + + @Override + public void disabledInit() { + } + + @Override + public void disabledPeriodic() { + } + + @Override + public void disabledExit() { + } + + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + @Override + public void autonomousPeriodic() { + } + + @Override + public void autonomousExit() { + } + + @Override + public void teleopInit() { + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + @Override + public void teleopPeriodic() { + } + + @Override + public void teleopExit() { + } + + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } + + @Override + public void testPeriodic() { + } + + @Override + public void testExit() { + } +} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..b1c4448 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java @@ -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. + +package frc.robot; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.subsystems.Drivetrain.DrivetrainSubsystem; + +public class RobotContainer { + DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem(); + + CommandXboxController controller = new CommandXboxController(0); + + public RobotContainer() { + configureBindings(); + } + + private void configureBindings() { + // Default Command + drivetrainSubsystem + .setDefaultCommand(drivetrainSubsystem.driveCommand( + () -> modifyJoystickAxis(controller.getLeftY()), + () -> modifyJoystickAxis(-controller.getLeftX()), + () -> false)); + } + + private double modifyJoystickAxis(double joystick) { + return -(Math.abs(Math.pow(joystick, 2)) + 0.05) + * Math.signum(joystick); + } + + public Command getAutonomousCommand() { + return Commands.print("No autonomous command configured"); + } +} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java new file mode 100644 index 0000000..52c855d --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java @@ -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. + +package frc.robot.subsystems.Drivetrain; + +import org.littletonrobotics.junction.AutoLog; + +/** Add your docs here. */ +public interface DrivetrainIO { + @AutoLog + public static class DrivetrainIOInputs { + // Speed and position for odometry + public double leftSpeedMetersPerSecond = 0.0; + public double leftPositionMeters = 0.0; + public double rightSpeedMetersPerSecond = 0.0; + public double rightPositionMeters = 0.0; + // Output logging, volts for open loop, rpm for closed loop + public double leftOutputVolts = 0.0; + public double leftGoalMetersPerSecond = 0.0; + public double rightOutputVolts = 0.0; + public double rightGoalMetersPerSecond = 0.0; + public boolean isClosedLoop = false; + // Current and temparature logging to monitor motor performance + public double[] leftCurrentAmps = new double[0]; + public double[] leftTempCelsius = new double[0]; + public double[] rightCurrentAmps = new double[0]; + public double[] rightTempCelsius = new double[0]; + } + + public abstract void updateInputs(DrivetrainIOInputs inputs); + + public abstract void setVolts(double left, double right); + + public abstract void setMetersPerSecond(double left, double right); +} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java new file mode 100644 index 0000000..e980479 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java @@ -0,0 +1,105 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems.Drivetrain; + +import com.ctre.phoenix6.controls.VelocityDutyCycle; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; + +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; +import edu.wpi.first.wpilibj.simulation.RoboRioSim; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotMotor; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotWheelSize; + +/** Sim implementation of Kitbot drivetrain. */ +public class DrivetrainIOSim implements DrivetrainIO { + // Here we have 2 motors, one for each side + // Since we have 2 motors per side we would need to add "follower" motors + // Since this is a sim we can pretend those motors don't exist + TalonFX leftFalcon = new TalonFX(0); + TalonFX rightFalcon = new TalonFX(1); + + // ControlRequest objects represent what we want our motor to do + // There might be a cleaner way to have both voltage and velocity control than making two sets of objects + // This is part of the Phoenix v6/pro api, old code uses the v5 api which looks different + VoltageOut leftVoltageControl = new VoltageOut(0); + VoltageOut rightVoltageControl = new VoltageOut(0); + + VelocityDutyCycle leftVelocityControl = new VelocityDutyCycle(0); + VelocityDutyCycle rightVelocityControl = new VelocityDutyCycle(0); + + // Track if we're using voltage (open loop) or velocity (closed loop) + boolean isClosedLoop = false; + + // Physical constants for converting from motor speed to chassis speed + double gearRatio = DifferentialDrivetrainSim.KitbotGearing.k8p45.value; + double wheelDiameter = DifferentialDrivetrainSim.KitbotWheelSize.kSixInch.value; + + // This is a physics sim object + // This will calculate the movement of the drivetrain based off of a mathmatical model + // To learn more about how these models work, look at the book linked in the state space course + DifferentialDrivetrainSim physicsSim = DifferentialDrivetrainSim.createKitbotSim( + KitbotMotor.kDoubleFalcon500PerSide, + // This is the default gearing for the kitbot + // If this was a real robot, we would check with mechanical for actual numbers + // Note that the default gearbox is not compatible with falcons so this configuration is not realistic + KitbotGearing.k8p45, + // Default wheels + KitbotWheelSize.kSixInch, + // This is a way for us to model noise from our measurements + // We can leave it null to pretend our simulation is perfect for this exercise + null); + + @Override + public void updateInputs(DrivetrainIOInputs inputs) { + // Start by updating our physics model with the default loop time of 20 ms + physicsSim.update(0.020); + + // Update the voltage available to each motor based off of a simulated robot battery + // This accounts for "voltage sag" when motors are running + var leftSimState = leftFalcon.getSimState(); + leftSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); + + var rightSimState = rightFalcon.getSimState(); + rightSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); + + // Use the motor output voltage to update the sim + physicsSim.setInputs(leftSimState.getMotorVoltage(), rightSimState.getMotorVoltage()); + + inputs.leftSpeedMetersPerSecond = physicsSim.getLeftVelocityMetersPerSecond(); + inputs.leftPositionMeters = physicsSim.getLeftPositionMeters(); + inputs.rightSpeedMetersPerSecond = physicsSim.getRightVelocityMetersPerSecond(); + inputs.rightPositionMeters = physicsSim.getRightPositionMeters(); + + inputs.leftOutputVolts = leftSimState.getMotorVoltage(); + inputs.leftGoalMetersPerSecond = (leftVelocityControl.Velocity * Math.PI * wheelDiameter) / gearRatio; + inputs.rightOutputVolts = rightSimState.getMotorVoltage(); + inputs.rightGoalMetersPerSecond = (rightVelocityControl.Velocity * Math.PI * wheelDiameter) / gearRatio; + inputs.isClosedLoop = isClosedLoop; + + // If we had multiple motors per side, we would add all of them to the array + inputs.leftCurrentAmps = new double[] {leftSimState.getTorqueCurrent()}; + inputs.leftTempCelsius = new double[] {0.0}; // For sim, we're going to ignore temparature + // If we had multiple motors per side, we would add all of them to the array + inputs.rightCurrentAmps = new double[] {rightSimState.getTorqueCurrent()}; + inputs.rightTempCelsius = new double[] {0.0}; // For sim, we're going to ignore temparature + } + + @Override + public void setVolts(double left, double right) { + isClosedLoop = false; + leftFalcon.setControl(leftVoltageControl.withOutput(left)); + rightFalcon.setControl(rightVoltageControl.withOutput(right)); + } + + @Override + public void setMetersPerSecond(double left, double right) { + isClosedLoop = true; + leftFalcon.setControl(leftVelocityControl.withVelocity((left * gearRatio) / (Math.PI * wheelDiameter))); + rightFalcon.setControl(rightVelocityControl.withVelocity((right * gearRatio) / (Math.PI * wheelDiameter))); + } + +} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java new file mode 100644 index 0000000..141b219 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java @@ -0,0 +1,65 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems.Drivetrain; + +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; + +import org.littletonrobotics.junction.Logger; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class DrivetrainSubsystem extends SubsystemBase { + // Odometry keeps track of our position on the field + // We can upgrade this to a pose estimator, which fuses vision readings to + // correct our estimate + DifferentialDriveOdometry odometry = new DifferentialDriveOdometry(new Rotation2d(), 0, 0); + + // We could make this select an io type based off of if the robot was real or + // not + // Robot.isReal() ? new DrivetrainIOReal() : new DrivetrainIOSim() + DrivetrainIO io = new DrivetrainIOSim(); + DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); + + /** Creates a new Drivetrain. */ + public DrivetrainSubsystem() { + } + + // Method to set the driving speed and turning rate of the robot + public void drive(double speed, double angle, boolean isClosedLoop) { + var wheelSpeeds = DifferentialDrive.arcadeDriveIK(speed, angle, false); + if (isClosedLoop) { + io.setMetersPerSecond(wheelSpeeds.left, wheelSpeeds.right); + } else { + io.setVolts(wheelSpeeds.left * 12, wheelSpeeds.right * 12); + } + } + + // Command that wraps drive method + public Command driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { + return this.run(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean())); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + io.updateInputs(inputs); + Logger.processInputs("Drivetrain", inputs); + + odometry.update( + // Here we have to do a little hack to get rotation to work in sim + // Normally we use a gyro to find rotation, but we don't have a simulated gyro set up now + odometry.getPoseMeters().getRotation() + // Use differential drive kinematics to find the rotation rate based on the wheel speeds and distance between wheels + .plus(Rotation2d.fromRadians((inputs.leftSpeedMetersPerSecond - inputs.rightSpeedMetersPerSecond) * 0.020 / Units.inchesToMeters(26))), + inputs.leftPositionMeters, inputs.rightPositionMeters); + Logger.recordOutput("Drivebase Pose", odometry.getPoseMeters()); + } +} diff --git a/Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json b/Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..bef4a15 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json @@ -0,0 +1,35 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "4.1.2", + "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": "4.1.2" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.2", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/vendordeps/Phoenix6-frc2025-latest.json b/Examples/KitbotDemoFinal-Imported/vendordeps/Phoenix6-frc2025-latest.json new file mode 100644 index 0000000..6f40c84 --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/vendordeps/Phoenix6-frc2025-latest.json @@ -0,0 +1,479 @@ +{ + "fileName": "Phoenix6-frc2025-latest.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.4.0", + "frcYear": "2025", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.4.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "25.4.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.4.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "25.4.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.4.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.4.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.4.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.4.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.4.0", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.4.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.4.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.4.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.4.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.4.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..3718e0a --- /dev/null +++ b/Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/BuildConstants.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/BuildConstants.java index 5c4bd3c..e9cf366 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/BuildConstants.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/BuildConstants.java @@ -7,12 +7,12 @@ public final class BuildConstants { public static final String MAVEN_GROUP = ""; public static final String MAVEN_NAME = "KitbotDemoFinal"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 66; - public static final String GIT_SHA = "bbe4ec0bcd806f52a50e66312b35e58315debd39"; - public static final String GIT_DATE = "2023-08-20 14:39:02 PDT"; - public static final String GIT_BRANCH = "kitbot-example-sim"; - public static final String BUILD_DATE = "2023-08-20 14:45:58 PDT"; - public static final long BUILD_UNIX_TIME = 1692567958878L; + public static final int GIT_REVISION = 202; + public static final String GIT_SHA = "2cc4b1e3ca5e56dc3af091243ce8814702adb871"; + public static final String GIT_DATE = "2025-07-25 17:20:42 PDT"; + public static final String GIT_BRANCH = "command-based-2024"; + public static final String BUILD_DATE = "2025-07-26 16:23:37 PDT"; + public static final long BUILD_UNIX_TIME = 1753572217766L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/Examples/KitbotDemoFinal/vendordeps/AdvantageKit.json b/Examples/KitbotDemoFinal/vendordeps/AdvantageKit.json index fa08705..bef4a15 100644 --- a/Examples/KitbotDemoFinal/vendordeps/AdvantageKit.json +++ b/Examples/KitbotDemoFinal/vendordeps/AdvantageKit.json @@ -1,39 +1,33 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "2.2.4", + "version": "4.1.2", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "mavenUrls": [], + "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.junction", - "artifactId": "wpilib-shim", - "version": "2.2.4" - }, - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "junction-core", - "version": "2.2.4" - }, - { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-api", - "version": "2.2.4" + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.1.2" } ], "jniDependencies": [ { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-wpilibio", - "version": "2.2.4", + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.2", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ "linuxathena", - "windowsx86-64", "linuxx86-64", - "osxuniversal" + "linuxarm64", + "osxuniversal", + "windowsx86-64" ] } ], diff --git a/Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json b/Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json index 4418679..fb545b3 100644 --- a/Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json +++ b/Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json @@ -1,7 +1,7 @@ { "fileName": "PhoenixPro.json", "name": "CTRE-Phoenix (Pro)", - "version": "23.0.8", + "version": "23.0.12", "frcYear": 2023, "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.ctre.phoenixpro", "artifactId": "wpiapi-java", - "version": "23.0.8" + "version": "23.0.12" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenixpro", "artifactId": "tools", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -32,7 +32,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "tools-sim", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -45,7 +45,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simTalonSRX", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -58,7 +58,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simTalonFX", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -71,7 +71,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simVictorSPX", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -84,7 +84,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simPigeonIMU", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -97,7 +97,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simCANCoder", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simProTalonFX", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,7 +123,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simProCANcoder", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -136,7 +136,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simProPigeon2", - "version": "23.0.8", + "version": "23.0.12", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -151,7 +151,7 @@ { "groupId": "com.ctre.phoenixpro", "artifactId": "wpiapi-cpp", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_PhoenixPro_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenixpro", "artifactId": "tools", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -181,7 +181,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "wpiapi-cpp-sim", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_PhoenixPro_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -196,7 +196,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "tools-sim", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -211,7 +211,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simTalonSRX", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -226,7 +226,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simTalonFX", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -241,7 +241,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simVictorSPX", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simPigeonIMU", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -271,7 +271,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simCANCoder", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -286,7 +286,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simProTalonFX", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -301,7 +301,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simProCANcoder", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -316,7 +316,7 @@ { "groupId": "com.ctre.phoenixpro.sim", "artifactId": "simProPigeon2", - "version": "23.0.8", + "version": "23.0.12", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/Examples/KitbotDemoSim-Imported/.gitignore b/Examples/KitbotDemoSim-Imported/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/Examples/KitbotDemoSim-Imported/.vscode/launch.json b/Examples/KitbotDemoSim-Imported/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/.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/Examples/KitbotDemoSim-Imported/.vscode/settings.json b/Examples/KitbotDemoSim-Imported/.vscode/settings.json new file mode 100644 index 0000000..612cdd0 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/.vscode/settings.json @@ -0,0 +1,60 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] +} diff --git a/Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..ecbd975 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 8033 +} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/WPILib-License.md b/Examples/KitbotDemoSim-Imported/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 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/Examples/KitbotDemoSim-Imported/build.gradle b/Examples/KitbotDemoSim-Imported/build.gradle new file mode 100644 index 0000000..3134468 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/build.gradle @@ -0,0 +1,112 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.2.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} + +task(replayWatch, type: JavaExec) { + mainClass = "org.littletonrobotics.junction.ReplayWatch" + classpath = sourceSets.main.runtimeClasspath +} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.jar b/Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 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b/Examples/KitbotDemoSim-Imported/gradlew new file mode 100644 index 0000000..f5feea6 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/Examples/KitbotDemoSim-Imported/gradlew.bat b/Examples/KitbotDemoSim-Imported/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/Examples/KitbotDemoSim-Imported/settings.gradle b/Examples/KitbotDemoSim-Imported/settings.gradle new file mode 100644 index 0000000..c493958 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name = 'frcHome' + url = frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt b/Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..4fbca5d --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java @@ -0,0 +1,11 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +/** Add your docs here. */ +public class Constants { + public static final int drivetrainLeftFalconID = 0; + public static final int drivetrainRightFalconID = 1; +} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..fe215d7 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java @@ -0,0 +1,15 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +public final class Main { + private Main() {} + + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..3d9c376 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java @@ -0,0 +1,91 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; + +import edu.wpi.first.wpilibj.PowerDistribution; +import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +public class Robot extends LoggedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + @Override + public void robotInit() { + Logger.getInstance().recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value + + if (isReal()) { + Logger.getInstance().addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick + Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging + } else { + Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + } + + Logger.getInstance().start(); // Start logging! No more data receivers, replay sources, or metadata values may + // be added. + m_robotContainer = new RobotContainer(); + } + + @Override + public void robotPeriodic() { + CommandScheduler.getInstance().run(); + } + + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + @Override + public void disabledExit() {} + + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + @Override + public void autonomousPeriodic() {} + + @Override + public void autonomousExit() {} + + @Override + public void teleopInit() { + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + @Override + public void teleopPeriodic() {} + + @Override + public void teleopExit() {} + + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } + + @Override + public void testPeriodic() {} + + @Override + public void testExit() {} +} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..b8aadee --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java @@ -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. + +package frc.robot; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.Subsystems.Drivetrain.DrivetrainSubsystem; + +public class RobotContainer { + CommandXboxController controller = new CommandXboxController(0); + + DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem(); + + public RobotContainer() { + configureBindings(); + } + + private void configureBindings() { + drivetrainSubsystem.setDefaultCommand( + drivetrainSubsystem.setVoltagesArcadeCommand( + () -> modifyJoystick(controller.getLeftY()), + () -> modifyJoystick(controller.getRightX()))); + } + + public Command getAutonomousCommand() { + return Commands.print("No autonomous command configured"); + } + + private double modifyJoystick(double in) { + // if (Math.abs(in) < 0.05) { + // return 0; + // } + return in * in * Math.signum(in); + } +} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java new file mode 100644 index 0000000..e043a88 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java @@ -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. + +package frc.robot.Subsystems.Drivetrain; + +import org.littletonrobotics.junction.AutoLog; + +public interface DrivetrainIO { + @AutoLog + public static class DrivetrainIOInputs { + public double leftOutputVolts = 0.0; + public double rightOutputVolts = 0.0; + + public double leftVelocityMetersPerSecond = 0.0; + public double rightVelocityMetersPerSecond = 0.0; + + public double leftPositionMeters = 0.0; + public double rightPositionMeters = 0.0; + + public double[] leftCurrentAmps = new double[0]; + public double[] leftTempCelsius = new double[0]; + public double[] rightCurrentAmps = new double[0]; + public double[] rightTempCelsius = new double[0]; + } + + public abstract void updateInputs(DrivetrainIOInputs inputs); + + public abstract void setVolts(double left, double right); +} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java new file mode 100644 index 0000000..9fa1eca --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java @@ -0,0 +1,62 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.Subsystems.Drivetrain; + +import com.ctre.phoenixpro.controls.VoltageOut; +import com.ctre.phoenixpro.hardware.TalonFX; + +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotMotor; +import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotWheelSize; +import edu.wpi.first.wpilibj.simulation.RoboRioSim; +import frc.robot.Constants; + +public class DrivetrainIOSim implements DrivetrainIO { + TalonFX leftFalcon = new TalonFX(Constants.drivetrainLeftFalconID); + TalonFX rightFalcon = new TalonFX(Constants.drivetrainRightFalconID); + + VoltageOut leftVoltage = new VoltageOut(0); + VoltageOut rightVoltage = new VoltageOut(0); + + DifferentialDrivetrainSim physicsSim = DifferentialDrivetrainSim.createKitbotSim( + KitbotMotor.kDoubleFalcon500PerSide, + KitbotGearing.k8p45, + KitbotWheelSize.kSixInch, + null); + + @Override + public void updateInputs(DrivetrainIOInputs inputs) { + physicsSim.update(0.020); + + var leftSimState = leftFalcon.getSimState(); + leftSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); + + var rightSimState = rightFalcon.getSimState(); + rightSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); + + physicsSim.setInputs(leftSimState.getMotorVoltage(), rightSimState.getMotorVoltage()); + + inputs.leftOutputVolts = leftSimState.getMotorVoltage(); + inputs.rightOutputVolts = rightSimState.getMotorVoltage(); + + inputs.leftVelocityMetersPerSecond = physicsSim.getLeftVelocityMetersPerSecond(); + inputs.rightVelocityMetersPerSecond = physicsSim.getRightVelocityMetersPerSecond(); + + inputs.leftPositionMeters = physicsSim.getLeftPositionMeters(); + inputs.rightPositionMeters = physicsSim.getRightPositionMeters(); + + inputs.leftCurrentAmps = new double[] {leftSimState.getTorqueCurrent()}; + inputs.leftTempCelsius = new double[0]; + inputs.rightCurrentAmps = new double[] {rightSimState.getTorqueCurrent()}; + inputs.rightTempCelsius = new double[0]; + } + + @Override + public void setVolts(double left, double right) { + leftFalcon.setControl(leftVoltage.withOutput(left)); + rightFalcon.setControl(rightVoltage.withOutput(right)); + } +} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java new file mode 100644 index 0000000..ed77602 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java @@ -0,0 +1,57 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.Subsystems.Drivetrain; + +import java.util.function.DoubleSupplier; + +import org.littletonrobotics.junction.Logger; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class DrivetrainSubsystem extends SubsystemBase { + DrivetrainIO io = new DrivetrainIOSim(); + DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); + + DifferentialDriveOdometry odometry = new DifferentialDriveOdometry(new Rotation2d(), 0, 0); + + /** Creates a new Drivetrain. */ + public DrivetrainSubsystem() { + } + + private void setVoltages(double left, double right) { + io.setVolts(left, right); + } + + public Command setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { + return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); + } + + public Command setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { + return this.run(() -> { + var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); + this.setVoltages(speeds.left * 12, speeds.right * 12); + }); + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.getInstance().processInputs("Drivetrain", inputs); + + odometry.update( + odometry.getPoseMeters().getRotation() + // Use differential drive kinematics to find the rotation rate based on the + // wheel speeds and distance between wheels + .plus(Rotation2d.fromRadians((inputs.leftVelocityMetersPerSecond - inputs.rightVelocityMetersPerSecond) + * 0.020 / Units.inchesToMeters(26))), + inputs.leftPositionMeters, inputs.rightPositionMeters); + Logger.getInstance().recordOutput("Drivetrain Pose", odometry.getPoseMeters()); + } +} diff --git a/Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json b/Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..bef4a15 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json @@ -0,0 +1,35 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "4.1.2", + "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": "4.1.2" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.2", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/vendordeps/Phoenix6-frc2025-latest.json b/Examples/KitbotDemoSim-Imported/vendordeps/Phoenix6-frc2025-latest.json new file mode 100644 index 0000000..6f40c84 --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/vendordeps/Phoenix6-frc2025-latest.json @@ -0,0 +1,479 @@ +{ + "fileName": "Phoenix6-frc2025-latest.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.4.0", + "frcYear": "2025", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.4.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": 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"groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "25.4.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.4.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "25.4.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.4.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.4.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.4.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.4.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.4.0", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.4.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.4.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.4.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.4.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.4.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..3718e0a --- /dev/null +++ b/Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} From 9b450788dac4c201fc0b3beea2ea0d913bdcca87 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 26 Jul 2025 16:39:27 -0700 Subject: [PATCH 7/8] import basic project also --- Examples/.DS_Store | Bin 6148 -> 0 bytes Examples/KitbotDemoBasic/.gitignore | 15 + .../KitbotDemoBasic/.vscode/settings.json | 33 +- .../.wpilib/wpilib_preferences.json | 2 +- Examples/KitbotDemoBasic/WPILib-License.md | 2 +- Examples/KitbotDemoBasic/build.gradle | 19 +- .../gradle/wrapper/gradle-wrapper.jar | Bin 60756 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 4 +- Examples/KitbotDemoBasic/gradlew | 38 +- Examples/KitbotDemoBasic/gradlew.bat | 23 +- Examples/KitbotDemoBasic/settings.gradle | 9 +- .../robot/Subsystems/DrivetrainSubsystem.java | 10 +- .../vendordeps/Phoenix6-frc2025-latest.json | 0 .../vendordeps/PhoenixPro.json | 332 ------------------ .../vendordeps/WPILibNewCommands.json | 1 + Examples/KitbotDemoFinal-Imported/.gitignore | 187 ---------- .../.vscode/launch.json | 21 -- .../.vscode/settings.json | 60 ---- .../.wpilib/wpilib_preferences.json | 6 - .../WPILib-License.md | 24 -- .../KitbotDemoFinal-Imported/build.gradle | 112 ------ .../gradle/wrapper/gradle-wrapper.jar | Bin 43583 -> 0 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 - Examples/KitbotDemoFinal-Imported/gradlew | 252 ------------- Examples/KitbotDemoFinal-Imported/gradlew.bat | 94 ----- .../KitbotDemoFinal-Imported/settings.gradle | 30 -- .../src/main/deploy/example.txt | 3 - .../main/java/frc/robot/BuildConstants.java | 19 - .../src/main/java/frc/robot/Main.java | 15 - .../src/main/java/frc/robot/Robot.java | 101 ------ .../main/java/frc/robot/RobotContainer.java | 38 -- .../subsystems/Drivetrain/DrivetrainIO.java | 36 -- .../Drivetrain/DrivetrainIOSim.java | 105 ------ .../Drivetrain/DrivetrainSubsystem.java | 65 ---- .../vendordeps/AdvantageKit.json | 35 -- .../vendordeps/WPILibNewCommands.json | 38 -- Examples/KitbotDemoFinal/.gitignore | 18 +- .../KitbotDemoFinal/.vscode/settings.json | 33 +- .../.wpilib/wpilib_preferences.json | 2 +- Examples/KitbotDemoFinal/WPILib-License.md | 2 +- Examples/KitbotDemoFinal/build.gradle | 49 +-- .../gradle/wrapper/gradle-wrapper.jar | Bin 60756 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 4 +- Examples/KitbotDemoFinal/gradlew | 38 +- Examples/KitbotDemoFinal/gradlew.bat | 23 +- Examples/KitbotDemoFinal/networktables.json | 1 - Examples/KitbotDemoFinal/settings.gradle | 9 +- Examples/KitbotDemoFinal/simgui-ds.json | 102 ------ Examples/KitbotDemoFinal/simgui.json | 17 - .../src/main/java/frc/robot/Robot.java | 10 +- .../Drivetrain/DrivetrainIOSim.java | 6 +- .../Drivetrain/DrivetrainSubsystem.java | 8 +- .../vendordeps/Phoenix6-frc2025-latest.json | 0 .../vendordeps/WPILibNewCommands.json | 1 + Examples/KitbotDemoSim-Imported/.gitignore | 187 ---------- .../.vscode/launch.json | 21 -- .../.vscode/settings.json | 60 ---- .../.wpilib/wpilib_preferences.json | 6 - .../KitbotDemoSim-Imported/WPILib-License.md | 24 -- Examples/KitbotDemoSim-Imported/build.gradle | 112 ------ .../gradle/wrapper/gradle-wrapper.jar | Bin 43583 -> 0 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 - Examples/KitbotDemoSim-Imported/gradlew | 252 ------------- Examples/KitbotDemoSim-Imported/gradlew.bat | 94 ----- .../KitbotDemoSim-Imported/settings.gradle | 30 -- .../src/main/deploy/example.txt | 3 - .../src/main/java/frc/robot/Constants.java | 11 - .../src/main/java/frc/robot/Main.java | 15 - .../src/main/java/frc/robot/Robot.java | 91 ----- .../main/java/frc/robot/RobotContainer.java | 38 -- .../Subsystems/Drivetrain/DrivetrainIO.java | 30 -- .../Drivetrain/DrivetrainIOSim.java | 62 ---- .../Drivetrain/DrivetrainSubsystem.java | 57 --- .../vendordeps/AdvantageKit.json | 35 -- .../vendordeps/WPILibNewCommands.json | 38 -- Examples/KitbotDemoSim/.gitignore | 15 + Examples/KitbotDemoSim/.vscode/settings.json | 33 +- .../.wpilib/wpilib_preferences.json | 2 +- Examples/KitbotDemoSim/WPILib-License.md | 2 +- Examples/KitbotDemoSim/build.gradle | 38 +- .../gradle/wrapper/gradle-wrapper.jar | Bin 60756 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 4 +- Examples/KitbotDemoSim/gradlew | 38 +- Examples/KitbotDemoSim/gradlew.bat | 23 +- Examples/KitbotDemoSim/networktables.json | 1 - Examples/KitbotDemoSim/settings.gradle | 9 +- Examples/KitbotDemoSim/simgui-ds.json | 104 ------ Examples/KitbotDemoSim/simgui.json | 32 -- .../Drivetrain/DrivetrainSubsystem.java | 6 +- .../vendordeps/AdvantageKit.json | 34 +- .../vendordeps/Phoenix6-frc2025-latest.json} | 279 +++++++++++---- .../KitbotDemoSim/vendordeps/PhoenixPro.json | 332 ------------------ .../vendordeps/WPILibNewCommands.json | 1 + 93 files changed, 584 insertions(+), 3601 deletions(-) delete mode 100644 Examples/.DS_Store rename Examples/{KitbotDemoFinal-Imported => KitbotDemoBasic}/vendordeps/Phoenix6-frc2025-latest.json (100%) delete mode 100644 Examples/KitbotDemoBasic/vendordeps/PhoenixPro.json delete mode 100644 Examples/KitbotDemoFinal-Imported/.gitignore delete mode 100644 Examples/KitbotDemoFinal-Imported/.vscode/launch.json delete mode 100644 Examples/KitbotDemoFinal-Imported/.vscode/settings.json delete mode 100644 Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json delete mode 100644 Examples/KitbotDemoFinal-Imported/WPILib-License.md delete mode 100644 Examples/KitbotDemoFinal-Imported/build.gradle delete mode 100644 Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.jar delete mode 100644 Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.properties delete mode 100644 Examples/KitbotDemoFinal-Imported/gradlew delete mode 100644 Examples/KitbotDemoFinal-Imported/gradlew.bat delete mode 100644 Examples/KitbotDemoFinal-Imported/settings.gradle delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java delete mode 100644 Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java delete mode 100644 Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json delete mode 100644 Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json delete mode 100644 Examples/KitbotDemoFinal/networktables.json delete mode 100644 Examples/KitbotDemoFinal/simgui-ds.json delete mode 100644 Examples/KitbotDemoFinal/simgui.json rename Examples/{KitbotDemoSim-Imported => KitbotDemoFinal}/vendordeps/Phoenix6-frc2025-latest.json (100%) delete mode 100644 Examples/KitbotDemoSim-Imported/.gitignore delete mode 100644 Examples/KitbotDemoSim-Imported/.vscode/launch.json delete mode 100644 Examples/KitbotDemoSim-Imported/.vscode/settings.json delete mode 100644 Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json delete mode 100644 Examples/KitbotDemoSim-Imported/WPILib-License.md delete mode 100644 Examples/KitbotDemoSim-Imported/build.gradle delete mode 100644 Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.jar delete mode 100644 Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.properties delete mode 100644 Examples/KitbotDemoSim-Imported/gradlew delete mode 100644 Examples/KitbotDemoSim-Imported/gradlew.bat delete mode 100644 Examples/KitbotDemoSim-Imported/settings.gradle delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java delete mode 100644 Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java delete mode 100644 Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json delete mode 100644 Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json delete mode 100644 Examples/KitbotDemoSim/networktables.json delete mode 100644 Examples/KitbotDemoSim/simgui-ds.json delete mode 100644 Examples/KitbotDemoSim/simgui.json rename Examples/{KitbotDemoFinal/vendordeps/PhoenixPro.json => KitbotDemoSim/vendordeps/Phoenix6-frc2025-latest.json} (53%) delete mode 100644 Examples/KitbotDemoSim/vendordeps/PhoenixPro.json diff --git a/Examples/.DS_Store b/Examples/.DS_Store deleted file mode 100644 index f42d1726398d0c87e91d33b1526a038168c1cb5b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6148 zcmeHKyH3L}6umAPA|9e6W46xS8A24gFy;p!Edr#3R01}J{0tKdq7oxw;#>Fv#K^h! zrA?H!i5O6Y?v?E0*gm$;i5$m7WTLytkf={YJ`$t1jciG9JEunUq-Gar>=*^zQcUNR zQ_<+H73zRGuxSqP-rc7Yy28#)v1=FmH=;ATLH#(p7$)N)pW3CHa?sAmi#SfRB1KPs z^!WVQJA6Ot!kYYoHNC8?t`}mO6?#U{at%#cUC+yXJEN-S>!U@_e4e~m=;_X?>v>~6 zdrRL>0zG+M%foDa@2Za1!R+U~tQo(mp&O&V{wH3)#%4NzGn>QTaj3aEpbn@5a|ihQ z5Fjyzf~7h`&;|I1onb4u;>VP^>cVNps_WArjUVZCjS;$#HB8d=wub*+5&s1z;#xIz$aZe*~-znyCYS>cBUsWRq$D diff --git a/Examples/KitbotDemoBasic/.gitignore b/Examples/KitbotDemoBasic/.gitignore index a8d1911..34cbaac 100644 --- a/Examples/KitbotDemoBasic/.gitignore +++ b/Examples/KitbotDemoBasic/.gitignore @@ -169,4 +169,19 @@ out/ .fleet # Simulation GUI and other tools window save file +networktables.json +simgui.json *-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/Examples/KitbotDemoBasic/.vscode/settings.json b/Examples/KitbotDemoBasic/.vscode/settings.json index 4ed293b..612cdd0 100644 --- a/Examples/KitbotDemoBasic/.vscode/settings.json +++ b/Examples/KitbotDemoBasic/.vscode/settings.json @@ -25,5 +25,36 @@ } }, ], - "java.test.defaultConfig": "WPIlibUnitTests" + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] } diff --git a/Examples/KitbotDemoBasic/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoBasic/.wpilib/wpilib_preferences.json index ad4fe20..ecbd975 100644 --- a/Examples/KitbotDemoBasic/.wpilib/wpilib_preferences.json +++ b/Examples/KitbotDemoBasic/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2023", + "projectYear": "2025", "teamNumber": 8033 } \ No newline at end of file diff --git a/Examples/KitbotDemoBasic/WPILib-License.md b/Examples/KitbotDemoBasic/WPILib-License.md index 3d5a824..645e542 100644 --- a/Examples/KitbotDemoBasic/WPILib-License.md +++ b/Examples/KitbotDemoBasic/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2021 FIRST and other WPILib contributors +Copyright (c) 2009-2024 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/Examples/KitbotDemoBasic/build.gradle b/Examples/KitbotDemoBasic/build.gradle index 0fa24d3..1945af5 100644 --- a/Examples/KitbotDemoBasic/build.gradle +++ b/Examples/KitbotDemoBasic/build.gradle @@ -1,10 +1,12 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.4.2" + id "edu.wpi.first.GradleRIO" version "2025.2.1" } -sourceCompatibility = JavaVersion.VERSION_11 -targetCompatibility = JavaVersion.VERSION_11 +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} def ROBOT_MAIN_CLASS = "frc.robot.Main" @@ -31,6 +33,8 @@ deploy { frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project } } } @@ -43,11 +47,12 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = true +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() @@ -65,9 +70,8 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2' - testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2' - testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } test { @@ -84,6 +88,7 @@ wpi.sim.addDriverstation() // knows where to look for our Robot Class. jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) 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MAX_FD=maximum @@ -133,22 +134,29 @@ 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. + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then case $MAX_FD in #( max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 MAX_FD=$( ulimit -H -n ) || warn "Could not query maximum file descriptor limit" esac case $MAX_FD in #( '' | soft) :;; #( *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 ulimit -n "$MAX_FD" || warn "Could not set maximum file descriptor limit to $MAX_FD" esac @@ -193,11 +201,15 @@ if "$cygwin" || "$msys" ; then 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. + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. set -- \ "-Dorg.gradle.appname=$APP_BASE_NAME" \ diff --git a/Examples/KitbotDemoBasic/gradlew.bat b/Examples/KitbotDemoBasic/gradlew.bat index f127cfd..9d21a21 100644 --- a/Examples/KitbotDemoBasic/gradlew.bat +++ b/Examples/KitbotDemoBasic/gradlew.bat @@ -13,6 +13,8 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem @if "%DEBUG%"=="" @echo off @rem ########################################################################## @@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -42,11 +45,11 @@ set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 if %ERRORLEVEL% equ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -56,11 +59,11 @@ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail diff --git a/Examples/KitbotDemoBasic/settings.gradle b/Examples/KitbotDemoBasic/settings.gradle index 48c039e..c493958 100644 --- a/Examples/KitbotDemoBasic/settings.gradle +++ b/Examples/KitbotDemoBasic/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2023' + String frcYear = '2025' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java index 294c57a..ee79ae2 100644 --- a/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java @@ -6,11 +6,11 @@ import java.util.function.DoubleSupplier; -import com.ctre.phoenixpro.controls.VoltageOut; -import com.ctre.phoenixpro.hardware.TalonFX; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -30,11 +30,11 @@ private void setVoltages(double left, double right) { rightFalcon.setControl(rightVoltage.withOutput(left)); } - public CommandBase setVoltagesCommandBase(DoubleSupplier left, DoubleSupplier right) { + public Command setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); } - public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { + public Command setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { return this.run(() -> { var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); this.setVoltages(speeds.left * 12, speeds.right * 12); diff --git a/Examples/KitbotDemoFinal-Imported/vendordeps/Phoenix6-frc2025-latest.json b/Examples/KitbotDemoBasic/vendordeps/Phoenix6-frc2025-latest.json similarity index 100% rename from Examples/KitbotDemoFinal-Imported/vendordeps/Phoenix6-frc2025-latest.json rename to Examples/KitbotDemoBasic/vendordeps/Phoenix6-frc2025-latest.json diff --git a/Examples/KitbotDemoBasic/vendordeps/PhoenixPro.json b/Examples/KitbotDemoBasic/vendordeps/PhoenixPro.json deleted file mode 100644 index 4418679..0000000 --- a/Examples/KitbotDemoBasic/vendordeps/PhoenixPro.json +++ /dev/null @@ -1,332 +0,0 @@ -{ - "fileName": "PhoenixPro.json", - "name": "CTRE-Phoenix (Pro)", - "version": "23.0.8", - "frcYear": 2023, - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/PhoenixPro-frc2023-latest.json", - "javaDependencies": [ - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "wpiapi-java", - "version": "23.0.8" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "tools", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "tools-sim", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonSRX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonFX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simVictorSPX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simPigeonIMU", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simCANCoder", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProTalonFX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProCANcoder", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProPigeon2", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "wpiapi-cpp", - "version": "23.0.8", - "libName": "CTRE_PhoenixPro_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "tools", - "version": "23.0.8", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "23.0.8", - "libName": "CTRE_PhoenixPro_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "tools-sim", - "version": "23.0.8", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonSRX", - "version": "23.0.8", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonFX", - "version": "23.0.8", - "libName": "CTRE_SimTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simVictorSPX", - "version": "23.0.8", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simPigeonIMU", - "version": "23.0.8", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simCANCoder", - "version": "23.0.8", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProTalonFX", - "version": "23.0.8", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProCANcoder", - "version": "23.0.8", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProPigeon2", - "version": "23.0.8", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/Examples/KitbotDemoBasic/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoBasic/vendordeps/WPILibNewCommands.json index bd535bf..3718e0a 100644 --- a/Examples/KitbotDemoBasic/vendordeps/WPILibNewCommands.json +++ b/Examples/KitbotDemoBasic/vendordeps/WPILibNewCommands.json @@ -3,6 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ diff --git a/Examples/KitbotDemoFinal-Imported/.gitignore b/Examples/KitbotDemoFinal-Imported/.gitignore deleted file mode 100644 index 34cbaac..0000000 --- a/Examples/KitbotDemoFinal-Imported/.gitignore +++ /dev/null @@ -1,187 +0,0 @@ -# This gitignore has been specially created by the WPILib team. -# If you remove items from this file, intellisense might break. - -### C++ ### -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app - -### Java ### -# Compiled class file -*.class - -# Log file -*.log - -# BlueJ files -*.ctxt - -# Mobile Tools for Java (J2ME) -.mtj.tmp/ - -# Package Files # -*.jar -*.war -*.nar -*.ear -*.zip -*.tar.gz -*.rar - -# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml -hs_err_pid* - -### Linux ### -*~ - -# temporary files which can be created if a process still has a handle open of a deleted file -.fuse_hidden* - -# KDE directory preferences -.directory - -# Linux trash folder which might appear on any partition or disk -.Trash-* - -# .nfs files are created when an open file is removed but is still being accessed -.nfs* - -### macOS ### -# General -.DS_Store -.AppleDouble -.LSOverride - -# Icon must end with two \r -Icon - -# Thumbnails -._* - -# Files that might appear in the root of a volume -.DocumentRevisions-V100 -.fseventsd -.Spotlight-V100 -.TemporaryItems -.Trashes -.VolumeIcon.icns -.com.apple.timemachine.donotpresent - -# Directories potentially created on remote AFP share -.AppleDB -.AppleDesktop -Network Trash Folder -Temporary Items -.apdisk - -### VisualStudioCode ### -.vscode/* -!.vscode/settings.json -!.vscode/tasks.json -!.vscode/launch.json -!.vscode/extensions.json - -### Windows ### -# Windows thumbnail cache files -Thumbs.db -ehthumbs.db -ehthumbs_vista.db - -# Dump file -*.stackdump - -# Folder config file -[Dd]esktop.ini - -# Recycle Bin used on file shares -$RECYCLE.BIN/ - -# Windows Installer files -*.cab -*.msi -*.msix -*.msm -*.msp - -# Windows shortcuts -*.lnk - -### Gradle ### -.gradle -/build/ - -# Ignore Gradle GUI config -gradle-app.setting - -# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) -!gradle-wrapper.jar - -# Cache of project -.gradletasknamecache - -# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 -# gradle/wrapper/gradle-wrapper.properties - -# # VS Code Specific Java Settings -# DO NOT REMOVE .classpath and .project -.classpath -.project -.settings/ -bin/ - -# IntelliJ -*.iml -*.ipr -*.iws -.idea/ -out/ - -# Fleet -.fleet - -# Simulation GUI and other tools window save file -networktables.json -simgui.json -*-window.json - -# Simulation data log directory -logs/ - -# Folder that has CTRE Phoenix Sim device config storage -ctre_sim/ - -# clangd -/.cache -compile_commands.json - -# Eclipse generated file for annotation processors -.factorypath diff --git a/Examples/KitbotDemoFinal-Imported/.vscode/launch.json b/Examples/KitbotDemoFinal-Imported/.vscode/launch.json deleted file mode 100644 index c9c9713..0000000 --- a/Examples/KitbotDemoFinal-Imported/.vscode/launch.json +++ /dev/null @@ -1,21 +0,0 @@ -{ - // 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/Examples/KitbotDemoFinal-Imported/.vscode/settings.json b/Examples/KitbotDemoFinal-Imported/.vscode/settings.json deleted file mode 100644 index 612cdd0..0000000 --- a/Examples/KitbotDemoFinal-Imported/.vscode/settings.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "java.configuration.updateBuildConfiguration": "automatic", - "java.server.launchMode": "Standard", - "files.exclude": { - "**/.git": true, - "**/.svn": true, - "**/.hg": true, - "**/CVS": true, - "**/.DS_Store": true, - "bin/": true, - "**/.classpath": true, - "**/.project": true, - "**/.settings": true, - "**/.factorypath": true, - "**/*~": true - }, - "java.test.config": [ - { - "name": "WPIlibUnitTests", - "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], - "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , - "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" - } - }, - ], - "java.test.defaultConfig": "WPIlibUnitTests", - "java.import.gradle.annotationProcessing.enabled": false, - "java.completion.favoriteStaticMembers": [ - "org.junit.Assert.*", - "org.junit.Assume.*", - "org.junit.jupiter.api.Assertions.*", - "org.junit.jupiter.api.Assumptions.*", - "org.junit.jupiter.api.DynamicContainer.*", - "org.junit.jupiter.api.DynamicTest.*", - "org.mockito.Mockito.*", - "org.mockito.ArgumentMatchers.*", - "org.mockito.Answers.*", - "edu.wpi.first.units.Units.*" - ], - "java.completion.filteredTypes": [ - "java.awt.*", - "com.sun.*", - "sun.*", - "jdk.*", - "org.graalvm.*", - "io.micrometer.shaded.*", - "java.beans.*", - "java.util.Base64.*", - "java.util.Timer", - "java.sql.*", - "javax.swing.*", - "javax.management.*", - "javax.smartcardio.*", - "edu.wpi.first.math.proto.*", - "edu.wpi.first.math.**.proto.*", - "edu.wpi.first.math.**.struct.*", - ] -} diff --git a/Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json deleted file mode 100644 index ecbd975..0000000 --- a/Examples/KitbotDemoFinal-Imported/.wpilib/wpilib_preferences.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2025", - "teamNumber": 8033 -} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/WPILib-License.md b/Examples/KitbotDemoFinal-Imported/WPILib-License.md deleted file mode 100644 index 645e542..0000000 --- a/Examples/KitbotDemoFinal-Imported/WPILib-License.md +++ /dev/null @@ -1,24 +0,0 @@ -Copyright (c) 2009-2024 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/Examples/KitbotDemoFinal-Imported/build.gradle b/Examples/KitbotDemoFinal-Imported/build.gradle deleted file mode 100644 index 3134468..0000000 --- a/Examples/KitbotDemoFinal-Imported/build.gradle +++ /dev/null @@ -1,112 +0,0 @@ -plugins { - id "java" - id "edu.wpi.first.GradleRIO" version "2025.2.1" -} - -java { - sourceCompatibility = JavaVersion.VERSION_17 - targetCompatibility = JavaVersion.VERSION_17 -} - -def ROBOT_MAIN_CLASS = "frc.robot.Main" - -// Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project DeployUtils. -deploy { - targets { - roborio(getTargetTypeClass('RoboRIO')) { - // Team number is loaded either from the .wpilib/wpilib_preferences.json - // or from command line. If not found an exception will be thrown. - // You can use getTeamOrDefault(team) instead of getTeamNumber if you - // want to store a team number in this file. - team = project.frc.getTeamNumber() - debug = project.frc.getDebugOrDefault(false) - - artifacts { - // First part is artifact name, 2nd is artifact type - // getTargetTypeClass is a shortcut to get the class type using a string - - frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - } - - // Static files artifact - frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { - files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project - } - } - } - } -} - -def deployArtifact = deploy.targets.roborio.artifacts.frcJava - -// Set to true to use debug for JNI. -wpi.java.debugJni = false - -// Set this to true to enable desktop support. -def includeDesktopSupport = false - -// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 5. -dependencies { - annotationProcessor wpi.java.deps.wpilibAnnotations() - implementation wpi.java.deps.wpilib() - implementation wpi.java.vendor.java() - - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) - - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - - nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) - nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) - simulationDebug wpi.sim.enableDebug() - - nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) - nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) - simulationRelease wpi.sim.enableRelease() - - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" -} - -test { - useJUnitPlatform() - systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' -} - -// Simulation configuration (e.g. environment variables). -wpi.sim.addGui().defaultEnabled = true -wpi.sim.addDriverstation() - -// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') -// in order to make them all available at runtime. Also adding the manifest so WPILib -// knows where to look for our Robot Class. -jar { - from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } - from sourceSets.main.allSource - manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) - duplicatesStrategy = DuplicatesStrategy.INCLUDE -} - -// Configure jar and deploy tasks -deployArtifact.jarTask = jar -wpi.java.configureExecutableTasks(jar) -wpi.java.configureTestTasks(test) - -// Configure string concat to always inline compile -tasks.withType(JavaCompile) { - options.compilerArgs.add '-XDstringConcat=inline' -} - -task(replayWatch, type: JavaExec) { - mainClass = "org.littletonrobotics.junction.ReplayWatch" - classpath = sourceSets.main.runtimeClasspath -} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.jar b/Examples/KitbotDemoFinal-Imported/gradle/wrapper/gradle-wrapper.jar deleted file mode 100644 index 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-zipStoreBase=GRADLE_USER_HOME -zipStorePath=permwrapper/dists diff --git a/Examples/KitbotDemoFinal-Imported/gradlew b/Examples/KitbotDemoFinal-Imported/gradlew deleted file mode 100644 index f5feea6..0000000 --- a/Examples/KitbotDemoFinal-Imported/gradlew +++ /dev/null @@ -1,252 +0,0 @@ -#!/bin/sh - -# -# Copyright © 2015-2021 the original authors. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# https://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# SPDX-License-Identifier: Apache-2.0 -# - -############################################################################## -# -# Gradle start up script for POSIX generated by Gradle. -# -# Important for running: -# -# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is -# noncompliant, but you have some other compliant shell such as ksh or -# bash, then to run this script, type that shell name before the whole -# command line, like: -# -# ksh Gradle -# -# Busybox and similar reduced shells will NOT work, because this script -# requires all of these POSIX shell features: -# * functions; -# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», -# «${var#prefix}», «${var%suffix}», and «$( cmd )»; -# * compound commands having a testable exit status, especially «case»; -# * various built-in commands including «command», «set», and «ulimit». -# -# Important for patching: -# -# (2) This script targets any POSIX shell, so it avoids extensions provided -# by Bash, Ksh, etc; in particular arrays are avoided. -# -# The "traditional" practice of packing multiple parameters into a -# space-separated string is a well documented source of bugs and security -# problems, so this is (mostly) avoided, by progressively accumulating -# options in "$@", and eventually passing that to Java. -# -# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, -# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; -# see the in-line comments for details. -# -# There are tweaks for specific operating systems such as AIX, CygWin, -# Darwin, MinGW, and NonStop. -# -# (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt -# within the Gradle project. -# -# You can find Gradle at https://github.com/gradle/gradle/. -# -############################################################################## - -# Attempt to set APP_HOME - -# Resolve links: $0 may be a link -app_path=$0 - -# Need this for daisy-chained symlinks. -while - APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path - [ -h "$app_path" ] -do - ls=$( ls -ld "$app_path" ) - link=${ls#*' -> '} - case $link in #( - /*) app_path=$link ;; #( - *) app_path=$APP_HOME$link ;; - esac -done - -# This is normally unused -# shellcheck disable=SC2034 -APP_BASE_NAME=${0##*/} -# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s -' "$PWD" ) || exit - -# Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD=maximum - -warn () { - echo "$*" -} >&2 - -die () { - echo - echo "$*" - echo - exit 1 -} >&2 - -# OS specific support (must be 'true' or 'false'). -cygwin=false -msys=false -darwin=false -nonstop=false -case "$( uname )" in #( - CYGWIN* ) cygwin=true ;; #( - Darwin* ) darwin=true ;; #( - MSYS* | MINGW* ) msys=true ;; #( - NONSTOP* ) nonstop=true ;; -esac - -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar - - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD=$JAVA_HOME/jre/sh/java - else - JAVACMD=$JAVA_HOME/bin/java - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD=java - if ! command -v java >/dev/null 2>&1 - then - die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -fi - -# Increase the maximum file descriptors if we can. -if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then - case $MAX_FD in #( - max*) - # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - MAX_FD=$( ulimit -H -n ) || - warn "Could not query maximum file descriptor limit" - esac - case $MAX_FD in #( - '' | soft) :;; #( - *) - # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - ulimit -n "$MAX_FD" || - warn "Could not set maximum file descriptor limit to $MAX_FD" - esac -fi - -# Collect all arguments for the java command, stacking in reverse order: -# * args from the command line -# * the main class name -# * -classpath -# * -D...appname settings -# * --module-path (only if needed) -# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. - -# For Cygwin or MSYS, switch paths to Windows format before running java -if "$cygwin" || "$msys" ; then - APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) - CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) - - JAVACMD=$( cygpath --unix "$JAVACMD" ) - - # Now convert the arguments - kludge to limit ourselves to /bin/sh - for arg do - if - case $arg in #( - -*) false ;; # don't mess with options #( - /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath - [ -e "$t" ] ;; #( - *) false ;; - esac - then - arg=$( cygpath --path --ignore --mixed "$arg" ) - fi - # Roll the args list around exactly as many times as the number of - # args, so each arg winds up back in the position where it started, but - # possibly modified. - # - # NB: a `for` loop captures its iteration list before it begins, so - # changing the positional parameters here affects neither the number of - # iterations, nor the values presented in `arg`. - shift # remove old arg - set -- "$@" "$arg" # push replacement arg - done -fi - - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' - -# Collect all arguments for the java command: -# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, -# and any embedded shellness will be escaped. -# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be -# treated as '${Hostname}' itself on the command line. - -set -- \ - "-Dorg.gradle.appname=$APP_BASE_NAME" \ - -classpath "$CLASSPATH" \ - org.gradle.wrapper.GradleWrapperMain \ - "$@" - -# Stop when "xargs" is not available. -if ! command -v xargs >/dev/null 2>&1 -then - die "xargs is not available" -fi - -# Use "xargs" to parse quoted args. -# -# With -n1 it outputs one arg per line, with the quotes and backslashes removed. -# -# In Bash we could simply go: -# -# readarray ARGS < <( xargs -n1 <<<"$var" ) && -# set -- "${ARGS[@]}" "$@" -# -# but POSIX shell has neither arrays nor command substitution, so instead we -# post-process each arg (as a line of input to sed) to backslash-escape any -# character that might be a shell metacharacter, then use eval to reverse -# that process (while maintaining the separation between arguments), and wrap -# the whole thing up as a single "set" statement. -# -# This will of course break if any of these variables contains a newline or -# an unmatched quote. -# - -eval "set -- $( - printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | - xargs -n1 | - sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | - tr '\n' ' ' - )" '"$@"' - -exec "$JAVACMD" "$@" diff --git a/Examples/KitbotDemoFinal-Imported/gradlew.bat b/Examples/KitbotDemoFinal-Imported/gradlew.bat deleted file mode 100644 index 9d21a21..0000000 --- a/Examples/KitbotDemoFinal-Imported/gradlew.bat +++ /dev/null @@ -1,94 +0,0 @@ -@rem -@rem Copyright 2015 the original author or authors. -@rem -@rem Licensed under the Apache License, Version 2.0 (the "License"); -@rem you may not use this file except in compliance with the License. -@rem You may obtain a copy of the License at -@rem -@rem https://www.apache.org/licenses/LICENSE-2.0 -@rem -@rem Unless required by applicable law or agreed to in writing, software -@rem distributed under the License is distributed on an "AS IS" BASIS, -@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -@rem See the License for the specific language governing permissions and -@rem limitations under the License. -@rem -@rem SPDX-License-Identifier: Apache-2.0 -@rem - -@if "%DEBUG%"=="" @echo off -@rem ########################################################################## -@rem -@rem Gradle startup script for Windows -@rem -@rem ########################################################################## - -@rem Set local scope for the variables with windows NT shell -if "%OS%"=="Windows_NT" setlocal - -set DIRNAME=%~dp0 -if "%DIRNAME%"=="" set DIRNAME=. -@rem This is normally unused -set APP_BASE_NAME=%~n0 -set APP_HOME=%DIRNAME% - -@rem Resolve any "." and ".." in APP_HOME to make it shorter. -for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi - -@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" - -@rem Find java.exe -if defined JAVA_HOME goto findJavaFromJavaHome - -set JAVA_EXE=java.exe -%JAVA_EXE% -version >NUL 2>&1 -if %ERRORLEVEL% equ 0 goto execute - -echo. 1>&2 -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 -echo. 1>&2 -echo Please set the JAVA_HOME variable in your environment to match the 1>&2 -echo location of your Java installation. 1>&2 - -goto fail - -:findJavaFromJavaHome -set JAVA_HOME=%JAVA_HOME:"=% -set JAVA_EXE=%JAVA_HOME%/bin/java.exe - -if exist "%JAVA_EXE%" goto execute - -echo. 1>&2 -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 -echo. 1>&2 -echo Please set the JAVA_HOME variable in your environment to match the 1>&2 -echo location of your Java installation. 1>&2 - -goto fail - -:execute -@rem Setup the command line - -set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar - - -@rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* - -:end -@rem End local scope for the variables with windows NT shell -if %ERRORLEVEL% equ 0 goto mainEnd - -:fail -rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of -rem the _cmd.exe /c_ return code! -set EXIT_CODE=%ERRORLEVEL% -if %EXIT_CODE% equ 0 set EXIT_CODE=1 -if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% -exit /b %EXIT_CODE% - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega diff --git a/Examples/KitbotDemoFinal-Imported/settings.gradle b/Examples/KitbotDemoFinal-Imported/settings.gradle deleted file mode 100644 index c493958..0000000 --- a/Examples/KitbotDemoFinal-Imported/settings.gradle +++ /dev/null @@ -1,30 +0,0 @@ -import org.gradle.internal.os.OperatingSystem - -pluginManagement { - repositories { - mavenLocal() - gradlePluginPortal() - String frcYear = '2025' - File frcHome - if (OperatingSystem.current().isWindows()) { - String publicFolder = System.getenv('PUBLIC') - if (publicFolder == null) { - publicFolder = "C:\\Users\\Public" - } - def homeRoot = new File(publicFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } else { - def userFolder = System.getProperty("user.home") - def homeRoot = new File(userFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } - def frcHomeMaven = new File(frcHome, 'maven') - maven { - name = 'frcHome' - url = frcHomeMaven - } - } -} - -Properties props = System.getProperties(); -props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt b/Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt deleted file mode 100644 index bb82515..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java deleted file mode 100644 index e9cf366..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/BuildConstants.java +++ /dev/null @@ -1,19 +0,0 @@ -package frc.robot; - -/** - * Automatically generated file containing build version information. - */ -public final class BuildConstants { - public static final String MAVEN_GROUP = ""; - public static final String MAVEN_NAME = "KitbotDemoFinal"; - public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 202; - public static final String GIT_SHA = "2cc4b1e3ca5e56dc3af091243ce8814702adb871"; - public static final String GIT_DATE = "2025-07-25 17:20:42 PDT"; - public static final String GIT_BRANCH = "command-based-2024"; - public static final String BUILD_DATE = "2025-07-26 16:23:37 PDT"; - public static final long BUILD_UNIX_TIME = 1753572217766L; - public static final int DIRTY = 1; - - private BuildConstants(){} -} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java deleted file mode 100644 index fe215d7..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Main.java +++ /dev/null @@ -1,15 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import edu.wpi.first.wpilibj.RobotBase; - -public final class Main { - private Main() {} - - public static void main(String... args) { - RobotBase.startRobot(Robot::new); - } -} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java deleted file mode 100644 index 01aa48d..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/Robot.java +++ /dev/null @@ -1,101 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import org.littletonrobotics.junction.LoggedRobot; -import org.littletonrobotics.junction.Logger; -import org.littletonrobotics.junction.networktables.NT4Publisher; -import org.littletonrobotics.junction.wpilog.WPILOGWriter; - -import edu.wpi.first.wpilibj.PowerDistribution; -import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; - -public class Robot extends LoggedRobot { - private Command m_autonomousCommand; - - private RobotContainer m_robotContainer; - - @Override - public void robotInit() { - Logger.recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value - - if (isReal()) { - Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick - Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging - } else { - Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - } - - Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may - // be added. - - m_robotContainer = new RobotContainer(); - } - - @Override - public void robotPeriodic() { - CommandScheduler.getInstance().run(); - } - - @Override - public void disabledInit() { - } - - @Override - public void disabledPeriodic() { - } - - @Override - public void disabledExit() { - } - - @Override - public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - - if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); - } - } - - @Override - public void autonomousPeriodic() { - } - - @Override - public void autonomousExit() { - } - - @Override - public void teleopInit() { - if (m_autonomousCommand != null) { - m_autonomousCommand.cancel(); - } - } - - @Override - public void teleopPeriodic() { - } - - @Override - public void teleopExit() { - } - - @Override - public void testInit() { - CommandScheduler.getInstance().cancelAll(); - } - - @Override - public void testPeriodic() { - } - - @Override - public void testExit() { - } -} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java deleted file mode 100644 index b1c4448..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/RobotContainer.java +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.subsystems.Drivetrain.DrivetrainSubsystem; - -public class RobotContainer { - DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem(); - - CommandXboxController controller = new CommandXboxController(0); - - public RobotContainer() { - configureBindings(); - } - - private void configureBindings() { - // Default Command - drivetrainSubsystem - .setDefaultCommand(drivetrainSubsystem.driveCommand( - () -> modifyJoystickAxis(controller.getLeftY()), - () -> modifyJoystickAxis(-controller.getLeftX()), - () -> false)); - } - - private double modifyJoystickAxis(double joystick) { - return -(Math.abs(Math.pow(joystick, 2)) + 0.05) - * Math.signum(joystick); - } - - public Command getAutonomousCommand() { - return Commands.print("No autonomous command configured"); - } -} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java deleted file mode 100644 index 52c855d..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIO.java +++ /dev/null @@ -1,36 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems.Drivetrain; - -import org.littletonrobotics.junction.AutoLog; - -/** Add your docs here. */ -public interface DrivetrainIO { - @AutoLog - public static class DrivetrainIOInputs { - // Speed and position for odometry - public double leftSpeedMetersPerSecond = 0.0; - public double leftPositionMeters = 0.0; - public double rightSpeedMetersPerSecond = 0.0; - public double rightPositionMeters = 0.0; - // Output logging, volts for open loop, rpm for closed loop - public double leftOutputVolts = 0.0; - public double leftGoalMetersPerSecond = 0.0; - public double rightOutputVolts = 0.0; - public double rightGoalMetersPerSecond = 0.0; - public boolean isClosedLoop = false; - // Current and temparature logging to monitor motor performance - public double[] leftCurrentAmps = new double[0]; - public double[] leftTempCelsius = new double[0]; - public double[] rightCurrentAmps = new double[0]; - public double[] rightTempCelsius = new double[0]; - } - - public abstract void updateInputs(DrivetrainIOInputs inputs); - - public abstract void setVolts(double left, double right); - - public abstract void setMetersPerSecond(double left, double right); -} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java deleted file mode 100644 index e980479..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java +++ /dev/null @@ -1,105 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems.Drivetrain; - -import com.ctre.phoenix6.controls.VelocityDutyCycle; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.TalonFX; - -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; -import edu.wpi.first.wpilibj.simulation.RoboRioSim; -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing; -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotMotor; -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotWheelSize; - -/** Sim implementation of Kitbot drivetrain. */ -public class DrivetrainIOSim implements DrivetrainIO { - // Here we have 2 motors, one for each side - // Since we have 2 motors per side we would need to add "follower" motors - // Since this is a sim we can pretend those motors don't exist - TalonFX leftFalcon = new TalonFX(0); - TalonFX rightFalcon = new TalonFX(1); - - // ControlRequest objects represent what we want our motor to do - // There might be a cleaner way to have both voltage and velocity control than making two sets of objects - // This is part of the Phoenix v6/pro api, old code uses the v5 api which looks different - VoltageOut leftVoltageControl = new VoltageOut(0); - VoltageOut rightVoltageControl = new VoltageOut(0); - - VelocityDutyCycle leftVelocityControl = new VelocityDutyCycle(0); - VelocityDutyCycle rightVelocityControl = new VelocityDutyCycle(0); - - // Track if we're using voltage (open loop) or velocity (closed loop) - boolean isClosedLoop = false; - - // Physical constants for converting from motor speed to chassis speed - double gearRatio = DifferentialDrivetrainSim.KitbotGearing.k8p45.value; - double wheelDiameter = DifferentialDrivetrainSim.KitbotWheelSize.kSixInch.value; - - // This is a physics sim object - // This will calculate the movement of the drivetrain based off of a mathmatical model - // To learn more about how these models work, look at the book linked in the state space course - DifferentialDrivetrainSim physicsSim = DifferentialDrivetrainSim.createKitbotSim( - KitbotMotor.kDoubleFalcon500PerSide, - // This is the default gearing for the kitbot - // If this was a real robot, we would check with mechanical for actual numbers - // Note that the default gearbox is not compatible with falcons so this configuration is not realistic - KitbotGearing.k8p45, - // Default wheels - KitbotWheelSize.kSixInch, - // This is a way for us to model noise from our measurements - // We can leave it null to pretend our simulation is perfect for this exercise - null); - - @Override - public void updateInputs(DrivetrainIOInputs inputs) { - // Start by updating our physics model with the default loop time of 20 ms - physicsSim.update(0.020); - - // Update the voltage available to each motor based off of a simulated robot battery - // This accounts for "voltage sag" when motors are running - var leftSimState = leftFalcon.getSimState(); - leftSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); - - var rightSimState = rightFalcon.getSimState(); - rightSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); - - // Use the motor output voltage to update the sim - physicsSim.setInputs(leftSimState.getMotorVoltage(), rightSimState.getMotorVoltage()); - - inputs.leftSpeedMetersPerSecond = physicsSim.getLeftVelocityMetersPerSecond(); - inputs.leftPositionMeters = physicsSim.getLeftPositionMeters(); - inputs.rightSpeedMetersPerSecond = physicsSim.getRightVelocityMetersPerSecond(); - inputs.rightPositionMeters = physicsSim.getRightPositionMeters(); - - inputs.leftOutputVolts = leftSimState.getMotorVoltage(); - inputs.leftGoalMetersPerSecond = (leftVelocityControl.Velocity * Math.PI * wheelDiameter) / gearRatio; - inputs.rightOutputVolts = rightSimState.getMotorVoltage(); - inputs.rightGoalMetersPerSecond = (rightVelocityControl.Velocity * Math.PI * wheelDiameter) / gearRatio; - inputs.isClosedLoop = isClosedLoop; - - // If we had multiple motors per side, we would add all of them to the array - inputs.leftCurrentAmps = new double[] {leftSimState.getTorqueCurrent()}; - inputs.leftTempCelsius = new double[] {0.0}; // For sim, we're going to ignore temparature - // If we had multiple motors per side, we would add all of them to the array - inputs.rightCurrentAmps = new double[] {rightSimState.getTorqueCurrent()}; - inputs.rightTempCelsius = new double[] {0.0}; // For sim, we're going to ignore temparature - } - - @Override - public void setVolts(double left, double right) { - isClosedLoop = false; - leftFalcon.setControl(leftVoltageControl.withOutput(left)); - rightFalcon.setControl(rightVoltageControl.withOutput(right)); - } - - @Override - public void setMetersPerSecond(double left, double right) { - isClosedLoop = true; - leftFalcon.setControl(leftVelocityControl.withVelocity((left * gearRatio) / (Math.PI * wheelDiameter))); - rightFalcon.setControl(rightVelocityControl.withVelocity((right * gearRatio) / (Math.PI * wheelDiameter))); - } - -} diff --git a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java deleted file mode 100644 index 141b219..0000000 --- a/Examples/KitbotDemoFinal-Imported/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java +++ /dev/null @@ -1,65 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems.Drivetrain; - -import java.util.function.BooleanSupplier; -import java.util.function.DoubleSupplier; - -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class DrivetrainSubsystem extends SubsystemBase { - // Odometry keeps track of our position on the field - // We can upgrade this to a pose estimator, which fuses vision readings to - // correct our estimate - DifferentialDriveOdometry odometry = new DifferentialDriveOdometry(new Rotation2d(), 0, 0); - - // We could make this select an io type based off of if the robot was real or - // not - // Robot.isReal() ? new DrivetrainIOReal() : new DrivetrainIOSim() - DrivetrainIO io = new DrivetrainIOSim(); - DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); - - /** Creates a new Drivetrain. */ - public DrivetrainSubsystem() { - } - - // Method to set the driving speed and turning rate of the robot - public void drive(double speed, double angle, boolean isClosedLoop) { - var wheelSpeeds = DifferentialDrive.arcadeDriveIK(speed, angle, false); - if (isClosedLoop) { - io.setMetersPerSecond(wheelSpeeds.left, wheelSpeeds.right); - } else { - io.setVolts(wheelSpeeds.left * 12, wheelSpeeds.right * 12); - } - } - - // Command that wraps drive method - public Command driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { - return this.run(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean())); - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - io.updateInputs(inputs); - Logger.processInputs("Drivetrain", inputs); - - odometry.update( - // Here we have to do a little hack to get rotation to work in sim - // Normally we use a gyro to find rotation, but we don't have a simulated gyro set up now - odometry.getPoseMeters().getRotation() - // Use differential drive kinematics to find the rotation rate based on the wheel speeds and distance between wheels - .plus(Rotation2d.fromRadians((inputs.leftSpeedMetersPerSecond - inputs.rightSpeedMetersPerSecond) * 0.020 / Units.inchesToMeters(26))), - inputs.leftPositionMeters, inputs.rightPositionMeters); - Logger.recordOutput("Drivebase Pose", odometry.getPoseMeters()); - } -} diff --git a/Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json b/Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json deleted file mode 100644 index bef4a15..0000000 --- a/Examples/KitbotDemoFinal-Imported/vendordeps/AdvantageKit.json +++ /dev/null @@ -1,35 +0,0 @@ -{ - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "4.1.2", - "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": "4.1.2" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-wpilibio", - "version": "4.1.2", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [] -} \ No newline at end of file diff --git a/Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json deleted file mode 100644 index 3718e0a..0000000 --- a/Examples/KitbotDemoFinal-Imported/vendordeps/WPILibNewCommands.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} diff --git a/Examples/KitbotDemoFinal/.gitignore b/Examples/KitbotDemoFinal/.gitignore index bfe0660..34cbaac 100644 --- a/Examples/KitbotDemoFinal/.gitignore +++ b/Examples/KitbotDemoFinal/.gitignore @@ -57,9 +57,6 @@ *.tar.gz *.rar -# Build Constants -src\main\java\frc\robot\BuildConstants.java - # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml hs_err_pid* @@ -172,4 +169,19 @@ out/ .fleet # Simulation GUI and other tools window save file +networktables.json +simgui.json *-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/Examples/KitbotDemoFinal/.vscode/settings.json b/Examples/KitbotDemoFinal/.vscode/settings.json index 4ed293b..612cdd0 100644 --- a/Examples/KitbotDemoFinal/.vscode/settings.json +++ b/Examples/KitbotDemoFinal/.vscode/settings.json @@ -25,5 +25,36 @@ } }, ], - "java.test.defaultConfig": "WPIlibUnitTests" + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] } diff --git a/Examples/KitbotDemoFinal/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoFinal/.wpilib/wpilib_preferences.json index ad4fe20..ecbd975 100644 --- a/Examples/KitbotDemoFinal/.wpilib/wpilib_preferences.json +++ b/Examples/KitbotDemoFinal/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2023", + "projectYear": "2025", "teamNumber": 8033 } \ No newline at end of file diff --git a/Examples/KitbotDemoFinal/WPILib-License.md b/Examples/KitbotDemoFinal/WPILib-License.md index 3d5a824..645e542 100644 --- a/Examples/KitbotDemoFinal/WPILib-License.md +++ b/Examples/KitbotDemoFinal/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2021 FIRST and other WPILib contributors +Copyright (c) 2009-2024 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/Examples/KitbotDemoFinal/build.gradle b/Examples/KitbotDemoFinal/build.gradle index ec37a4a..3134468 100644 --- a/Examples/KitbotDemoFinal/build.gradle +++ b/Examples/KitbotDemoFinal/build.gradle @@ -1,11 +1,12 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.4.2" - id "com.peterabeles.gversion" version "1.10" + id "edu.wpi.first.GradleRIO" version "2025.2.1" } -sourceCompatibility = JavaVersion.VERSION_11 -targetCompatibility = JavaVersion.VERSION_11 +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} def ROBOT_MAIN_CLASS = "frc.robot.Main" @@ -32,6 +33,8 @@ deploy { frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project } } } @@ -44,11 +47,12 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = true +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() @@ -66,12 +70,11 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2' - testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2' - testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" } test { @@ -88,6 +91,7 @@ wpi.sim.addDriverstation() // knows where to look for our Robot Class. jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } @@ -102,26 +106,7 @@ tasks.withType(JavaCompile) { options.compilerArgs.add '-XDstringConcat=inline' } -repositories { - maven { - url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit") - credentials { - username = "Mechanical-Advantage-Bot" - password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051" - } - } -} - -configurations.all { - exclude group: 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MAX_FD=maximum @@ -133,22 +134,29 @@ 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. + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then case $MAX_FD in #( max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 MAX_FD=$( ulimit -H -n ) || warn "Could not query maximum file descriptor limit" esac case $MAX_FD in #( '' | soft) :;; #( *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 ulimit -n "$MAX_FD" || warn "Could not set maximum file descriptor limit to $MAX_FD" esac @@ -193,11 +201,15 @@ if "$cygwin" || "$msys" ; then 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. + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. set -- \ "-Dorg.gradle.appname=$APP_BASE_NAME" \ diff --git a/Examples/KitbotDemoFinal/gradlew.bat b/Examples/KitbotDemoFinal/gradlew.bat index f127cfd..9d21a21 100644 --- a/Examples/KitbotDemoFinal/gradlew.bat +++ b/Examples/KitbotDemoFinal/gradlew.bat @@ -13,6 +13,8 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem @if "%DEBUG%"=="" @echo off @rem ########################################################################## @@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -42,11 +45,11 @@ set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 if %ERRORLEVEL% equ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -56,11 +59,11 @@ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail diff --git a/Examples/KitbotDemoFinal/networktables.json b/Examples/KitbotDemoFinal/networktables.json deleted file mode 100644 index fe51488..0000000 --- a/Examples/KitbotDemoFinal/networktables.json +++ /dev/null @@ -1 +0,0 @@ -[] diff --git a/Examples/KitbotDemoFinal/settings.gradle b/Examples/KitbotDemoFinal/settings.gradle index 48c039e..c493958 100644 --- a/Examples/KitbotDemoFinal/settings.gradle +++ b/Examples/KitbotDemoFinal/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2023' + String frcYear = '2025' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoFinal/simgui-ds.json b/Examples/KitbotDemoFinal/simgui-ds.json deleted file mode 100644 index 2bf389e..0000000 --- a/Examples/KitbotDemoFinal/simgui-ds.json +++ /dev/null @@ -1,102 +0,0 @@ -{ - "Keyboard 0 Settings": { - "window": { - "visible": true - } - }, - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "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" - } - ] -} diff --git a/Examples/KitbotDemoFinal/simgui.json b/Examples/KitbotDemoFinal/simgui.json deleted file mode 100644 index 3b59971..0000000 --- a/Examples/KitbotDemoFinal/simgui.json +++ /dev/null @@ -1,17 +0,0 @@ -{ - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo" - } - }, - "NetworkTables": { - "transitory": { - "AdvantageKit": { - "RealOutputs": { - "open": true - }, - "open": true - } - } - } -} diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/Robot.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/Robot.java index 9253763..01aa48d 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/Robot.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/Robot.java @@ -21,17 +21,17 @@ public class Robot extends LoggedRobot { @Override public void robotInit() { - Logger.getInstance().recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value + Logger.recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value if (isReal()) { - Logger.getInstance().addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick - Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging } else { - Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables } - Logger.getInstance().start(); // Start logging! No more data receivers, replay sources, or metadata values may + Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may // be added. m_robotContainer = new RobotContainer(); diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java index 382ed5e..e980479 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainIOSim.java @@ -4,9 +4,9 @@ package frc.robot.subsystems.Drivetrain; -import com.ctre.phoenixpro.controls.VelocityDutyCycle; -import com.ctre.phoenixpro.controls.VoltageOut; -import com.ctre.phoenixpro.hardware.TalonFX; +import com.ctre.phoenix6.controls.VelocityDutyCycle; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; diff --git a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java index d54714e..141b219 100644 --- a/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java @@ -13,7 +13,7 @@ import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class DrivetrainSubsystem extends SubsystemBase { @@ -43,7 +43,7 @@ public void drive(double speed, double angle, boolean isClosedLoop) { } // Command that wraps drive method - public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { + public Command driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) { return this.run(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean())); } @@ -51,7 +51,7 @@ public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, Bool public void periodic() { // This method will be called once per scheduler run io.updateInputs(inputs); - Logger.getInstance().processInputs("Drivetrain", inputs); + Logger.processInputs("Drivetrain", inputs); odometry.update( // Here we have to do a little hack to get rotation to work in sim @@ -60,6 +60,6 @@ public void periodic() { // Use differential drive kinematics to find the rotation rate based on the wheel speeds and distance between wheels .plus(Rotation2d.fromRadians((inputs.leftSpeedMetersPerSecond - inputs.rightSpeedMetersPerSecond) * 0.020 / Units.inchesToMeters(26))), inputs.leftPositionMeters, inputs.rightPositionMeters); - Logger.getInstance().recordOutput("Drivebase Pose", odometry.getPoseMeters()); + Logger.recordOutput("Drivebase Pose", odometry.getPoseMeters()); } } diff --git a/Examples/KitbotDemoSim-Imported/vendordeps/Phoenix6-frc2025-latest.json b/Examples/KitbotDemoFinal/vendordeps/Phoenix6-frc2025-latest.json similarity index 100% rename from Examples/KitbotDemoSim-Imported/vendordeps/Phoenix6-frc2025-latest.json rename to Examples/KitbotDemoFinal/vendordeps/Phoenix6-frc2025-latest.json diff --git a/Examples/KitbotDemoFinal/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoFinal/vendordeps/WPILibNewCommands.json index bd535bf..3718e0a 100644 --- a/Examples/KitbotDemoFinal/vendordeps/WPILibNewCommands.json +++ b/Examples/KitbotDemoFinal/vendordeps/WPILibNewCommands.json @@ -3,6 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ diff --git a/Examples/KitbotDemoSim-Imported/.gitignore b/Examples/KitbotDemoSim-Imported/.gitignore deleted file mode 100644 index 34cbaac..0000000 --- a/Examples/KitbotDemoSim-Imported/.gitignore +++ /dev/null @@ -1,187 +0,0 @@ -# This gitignore has been specially created by the WPILib team. -# If you remove items from this file, intellisense might break. - -### C++ ### -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app - -### Java ### -# Compiled class file -*.class - -# Log file -*.log - -# BlueJ files -*.ctxt - -# Mobile Tools for Java (J2ME) -.mtj.tmp/ - -# Package Files # -*.jar -*.war -*.nar -*.ear -*.zip -*.tar.gz -*.rar - -# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml -hs_err_pid* - -### Linux ### -*~ - -# temporary files which can be created if a process still has a handle open of a deleted file -.fuse_hidden* - -# KDE directory preferences -.directory - -# Linux trash folder which might appear on any partition or disk -.Trash-* - -# .nfs files are created when an open file is removed but is still being accessed -.nfs* - -### macOS ### -# General -.DS_Store -.AppleDouble -.LSOverride - -# Icon must end with two \r -Icon - -# Thumbnails -._* - -# Files that might appear in the root of a volume -.DocumentRevisions-V100 -.fseventsd -.Spotlight-V100 -.TemporaryItems -.Trashes -.VolumeIcon.icns -.com.apple.timemachine.donotpresent - -# Directories potentially created on remote AFP share -.AppleDB -.AppleDesktop -Network Trash Folder -Temporary Items -.apdisk - -### VisualStudioCode ### -.vscode/* -!.vscode/settings.json -!.vscode/tasks.json -!.vscode/launch.json -!.vscode/extensions.json - -### Windows ### -# Windows thumbnail cache files -Thumbs.db -ehthumbs.db -ehthumbs_vista.db - -# Dump file -*.stackdump - -# Folder config file -[Dd]esktop.ini - -# Recycle Bin used on file shares -$RECYCLE.BIN/ - -# Windows Installer files -*.cab -*.msi -*.msix -*.msm -*.msp - -# Windows shortcuts -*.lnk - -### Gradle ### -.gradle -/build/ - -# Ignore Gradle GUI config -gradle-app.setting - -# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) -!gradle-wrapper.jar - -# Cache of project -.gradletasknamecache - -# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 -# gradle/wrapper/gradle-wrapper.properties - -# # VS Code Specific Java Settings -# DO NOT REMOVE .classpath and .project -.classpath -.project -.settings/ -bin/ - -# IntelliJ -*.iml -*.ipr -*.iws -.idea/ -out/ - -# Fleet -.fleet - -# Simulation GUI and other tools window save file -networktables.json -simgui.json -*-window.json - -# Simulation data log directory -logs/ - -# Folder that has CTRE Phoenix Sim device config storage -ctre_sim/ - -# clangd -/.cache -compile_commands.json - -# Eclipse generated file for annotation processors -.factorypath diff --git a/Examples/KitbotDemoSim-Imported/.vscode/launch.json b/Examples/KitbotDemoSim-Imported/.vscode/launch.json deleted file mode 100644 index c9c9713..0000000 --- a/Examples/KitbotDemoSim-Imported/.vscode/launch.json +++ /dev/null @@ -1,21 +0,0 @@ -{ - // 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/Examples/KitbotDemoSim-Imported/.vscode/settings.json b/Examples/KitbotDemoSim-Imported/.vscode/settings.json deleted file mode 100644 index 612cdd0..0000000 --- a/Examples/KitbotDemoSim-Imported/.vscode/settings.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "java.configuration.updateBuildConfiguration": "automatic", - "java.server.launchMode": "Standard", - "files.exclude": { - "**/.git": true, - "**/.svn": true, - "**/.hg": true, - "**/CVS": true, - "**/.DS_Store": true, - "bin/": true, - "**/.classpath": true, - "**/.project": true, - "**/.settings": true, - "**/.factorypath": true, - "**/*~": true - }, - "java.test.config": [ - { - "name": "WPIlibUnitTests", - "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], - "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , - "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" - } - }, - ], - "java.test.defaultConfig": "WPIlibUnitTests", - "java.import.gradle.annotationProcessing.enabled": false, - "java.completion.favoriteStaticMembers": [ - "org.junit.Assert.*", - "org.junit.Assume.*", - "org.junit.jupiter.api.Assertions.*", - "org.junit.jupiter.api.Assumptions.*", - "org.junit.jupiter.api.DynamicContainer.*", - "org.junit.jupiter.api.DynamicTest.*", - "org.mockito.Mockito.*", - "org.mockito.ArgumentMatchers.*", - "org.mockito.Answers.*", - "edu.wpi.first.units.Units.*" - ], - "java.completion.filteredTypes": [ - "java.awt.*", - "com.sun.*", - "sun.*", - "jdk.*", - "org.graalvm.*", - "io.micrometer.shaded.*", - "java.beans.*", - "java.util.Base64.*", - "java.util.Timer", - "java.sql.*", - "javax.swing.*", - "javax.management.*", - "javax.smartcardio.*", - "edu.wpi.first.math.proto.*", - "edu.wpi.first.math.**.proto.*", - "edu.wpi.first.math.**.struct.*", - ] -} diff --git a/Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json deleted file mode 100644 index ecbd975..0000000 --- a/Examples/KitbotDemoSim-Imported/.wpilib/wpilib_preferences.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2025", - "teamNumber": 8033 -} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/WPILib-License.md b/Examples/KitbotDemoSim-Imported/WPILib-License.md deleted file mode 100644 index 645e542..0000000 --- a/Examples/KitbotDemoSim-Imported/WPILib-License.md +++ /dev/null @@ -1,24 +0,0 @@ -Copyright (c) 2009-2024 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/Examples/KitbotDemoSim-Imported/build.gradle b/Examples/KitbotDemoSim-Imported/build.gradle deleted file mode 100644 index 3134468..0000000 --- a/Examples/KitbotDemoSim-Imported/build.gradle +++ /dev/null @@ -1,112 +0,0 @@ -plugins { - id "java" - id "edu.wpi.first.GradleRIO" version "2025.2.1" -} - -java { - sourceCompatibility = JavaVersion.VERSION_17 - targetCompatibility = JavaVersion.VERSION_17 -} - -def ROBOT_MAIN_CLASS = "frc.robot.Main" - -// Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project DeployUtils. -deploy { - targets { - roborio(getTargetTypeClass('RoboRIO')) { - // Team number is loaded either from the .wpilib/wpilib_preferences.json - // or from command line. If not found an exception will be thrown. - // You can use getTeamOrDefault(team) instead of getTeamNumber if you - // want to store a team number in this file. - team = project.frc.getTeamNumber() - debug = project.frc.getDebugOrDefault(false) - - artifacts { - // First part is artifact name, 2nd is artifact type - // getTargetTypeClass is a shortcut to get the class type using a string - - frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - } - - // Static files artifact - frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { - files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project - } - } - } - } -} - -def deployArtifact = deploy.targets.roborio.artifacts.frcJava - -// Set to true to use debug for JNI. -wpi.java.debugJni = false - -// Set this to true to enable desktop support. -def includeDesktopSupport = false - -// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 5. -dependencies { - annotationProcessor wpi.java.deps.wpilibAnnotations() - implementation wpi.java.deps.wpilib() - implementation wpi.java.vendor.java() - - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) - - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - - nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) - nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) - simulationDebug wpi.sim.enableDebug() - - nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) - nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) - simulationRelease wpi.sim.enableRelease() - - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" -} - -test { - useJUnitPlatform() - systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' -} - -// Simulation configuration (e.g. environment variables). -wpi.sim.addGui().defaultEnabled = true -wpi.sim.addDriverstation() - -// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') -// in order to make them all available at runtime. Also adding the manifest so WPILib -// knows where to look for our Robot Class. -jar { - from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } - from sourceSets.main.allSource - manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) - duplicatesStrategy = DuplicatesStrategy.INCLUDE -} - -// Configure jar and deploy tasks -deployArtifact.jarTask = jar -wpi.java.configureExecutableTasks(jar) -wpi.java.configureTestTasks(test) - -// Configure string concat to always inline compile -tasks.withType(JavaCompile) { - options.compilerArgs.add '-XDstringConcat=inline' -} - -task(replayWatch, type: JavaExec) { - mainClass = "org.littletonrobotics.junction.ReplayWatch" - classpath = sourceSets.main.runtimeClasspath -} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.jar b/Examples/KitbotDemoSim-Imported/gradle/wrapper/gradle-wrapper.jar deleted file mode 100644 index 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-zipStoreBase=GRADLE_USER_HOME -zipStorePath=permwrapper/dists diff --git a/Examples/KitbotDemoSim-Imported/gradlew b/Examples/KitbotDemoSim-Imported/gradlew deleted file mode 100644 index f5feea6..0000000 --- a/Examples/KitbotDemoSim-Imported/gradlew +++ /dev/null @@ -1,252 +0,0 @@ -#!/bin/sh - -# -# Copyright © 2015-2021 the original authors. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# https://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# SPDX-License-Identifier: Apache-2.0 -# - -############################################################################## -# -# Gradle start up script for POSIX generated by Gradle. -# -# Important for running: -# -# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is -# noncompliant, but you have some other compliant shell such as ksh or -# bash, then to run this script, type that shell name before the whole -# command line, like: -# -# ksh Gradle -# -# Busybox and similar reduced shells will NOT work, because this script -# requires all of these POSIX shell features: -# * functions; -# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», -# «${var#prefix}», «${var%suffix}», and «$( cmd )»; -# * compound commands having a testable exit status, especially «case»; -# * various built-in commands including «command», «set», and «ulimit». -# -# Important for patching: -# -# (2) This script targets any POSIX shell, so it avoids extensions provided -# by Bash, Ksh, etc; in particular arrays are avoided. -# -# The "traditional" practice of packing multiple parameters into a -# space-separated string is a well documented source of bugs and security -# problems, so this is (mostly) avoided, by progressively accumulating -# options in "$@", and eventually passing that to Java. -# -# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, -# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; -# see the in-line comments for details. -# -# There are tweaks for specific operating systems such as AIX, CygWin, -# Darwin, MinGW, and NonStop. -# -# (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt -# within the Gradle project. -# -# You can find Gradle at https://github.com/gradle/gradle/. -# -############################################################################## - -# Attempt to set APP_HOME - -# Resolve links: $0 may be a link -app_path=$0 - -# Need this for daisy-chained symlinks. -while - APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path - [ -h "$app_path" ] -do - ls=$( ls -ld "$app_path" ) - link=${ls#*' -> '} - case $link in #( - /*) app_path=$link ;; #( - *) app_path=$APP_HOME$link ;; - esac -done - -# This is normally unused -# shellcheck disable=SC2034 -APP_BASE_NAME=${0##*/} -# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s -' "$PWD" ) || exit - -# Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD=maximum - -warn () { - echo "$*" -} >&2 - -die () { - echo - echo "$*" - echo - exit 1 -} >&2 - -# OS specific support (must be 'true' or 'false'). -cygwin=false -msys=false -darwin=false -nonstop=false -case "$( uname )" in #( - CYGWIN* ) cygwin=true ;; #( - Darwin* ) darwin=true ;; #( - MSYS* | MINGW* ) msys=true ;; #( - NONSTOP* ) nonstop=true ;; -esac - -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar - - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD=$JAVA_HOME/jre/sh/java - else - JAVACMD=$JAVA_HOME/bin/java - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD=java - if ! command -v java >/dev/null 2>&1 - then - die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -fi - -# Increase the maximum file descriptors if we can. -if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then - case $MAX_FD in #( - max*) - # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - MAX_FD=$( ulimit -H -n ) || - warn "Could not query maximum file descriptor limit" - esac - case $MAX_FD in #( - '' | soft) :;; #( - *) - # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - ulimit -n "$MAX_FD" || - warn "Could not set maximum file descriptor limit to $MAX_FD" - esac -fi - -# Collect all arguments for the java command, stacking in reverse order: -# * args from the command line -# * the main class name -# * -classpath -# * -D...appname settings -# * --module-path (only if needed) -# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. - -# For Cygwin or MSYS, switch paths to Windows format before running java -if "$cygwin" || "$msys" ; then - APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) - CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) - - JAVACMD=$( cygpath --unix "$JAVACMD" ) - - # Now convert the arguments - kludge to limit ourselves to /bin/sh - for arg do - if - case $arg in #( - -*) false ;; # don't mess with options #( - /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath - [ -e "$t" ] ;; #( - *) false ;; - esac - then - arg=$( cygpath --path --ignore --mixed "$arg" ) - fi - # Roll the args list around exactly as many times as the number of - # args, so each arg winds up back in the position where it started, but - # possibly modified. - # - # NB: a `for` loop captures its iteration list before it begins, so - # changing the positional parameters here affects neither the number of - # iterations, nor the values presented in `arg`. - shift # remove old arg - set -- "$@" "$arg" # push replacement arg - done -fi - - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' - -# Collect all arguments for the java command: -# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, -# and any embedded shellness will be escaped. -# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be -# treated as '${Hostname}' itself on the command line. - -set -- \ - "-Dorg.gradle.appname=$APP_BASE_NAME" \ - -classpath "$CLASSPATH" \ - org.gradle.wrapper.GradleWrapperMain \ - "$@" - -# Stop when "xargs" is not available. -if ! command -v xargs >/dev/null 2>&1 -then - die "xargs is not available" -fi - -# Use "xargs" to parse quoted args. -# -# With -n1 it outputs one arg per line, with the quotes and backslashes removed. -# -# In Bash we could simply go: -# -# readarray ARGS < <( xargs -n1 <<<"$var" ) && -# set -- "${ARGS[@]}" "$@" -# -# but POSIX shell has neither arrays nor command substitution, so instead we -# post-process each arg (as a line of input to sed) to backslash-escape any -# character that might be a shell metacharacter, then use eval to reverse -# that process (while maintaining the separation between arguments), and wrap -# the whole thing up as a single "set" statement. -# -# This will of course break if any of these variables contains a newline or -# an unmatched quote. -# - -eval "set -- $( - printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | - xargs -n1 | - sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | - tr '\n' ' ' - )" '"$@"' - -exec "$JAVACMD" "$@" diff --git a/Examples/KitbotDemoSim-Imported/gradlew.bat b/Examples/KitbotDemoSim-Imported/gradlew.bat deleted file mode 100644 index 9d21a21..0000000 --- a/Examples/KitbotDemoSim-Imported/gradlew.bat +++ /dev/null @@ -1,94 +0,0 @@ -@rem -@rem Copyright 2015 the original author or authors. -@rem -@rem Licensed under the Apache License, Version 2.0 (the "License"); -@rem you may not use this file except in compliance with the License. -@rem You may obtain a copy of the License at -@rem -@rem https://www.apache.org/licenses/LICENSE-2.0 -@rem -@rem Unless required by applicable law or agreed to in writing, software -@rem distributed under the License is distributed on an "AS IS" BASIS, -@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -@rem See the License for the specific language governing permissions and -@rem limitations under the License. -@rem -@rem SPDX-License-Identifier: Apache-2.0 -@rem - -@if "%DEBUG%"=="" @echo off -@rem ########################################################################## -@rem -@rem Gradle startup script for Windows -@rem -@rem ########################################################################## - -@rem Set local scope for the variables with windows NT shell -if "%OS%"=="Windows_NT" setlocal - -set DIRNAME=%~dp0 -if "%DIRNAME%"=="" set DIRNAME=. -@rem This is normally unused -set APP_BASE_NAME=%~n0 -set APP_HOME=%DIRNAME% - -@rem Resolve any "." and ".." in APP_HOME to make it shorter. -for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi - -@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" - -@rem Find java.exe -if defined JAVA_HOME goto findJavaFromJavaHome - -set JAVA_EXE=java.exe -%JAVA_EXE% -version >NUL 2>&1 -if %ERRORLEVEL% equ 0 goto execute - -echo. 1>&2 -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 -echo. 1>&2 -echo Please set the JAVA_HOME variable in your environment to match the 1>&2 -echo location of your Java installation. 1>&2 - -goto fail - -:findJavaFromJavaHome -set JAVA_HOME=%JAVA_HOME:"=% -set JAVA_EXE=%JAVA_HOME%/bin/java.exe - -if exist "%JAVA_EXE%" goto execute - -echo. 1>&2 -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 -echo. 1>&2 -echo Please set the JAVA_HOME variable in your environment to match the 1>&2 -echo location of your Java installation. 1>&2 - -goto fail - -:execute -@rem Setup the command line - -set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar - - -@rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* - -:end -@rem End local scope for the variables with windows NT shell -if %ERRORLEVEL% equ 0 goto mainEnd - -:fail -rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of -rem the _cmd.exe /c_ return code! -set EXIT_CODE=%ERRORLEVEL% -if %EXIT_CODE% equ 0 set EXIT_CODE=1 -if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% -exit /b %EXIT_CODE% - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega diff --git a/Examples/KitbotDemoSim-Imported/settings.gradle b/Examples/KitbotDemoSim-Imported/settings.gradle deleted file mode 100644 index c493958..0000000 --- a/Examples/KitbotDemoSim-Imported/settings.gradle +++ /dev/null @@ -1,30 +0,0 @@ -import org.gradle.internal.os.OperatingSystem - -pluginManagement { - repositories { - mavenLocal() - gradlePluginPortal() - String frcYear = '2025' - File frcHome - if (OperatingSystem.current().isWindows()) { - String publicFolder = System.getenv('PUBLIC') - if (publicFolder == null) { - publicFolder = "C:\\Users\\Public" - } - def homeRoot = new File(publicFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } else { - def userFolder = System.getProperty("user.home") - def homeRoot = new File(userFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } - def frcHomeMaven = new File(frcHome, 'maven') - maven { - name = 'frcHome' - url = frcHomeMaven - } - } -} - -Properties props = System.getProperties(); -props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt b/Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt deleted file mode 100644 index bb82515..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java deleted file mode 100644 index 4fbca5d..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Constants.java +++ /dev/null @@ -1,11 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -/** Add your docs here. */ -public class Constants { - public static final int drivetrainLeftFalconID = 0; - public static final int drivetrainRightFalconID = 1; -} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java deleted file mode 100644 index fe215d7..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Main.java +++ /dev/null @@ -1,15 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import edu.wpi.first.wpilibj.RobotBase; - -public final class Main { - private Main() {} - - public static void main(String... args) { - RobotBase.startRobot(Robot::new); - } -} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java deleted file mode 100644 index 3d9c376..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Robot.java +++ /dev/null @@ -1,91 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import org.littletonrobotics.junction.LoggedRobot; -import org.littletonrobotics.junction.Logger; -import org.littletonrobotics.junction.networktables.NT4Publisher; -import org.littletonrobotics.junction.wpilog.WPILOGWriter; - -import edu.wpi.first.wpilibj.PowerDistribution; -import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; - -public class Robot extends LoggedRobot { - private Command m_autonomousCommand; - - private RobotContainer m_robotContainer; - - @Override - public void robotInit() { - Logger.getInstance().recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value - - if (isReal()) { - Logger.getInstance().addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick - Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging - } else { - Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - } - - Logger.getInstance().start(); // Start logging! No more data receivers, replay sources, or metadata values may - // be added. - m_robotContainer = new RobotContainer(); - } - - @Override - public void robotPeriodic() { - CommandScheduler.getInstance().run(); - } - - @Override - public void disabledInit() {} - - @Override - public void disabledPeriodic() {} - - @Override - public void disabledExit() {} - - @Override - public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - - if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); - } - } - - @Override - public void autonomousPeriodic() {} - - @Override - public void autonomousExit() {} - - @Override - public void teleopInit() { - if (m_autonomousCommand != null) { - m_autonomousCommand.cancel(); - } - } - - @Override - public void teleopPeriodic() {} - - @Override - public void teleopExit() {} - - @Override - public void testInit() { - CommandScheduler.getInstance().cancelAll(); - } - - @Override - public void testPeriodic() {} - - @Override - public void testExit() {} -} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java deleted file mode 100644 index b8aadee..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/RobotContainer.java +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.Subsystems.Drivetrain.DrivetrainSubsystem; - -public class RobotContainer { - CommandXboxController controller = new CommandXboxController(0); - - DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem(); - - public RobotContainer() { - configureBindings(); - } - - private void configureBindings() { - drivetrainSubsystem.setDefaultCommand( - drivetrainSubsystem.setVoltagesArcadeCommand( - () -> modifyJoystick(controller.getLeftY()), - () -> modifyJoystick(controller.getRightX()))); - } - - public Command getAutonomousCommand() { - return Commands.print("No autonomous command configured"); - } - - private double modifyJoystick(double in) { - // if (Math.abs(in) < 0.05) { - // return 0; - // } - return in * in * Math.signum(in); - } -} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java deleted file mode 100644 index e043a88..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIO.java +++ /dev/null @@ -1,30 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.Subsystems.Drivetrain; - -import org.littletonrobotics.junction.AutoLog; - -public interface DrivetrainIO { - @AutoLog - public static class DrivetrainIOInputs { - public double leftOutputVolts = 0.0; - public double rightOutputVolts = 0.0; - - public double leftVelocityMetersPerSecond = 0.0; - public double rightVelocityMetersPerSecond = 0.0; - - public double leftPositionMeters = 0.0; - public double rightPositionMeters = 0.0; - - public double[] leftCurrentAmps = new double[0]; - public double[] leftTempCelsius = new double[0]; - public double[] rightCurrentAmps = new double[0]; - public double[] rightTempCelsius = new double[0]; - } - - public abstract void updateInputs(DrivetrainIOInputs inputs); - - public abstract void setVolts(double left, double right); -} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java deleted file mode 100644 index 9fa1eca..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java +++ /dev/null @@ -1,62 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.Subsystems.Drivetrain; - -import com.ctre.phoenixpro.controls.VoltageOut; -import com.ctre.phoenixpro.hardware.TalonFX; - -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing; -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotMotor; -import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotWheelSize; -import edu.wpi.first.wpilibj.simulation.RoboRioSim; -import frc.robot.Constants; - -public class DrivetrainIOSim implements DrivetrainIO { - TalonFX leftFalcon = new TalonFX(Constants.drivetrainLeftFalconID); - TalonFX rightFalcon = new TalonFX(Constants.drivetrainRightFalconID); - - VoltageOut leftVoltage = new VoltageOut(0); - VoltageOut rightVoltage = new VoltageOut(0); - - DifferentialDrivetrainSim physicsSim = DifferentialDrivetrainSim.createKitbotSim( - KitbotMotor.kDoubleFalcon500PerSide, - KitbotGearing.k8p45, - KitbotWheelSize.kSixInch, - null); - - @Override - public void updateInputs(DrivetrainIOInputs inputs) { - physicsSim.update(0.020); - - var leftSimState = leftFalcon.getSimState(); - leftSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); - - var rightSimState = rightFalcon.getSimState(); - rightSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); - - physicsSim.setInputs(leftSimState.getMotorVoltage(), rightSimState.getMotorVoltage()); - - inputs.leftOutputVolts = leftSimState.getMotorVoltage(); - inputs.rightOutputVolts = rightSimState.getMotorVoltage(); - - inputs.leftVelocityMetersPerSecond = physicsSim.getLeftVelocityMetersPerSecond(); - inputs.rightVelocityMetersPerSecond = physicsSim.getRightVelocityMetersPerSecond(); - - inputs.leftPositionMeters = physicsSim.getLeftPositionMeters(); - inputs.rightPositionMeters = physicsSim.getRightPositionMeters(); - - inputs.leftCurrentAmps = new double[] {leftSimState.getTorqueCurrent()}; - inputs.leftTempCelsius = new double[0]; - inputs.rightCurrentAmps = new double[] {rightSimState.getTorqueCurrent()}; - inputs.rightTempCelsius = new double[0]; - } - - @Override - public void setVolts(double left, double right) { - leftFalcon.setControl(leftVoltage.withOutput(left)); - rightFalcon.setControl(rightVoltage.withOutput(right)); - } -} diff --git a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java deleted file mode 100644 index ed77602..0000000 --- a/Examples/KitbotDemoSim-Imported/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java +++ /dev/null @@ -1,57 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.Subsystems.Drivetrain; - -import java.util.function.DoubleSupplier; - -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class DrivetrainSubsystem extends SubsystemBase { - DrivetrainIO io = new DrivetrainIOSim(); - DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged(); - - DifferentialDriveOdometry odometry = new DifferentialDriveOdometry(new Rotation2d(), 0, 0); - - /** Creates a new Drivetrain. */ - public DrivetrainSubsystem() { - } - - private void setVoltages(double left, double right) { - io.setVolts(left, right); - } - - public Command setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); - } - - public Command setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { - return this.run(() -> { - var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); - this.setVoltages(speeds.left * 12, speeds.right * 12); - }); - } - - @Override - public void periodic() { - io.updateInputs(inputs); - Logger.getInstance().processInputs("Drivetrain", inputs); - - odometry.update( - odometry.getPoseMeters().getRotation() - // Use differential drive kinematics to find the rotation rate based on the - // wheel speeds and distance between wheels - .plus(Rotation2d.fromRadians((inputs.leftVelocityMetersPerSecond - inputs.rightVelocityMetersPerSecond) - * 0.020 / Units.inchesToMeters(26))), - inputs.leftPositionMeters, inputs.rightPositionMeters); - Logger.getInstance().recordOutput("Drivetrain Pose", odometry.getPoseMeters()); - } -} diff --git a/Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json b/Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json deleted file mode 100644 index bef4a15..0000000 --- a/Examples/KitbotDemoSim-Imported/vendordeps/AdvantageKit.json +++ /dev/null @@ -1,35 +0,0 @@ -{ - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "4.1.2", - "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": "4.1.2" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-wpilibio", - "version": "4.1.2", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [] -} \ No newline at end of file diff --git a/Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json deleted file mode 100644 index 3718e0a..0000000 --- a/Examples/KitbotDemoSim-Imported/vendordeps/WPILibNewCommands.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} diff --git a/Examples/KitbotDemoSim/.gitignore b/Examples/KitbotDemoSim/.gitignore index a8d1911..34cbaac 100644 --- a/Examples/KitbotDemoSim/.gitignore +++ b/Examples/KitbotDemoSim/.gitignore @@ -169,4 +169,19 @@ out/ .fleet # Simulation GUI and other tools window save file +networktables.json +simgui.json *-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/Examples/KitbotDemoSim/.vscode/settings.json b/Examples/KitbotDemoSim/.vscode/settings.json index 4ed293b..612cdd0 100644 --- a/Examples/KitbotDemoSim/.vscode/settings.json +++ b/Examples/KitbotDemoSim/.vscode/settings.json @@ -25,5 +25,36 @@ } }, ], - "java.test.defaultConfig": "WPIlibUnitTests" + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] } diff --git a/Examples/KitbotDemoSim/.wpilib/wpilib_preferences.json b/Examples/KitbotDemoSim/.wpilib/wpilib_preferences.json index ad4fe20..ecbd975 100644 --- a/Examples/KitbotDemoSim/.wpilib/wpilib_preferences.json +++ b/Examples/KitbotDemoSim/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2023", + "projectYear": "2025", "teamNumber": 8033 } \ No newline at end of file diff --git a/Examples/KitbotDemoSim/WPILib-License.md b/Examples/KitbotDemoSim/WPILib-License.md index 3d5a824..645e542 100644 --- a/Examples/KitbotDemoSim/WPILib-License.md +++ b/Examples/KitbotDemoSim/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2021 FIRST and other WPILib contributors +Copyright (c) 2009-2024 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/Examples/KitbotDemoSim/build.gradle b/Examples/KitbotDemoSim/build.gradle index c9bf1a5..3134468 100644 --- a/Examples/KitbotDemoSim/build.gradle +++ b/Examples/KitbotDemoSim/build.gradle @@ -1,10 +1,12 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.4.2" + id "edu.wpi.first.GradleRIO" version "2025.2.1" } -sourceCompatibility = JavaVersion.VERSION_11 -targetCompatibility = JavaVersion.VERSION_11 +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} def ROBOT_MAIN_CLASS = "frc.robot.Main" @@ -31,6 +33,8 @@ deploy { frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project } } } @@ -43,11 +47,12 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = true +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() @@ -65,12 +70,11 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2' - testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2' - testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" } test { @@ -87,6 +91,7 @@ wpi.sim.addDriverstation() // knows where to look for our Robot Class. jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } @@ -101,16 +106,7 @@ tasks.withType(JavaCompile) { options.compilerArgs.add '-XDstringConcat=inline' } -repositories { - maven { - url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit") - credentials { - username = "Mechanical-Advantage-Bot" - password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051" - } - } -} - -configurations.all { - exclude group: 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MAX_FD=maximum @@ -133,22 +134,29 @@ 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. + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then case $MAX_FD in #( max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 MAX_FD=$( ulimit -H -n ) || warn "Could not query maximum file descriptor limit" esac case $MAX_FD in #( '' | soft) :;; #( *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 ulimit -n "$MAX_FD" || warn "Could not set maximum file descriptor limit to $MAX_FD" esac @@ -193,11 +201,15 @@ if "$cygwin" || "$msys" ; then 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. + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. set -- \ "-Dorg.gradle.appname=$APP_BASE_NAME" \ diff --git a/Examples/KitbotDemoSim/gradlew.bat b/Examples/KitbotDemoSim/gradlew.bat index f127cfd..9d21a21 100644 --- a/Examples/KitbotDemoSim/gradlew.bat +++ b/Examples/KitbotDemoSim/gradlew.bat @@ -13,6 +13,8 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem @if "%DEBUG%"=="" @echo off @rem ########################################################################## @@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -42,11 +45,11 @@ set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 if %ERRORLEVEL% equ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -56,11 +59,11 @@ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail diff --git a/Examples/KitbotDemoSim/networktables.json b/Examples/KitbotDemoSim/networktables.json deleted file mode 100644 index fe51488..0000000 --- a/Examples/KitbotDemoSim/networktables.json +++ /dev/null @@ -1 +0,0 @@ -[] diff --git a/Examples/KitbotDemoSim/settings.gradle b/Examples/KitbotDemoSim/settings.gradle index 48c039e..c493958 100644 --- a/Examples/KitbotDemoSim/settings.gradle +++ b/Examples/KitbotDemoSim/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2023' + String frcYear = '2025' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/Examples/KitbotDemoSim/simgui-ds.json b/Examples/KitbotDemoSim/simgui-ds.json deleted file mode 100644 index 51e9918..0000000 --- a/Examples/KitbotDemoSim/simgui-ds.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "Keyboard 0 Settings": { - "window": { - "visible": true - } - }, - "keyboardJoysticks": [ - { - "axisConfig": [ - {}, - { - "decKey": 83, - "incKey": 87 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - }, - {}, - { - "decKey": 65, - "incKey": 68 - } - ], - "axisCount": 8, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "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" - } - ] -} diff --git a/Examples/KitbotDemoSim/simgui.json b/Examples/KitbotDemoSim/simgui.json deleted file mode 100644 index 44591ba..0000000 --- a/Examples/KitbotDemoSim/simgui.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "HALProvider": { - "Other Devices": { - "window": { - "visible": false - } - } - }, - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo", - "/LiveWindow/Ungrouped/Scheduler": "Scheduler", - "/LiveWindow/Ungrouped/Talon FX (Pro) [0]": "Motor Controller", - "/LiveWindow/Ungrouped/Talon FX (Pro) [1]": "Motor Controller" - } - }, - "NetworkTables Info": { - "Clients": { - "open": true - }, - "Connections": { - "open": true - }, - "Server": { - "Subscribers": { - "open": true - }, - "open": true - }, - "visible": true - } -} diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java index 6ffae15..ed77602 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java @@ -12,7 +12,7 @@ import edu.wpi.first.math.kinematics.DifferentialDriveOdometry; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class DrivetrainSubsystem extends SubsystemBase { @@ -29,11 +29,11 @@ private void setVoltages(double left, double right) { io.setVolts(left, right); } - public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { + public Command setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); } - public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { + public Command setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { return this.run(() -> { var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); this.setVoltages(speeds.left * 12, speeds.right * 12); diff --git a/Examples/KitbotDemoSim/vendordeps/AdvantageKit.json b/Examples/KitbotDemoSim/vendordeps/AdvantageKit.json index fa08705..bef4a15 100644 --- a/Examples/KitbotDemoSim/vendordeps/AdvantageKit.json +++ b/Examples/KitbotDemoSim/vendordeps/AdvantageKit.json @@ -1,39 +1,33 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "2.2.4", + "version": "4.1.2", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "mavenUrls": [], + "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.junction", - "artifactId": "wpilib-shim", - "version": "2.2.4" - }, - { - "groupId": "org.littletonrobotics.akit.junction", - "artifactId": "junction-core", - "version": "2.2.4" - }, - { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-api", - "version": "2.2.4" + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.1.2" } ], "jniDependencies": [ { - "groupId": "org.littletonrobotics.akit.conduit", - "artifactId": "conduit-wpilibio", - "version": "2.2.4", + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.2", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ "linuxathena", - "windowsx86-64", "linuxx86-64", - "osxuniversal" + "linuxarm64", + "osxuniversal", + "windowsx86-64" ] } ], diff --git a/Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json b/Examples/KitbotDemoSim/vendordeps/Phoenix6-frc2025-latest.json similarity index 53% rename from Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json rename to Examples/KitbotDemoSim/vendordeps/Phoenix6-frc2025-latest.json index fb545b3..6f40c84 100644 --- a/Examples/KitbotDemoFinal/vendordeps/PhoenixPro.json +++ b/Examples/KitbotDemoSim/vendordeps/Phoenix6-frc2025-latest.json @@ -1,147 +1,234 @@ { - "fileName": "PhoenixPro.json", - "name": "CTRE-Phoenix (Pro)", - "version": "23.0.12", - "frcYear": 2023, + "fileName": "Phoenix6-frc2025-latest.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.4.0", + "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/PhoenixPro-frc2023-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], "javaDependencies": [ { - "groupId": "com.ctre.phoenixpro", + "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "23.0.12" + "version": "25.4.0" } ], "jniDependencies": [ { - "groupId": "com.ctre.phoenixpro", + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "23.0.12", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "tools-sim", - "version": "23.0.12", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonSRX", - "version": "23.0.12", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonFX", - "version": "23.0.12", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "23.0.12", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "23.0.12", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "23.0.12", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "23.0.12", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "23.0.12", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "23.0.12", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" @@ -149,24 +236,25 @@ ], "cppDependencies": [ { - "groupId": "com.ctre.phoenixpro", + "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "23.0.12", - "libName": "CTRE_PhoenixPro_WPI", + "version": "25.4.0", + "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenixpro", + "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "23.0.12", + "version": "25.4.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -174,29 +262,31 @@ "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "23.0.12", - "libName": "CTRE_PhoenixPro_WPISim", + "version": "25.4.0", + "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "23.0.12", + "version": "25.4.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -204,14 +294,15 @@ "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "23.0.12", + "version": "25.4.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -219,89 +310,95 @@ "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonFX", - "version": "23.0.12", - "libName": "CTRE_SimTalonFX", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.4.0", + "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simVictorSPX", - "version": "23.0.12", - "libName": "CTRE_SimVictorSPX", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.4.0", + "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simPigeonIMU", - "version": "23.0.12", - "libName": "CTRE_SimPigeonIMU", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.4.0", + "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simCANCoder", - "version": "23.0.12", - "libName": "CTRE_SimCANCoder", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.4.0", + "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProTalonFX", - "version": "23.0.12", - "libName": "CTRE_SimProTalonFX", + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.4.0", + "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "23.0.12", + "version": "25.4.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -309,14 +406,15 @@ "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" }, { - "groupId": "com.ctre.phoenixpro.sim", + "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "23.0.12", + "version": "25.4.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,6 +422,55 @@ "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.4.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.4.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", "osxuniversal" ], "simMode": "swsim" diff --git a/Examples/KitbotDemoSim/vendordeps/PhoenixPro.json b/Examples/KitbotDemoSim/vendordeps/PhoenixPro.json deleted file mode 100644 index 4418679..0000000 --- a/Examples/KitbotDemoSim/vendordeps/PhoenixPro.json +++ /dev/null @@ -1,332 +0,0 @@ -{ - "fileName": "PhoenixPro.json", - "name": "CTRE-Phoenix (Pro)", - "version": "23.0.8", - "frcYear": 2023, - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/PhoenixPro-frc2023-latest.json", - "javaDependencies": [ - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "wpiapi-java", - "version": "23.0.8" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "tools", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "tools-sim", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonSRX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonFX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simVictorSPX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simPigeonIMU", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simCANCoder", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProTalonFX", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProCANcoder", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProPigeon2", - "version": "23.0.8", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "wpiapi-cpp", - "version": "23.0.8", - "libName": "CTRE_PhoenixPro_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenixpro", - "artifactId": "tools", - "version": "23.0.8", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "23.0.8", - "libName": "CTRE_PhoenixPro_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "tools-sim", - "version": "23.0.8", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonSRX", - "version": "23.0.8", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simTalonFX", - "version": "23.0.8", - "libName": "CTRE_SimTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simVictorSPX", - "version": "23.0.8", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simPigeonIMU", - "version": "23.0.8", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simCANCoder", - "version": "23.0.8", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProTalonFX", - "version": "23.0.8", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProCANcoder", - "version": "23.0.8", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenixpro.sim", - "artifactId": "simProPigeon2", - "version": "23.0.8", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/Examples/KitbotDemoSim/vendordeps/WPILibNewCommands.json b/Examples/KitbotDemoSim/vendordeps/WPILibNewCommands.json index bd535bf..3718e0a 100644 --- a/Examples/KitbotDemoSim/vendordeps/WPILibNewCommands.json +++ b/Examples/KitbotDemoSim/vendordeps/WPILibNewCommands.json @@ -3,6 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ From d6dd7bf68f770110833c85de359e8345f3b45d84 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Sat, 26 Jul 2025 17:28:12 -0700 Subject: [PATCH 8/8] update command based articles --- Docs/Architecture/CommandBased.md | 6 +- .../CommandBasedPresentationNotes.md | 6 +- Docs/Architecture/KitbotExampleWalkthrough.md | 107 +++++++++--------- .../src/main/java/frc/robot/Robot.java | 10 +- .../Drivetrain/DrivetrainIOSim.java | 4 +- .../Drivetrain/DrivetrainSubsystem.java | 4 +- 6 files changed, 70 insertions(+), 67 deletions(-) diff --git a/Docs/Architecture/CommandBased.md b/Docs/Architecture/CommandBased.md index 02948f9..484a7c4 100644 --- a/Docs/Architecture/CommandBased.md +++ b/Docs/Architecture/CommandBased.md @@ -8,7 +8,7 @@ A Subsystem is a set of hardware that forms one system on our robot, like the dr Each subsystem contains some associated hardware (motors, pistons, sensors, etc.) They are the "nouns" of our robot, what it is. Each Subsystem is generally made to contain a broad set of hardware that will always operate as a unit. -Commands are the "verbs" of the robt, or what our robot does. +Commands are the "verbs" of the robot, or what our robot does. Each Subsystem can be used by one Command at the same time, but Commands may use many Subsystems. Commands can be composed together, so the `LineUp`, `Extend`, and `Outake` Commands might be put together to make a `Score` Command. Because each Subsystem can only be used by one Command at once, we are safe from multiple pieces of code trying to command the same motor to different speeds, for example. @@ -29,6 +29,8 @@ One non-obvious Trigger we used in 2024 was one which checked when we had detect Triggers can be made of any function that returns a boolean which makes them very powerful. Some large Commands are better represented by several Commands and some Triggers! +# update with superstructure stuff later + ### Resources - [WPILib intro to functional programming](https://docs.wpilib.org/en/stable/docs/software/basic-programming/functions-as-data.html). @@ -58,5 +60,5 @@ Some large Commands are better represented by several Commands and some Triggers - We prefer making simple Commands with Command factories, or methods in a subsystem that return a Command. These methods should be simple interactions like `setTargetExtensionMeters()` or `extendIntake()`. Then you can use decorators as described [here](https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html) to compose the basic Commands into more complex sequences. - Generally we make these compositions in `Robot` but you can also make single-Subsystem compositions within that Subsystem. + Generally we make these compositions in `Robot` and `Superstructure` but you can also make single-Subsystem compositions within that Subsystem. See our code from previous years for examples of this pattern, or talk to a software lead. diff --git a/Docs/Architecture/CommandBasedPresentationNotes.md b/Docs/Architecture/CommandBasedPresentationNotes.md index 947f93c..655cbc4 100644 --- a/Docs/Architecture/CommandBasedPresentationNotes.md +++ b/Docs/Architecture/CommandBasedPresentationNotes.md @@ -44,7 +44,7 @@ Commands.run(intakeSubsystem::spinRoller, intakeSubsystem); Commands.runOnce(intakeSubsystem::retract, intakeSubsystem); ``` -If these Commands are defined in a Subsystem file, we can make them even simpler by calling `run` and `runOnce` on the subsystem itself +Currently, we tend to define these Commands in the Subsystem file, so we can make them even simpler by calling `run` and `runOnce` on the subsystem itself ```Java // Inside IntakeSubsystem.java @@ -75,11 +75,11 @@ controller.a().whenPressed(Commands.run(intakeSubsystem::runRollers, intakeSubsy - This is somewhat wordy - But Commands are objects, so we can pass them around! -- Let's make a method that returns the `RunCommand` instead of having to make it here +- Let's make a method that returns the `Command` instead of having to make it here ```Java // In IntakeSubsystem.java -public CommandBase runRollersCommand() { +public Command runRollersCommand() { // Note implicit requirements return this.run(this::runRollers); } diff --git a/Docs/Architecture/KitbotExampleWalkthrough.md b/Docs/Architecture/KitbotExampleWalkthrough.md index 36a9c00..1cc87e7 100644 --- a/Docs/Architecture/KitbotExampleWalkthrough.md +++ b/Docs/Architecture/KitbotExampleWalkthrough.md @@ -7,16 +7,16 @@ ![AM14U4 or Kitbot Chassis](../../Assets/Kitbot.jpg) The kitbot is a drivetrain which comes in the Kit of Parts provided by FIRST as part of registration. -It is a typical of example of a type of drivetrain known as a differential drive. +It is a typical example of a differential drivetrain. That name comes from the fact that the amount it turns is equal to the difference between the speed of the left and right sides. This type of drive is also known as skid-steer or tank drive. ### Why kitbot? We do not use the kitbot or other differential drive for our robots in competition. -Instead we use a much more versatile swerve drive. -However the code for a swerve drive is much more complex than a tank drive, which provides a good exercise to introduce you to programming FRC robots. -The kitbot has somewhat standard dimensions, gearboxes, wheels, and other physical characteristics so it makes for a consistent mechanism to start with. +Instead, we use a much more versatile swerve drive. +However, the code for a swerve drive is much more complex than a tank drive. +The kitbot has somewhat standard dimensions, gearboxes, wheels, and other physical characteristics, so it makes for a good exercise to introduce you to programming FRC robots. ### So what do we need to program? @@ -26,8 +26,8 @@ Inputs/Outputs: Electronics: -- Each side of the chassis has two Falcon 500 motors, which will work together to power the left and right sides of the chassis. - In code this will look like a total of 4 Talon FX motor controllers, since thats the component we can talk to. +- Each side of the chassis has two Kraken X60 motors, which will work together to power the left and right sides of the chassis. + In code this will look like a total of 4 Talon FX motor controllers, which is the component we can talk to. ## Code Walkthrough @@ -55,14 +55,14 @@ In that folder, right click and then click "create a new class/command" ![A screenshot of the context menu to create a new class/command](../../Assets/KitbotScreenshot3.png) -Select Subsystem and name it DrivetrainSubsystem. This file is the subsystem file for the kitbot drivetrain. -It will contain all of the hardware that the drivetrain uses, in this case TalonFX motor controllers. +Select Subsystem and name it `DrivetrainSubsystem`. +This file is the subsystem file for the kitbot drivetrain. +It will contain all of the hardware that the drivetrain uses, which in this case are TalonFX motor controllers. Other subsystems will contain sensors, solenoids, and more. It will also contain methods that we use to interact with the subsystem from the rest of our code. Our team names subsystem files using the "NameSubsystem" convention. That means that our file should end in Subsystem, so it's clear what it is. -This will become more important later when we add AdvantageKit into our code. The name should also be reasonably short and descriptive. `IntakeSubsystem` is a good name. `GreybotsGrabberSubsystem` is too long, and `CircleThingySubsystem` is not specific. @@ -77,7 +77,7 @@ public class DrivetrainSubsystem extends SubsystemBase {} In this subsystem file we will need to add our hardware. But to have access to the API for our motors, we need to install the CTRE Phoenix library. Use the instructions [here](https://pro.docs.ctr-electronics.com/en/stable/docs/installation/installation-frc.html) to install the API. -Make sure to get the pro or v6 api. +Make sure to get the V6 API. For this project you may use the online installer, but if you want to use your computer to run and setup the robot it is useful to have Tuner X installed. The [api docs](https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/index.html) for CTRE are also on the same website. @@ -93,24 +93,26 @@ public DrivetrainSubsystem() {} ``` The number being passed into the constructor for the TalonFXs is the ID number of the motor, which we set using Tuner. -Since we don't have real hardware for this example this number is arbitrary, but it's good practice to have a separate configuration file to store these sorts of constants. -**Create a new file in the robot folder (where Robot.java and RobotContainer.java are) called Constants.** -You can use the "create a new class or command" option and select "Empty Class" to speed this up. +Since we don't have real hardware for this example this number is arbitrary, but it's good practice to have these sorts of constants defined at the top of the file. In Constants.java add two `public static final int`s, one for the left motor's ID and one for the right motor. By putting these configuration values all in one place we can easily change them if hardware changes. ```Java -public class Constants { - public static final int drivetrainLeftFalconID = 0; - public static final int drivetrainRightFalconID = 1; +public class DrivetrainSubsystem extends SubsystemBase { + public static final int drivetrainLeftFalconID = 0; + public static final int drivetrainRightFalconID = 1; + + TalonFX leftFalcon = new TalonFX(drivetrainLeftFalconID); + TalonFX rightFalcon = new TalonFX(drivetrainRightFalconID); + //... } ``` - Then change DrivetrainSubsystem to use the new constants. -Next, lets add the `ControlRequest` objects. -In CTREs v6/pro api, we set the output of a motor by passing it a subclass of `ControlRequest` like `VoltageOut` or `PositionDutyCycle`. +Next, let's add the `ControlRequest` objects. +These represent the output of a device, such as a desired voltage, velocity, position, etc. +In CTRE's v6 API, we set the output of a motor by passing it a subclass of `ControlRequest` like `VoltageOut` or `PositionDutyCycle`. Below the Talons, add two `VoltageOut`s. The constructor for these takes in a default voltage, which we can set to 0 to avoid any nasty surprises when we turn the robot on. Make sure you import these classes. @@ -139,58 +141,57 @@ private void setVoltages(double left, double right) { You might notice that this method is private. This is because whenever we want to interact with the hardware of a subsystem we should go through a Command, which guarantees that each piece of hardware is only requested to do one thing at a time. -To do this we need to make a Command factory method, or a method that returns `CommandBase`. +To do this we need to make a Command factory method, or a method that returns a `Command`. ```Java -public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { - return new RunCommand(this.setVoltages(left.getAsDouble(), right.getAsDouble()), this); +public Command setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) { + return this.run(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble())); } ``` -Notice how instead of passing in `double`s we pass in `DoubleSupplier`s. +Notice how instead of passing in `double`s, we pass in `DoubleSupplier`s. A `DoubleSupplier` is just any function that returns a `double`. -This function can always return the same value, effectively acting like a double, or it can get its value some other way. -This lets us use this command to drive the robot with joysticks, an autonomous controller, or other input. +This function could always return the same value, effectively acting like a double, or it can get its value some other way. +This lets us use this command to drive the robot with joysticks, an autonomous controller, or other input that may change. -In the body of the method we return a `RunCommand`. -`RunCommand` is a subtype of CommandBase, and represents a Command which runs a single function over and over again. +In the body of the method we return `this.run()`, which implicitly creates a `RunCommand`. +`RunCommand` is a subtype of Command, and represents a Command which runs a single function over and over again. This function is defined using lambda syntax, or the `() ->` symbol. On the right of the arrow is a call to our `setVoltages()` method, which calls our `DoubleSupplier`s which each return a value each call of the function, in this case every 20ms as part of the Command loop. We might not want to drive the robot just by setting the left and right wheel speeds, however. -Lets add a method that uses a desired forwards/backwards and turning velocity to set the wheel speeds. +Let's add a method that uses a desired forwards/backwards and turning velocity to set the wheel speeds. We can do this using WPILib's `DifferentialDrive` class. ```Java -public CommandBase setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { - return new RunCommand(() -> { - var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); - this.setVoltages(speeds.left * 12, speeds.right * 12); - }, this); +public Command setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier steer) { + return this.run(() -> { + var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false); + this.setVoltages(speeds.left * 12, speeds.right * 12); + }); } ``` +This method has a very similar structure to the previous method. +The main difference is that instead of having one method in our lambda (`() ->`), we have a code block ({} block). +This means we need to end each line with a ; but can use multiple lines in our Command. This method is named `setVoltagesArcadeCommand` after the arcade drive control it uses, or one input for driving speed and one for turning speed. -The "IK" stands for "Inverse Kinematics", a fancy term for a bit of math to convert from the desired driving and turning speed to the needed wheel speeds. -More generally, IK lets us convert from useful units, like an arms position in space, or a drivetrains speed in each direction, to ones we can directly use, like motor speeds or positions. - Arcade drive isn't the only option we have for "useful units" for a drivetrain. Curvature drive is another example which tries to emulate a car by only turning when forward motion is happening. On a real robot what we use would come down to driver preference. -In the method itself we have a very similar structure to the previous method. -The main difference is that instead of having one method in our lambda (`() ->`), we have a code block ({} block). -This means we need to end each line with a ; but can use multiple lines in our Command. -In this case we call arcadeDriveIK from WPILib's `DifferentialDrive` class and store the result in a variable called `speeds`. +The "IK" stands for "Inverse Kinematics", a fancy term for a bit of math to convert from the desired driving and turning speed to the needed wheel speeds. +More generally, IK lets us convert from useful units, like an arm's position in space or a drivetrain's speed in each direction, to ones we can directly use, like motor speeds or positions. +In this case, we call `arcadeDriveIK` from WPILib's `DifferentialDrive` class and store the result in a variable called `speeds`. -Then we pass speeds to the drive method. -However, theres a catch to these speeds. -Because WPILibs `DifferentialDrive` class doesn't know what kind of motors we run or what voltage our robot is at, it gives us motor speeds in the range -1 to 1, where 1 corresponds to full forward output and -1 corresponds to full reverse output. +Then we pass `speeds` to the drive method. +However, there's a catch to these speeds. +Because WPILib's `DifferentialDrive` class doesn't know what kind of motors we run or what voltage our robot is at, it gives us motor speeds in the range -1 to 1, where 1 corresponds to full forward output and -1 corresponds to full reverse output. We can convert to voltage by multiplying by 12, which our robot should nominally be at. These methods are all well and good on their own, but it would be nice if we had a way to actually use them. -Lets bind them to a joystick. -Go to RobotContainer.java and add a `CommandXboxController` object. +Let's bind them to a joystick. +Go to `RobotContainer.java` and add a `CommandXboxController` object. ```Java // Create a new Xbox controller on port 0 @@ -206,13 +207,13 @@ CommandXboxController controller = new CommandXboxController(0); DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem(); ``` -Finally we can bind the arcade drive command to the joysticks. -To do this call `setDefaultCommand()` on `drivetrainSubsystem` in RobotContainer's `configureBindings()` method. +Finally, we can bind the arcade drive command to the joysticks. +To do this, call `setDefaultCommand()` on `drivetrainSubsystem` in RobotContainer's `configureBindings()` method. This sets a Command that will be run when no other command is using the drivetrain. Pass in `drivetrainSubsystem.setVoltagesArcadeCommand()` as the default Command. -For the `DoubleSuppliers` to the arcade drive command we can add two lambdas that call `getLeftY()` and `getRightX()` on the controller, which looks at the current joysick values. -This means that each loop this command is run, it will check the current joystick values and turn them into voltages for the wheels. +For the `DoubleSupplier`s to the arcade drive command we can add two lambdas that call `getLeftY()` and `getRightX()` on the controller, which looks at the current joystick values. +This means during each loop that this command is run, it will check the current joystick values and turn them into voltages for the wheels. This line is a little long now, so break it up into a few lines to keep it readable. @@ -231,7 +232,7 @@ One common way is to square the inputs to the drivetrain, which reduces the sens The red line here is if we directly take the input, and the blue line shows the squared input. Another is to add a "deadband" where we wont output any voltage if the input is less than some threshold. -This stops the robot from moving if the controllers don't perfectly read 0 when they aren't pressed. +This stops the robot from moving if the controllers are very close to but don't perfectly read 0 when they aren't pressed. ![A graph showing the difference between an input with and without a deadband](../../Assets/DeadbandVNotGraph.png) @@ -240,11 +241,11 @@ Notice how the graphs overlap outside of the deadband. Also notice the jump in inputs when the deadband stops applying. For an exaggerated one like this it would be an issue, but for a real input the deadband is usually small enough that this jump is not significant. -Lets add a function in RobotContainer to modify the joystick inputs. +Let's add a function in RobotContainer to modify the joystick inputs. Create a function that takes in a double and returns a double called `modifyJoystick`. -Lets start by adding the squaring of the input. -To do this we multiply our input by itself, but in the process we lose the sign of the input. +Let's start by adding the squaring of the input. +To do this, we multiply our input by itself, but in the process we lose the sign of the input. We can use `Math.signum` to add it back in. ```Java diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Robot.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Robot.java index 3d9c376..a14483b 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Robot.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Robot.java @@ -21,17 +21,17 @@ public class Robot extends LoggedRobot { @Override public void robotInit() { - Logger.getInstance().recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value + Logger.recordMetadata("ProjectName", "KitbotExample"); // Set a metadata value if (isReal()) { - Logger.getInstance().addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick - Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging } else { - Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables } - Logger.getInstance().start(); // Start logging! No more data receivers, replay sources, or metadata values may + Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may // be added. m_robotContainer = new RobotContainer(); } diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java index 9fa1eca..82888c4 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainIOSim.java @@ -4,8 +4,8 @@ package frc.robot.Subsystems.Drivetrain; -import com.ctre.phoenixpro.controls.VoltageOut; -import com.ctre.phoenixpro.hardware.TalonFX; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing; diff --git a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java index ed77602..69f548a 100644 --- a/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java +++ b/Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java @@ -43,7 +43,7 @@ public Command setVoltagesArcadeCommand(DoubleSupplier drive, DoubleSupplier ste @Override public void periodic() { io.updateInputs(inputs); - Logger.getInstance().processInputs("Drivetrain", inputs); + Logger.processInputs("Drivetrain", inputs); odometry.update( odometry.getPoseMeters().getRotation() @@ -52,6 +52,6 @@ public void periodic() { .plus(Rotation2d.fromRadians((inputs.leftVelocityMetersPerSecond - inputs.rightVelocityMetersPerSecond) * 0.020 / Units.inchesToMeters(26))), inputs.leftPositionMeters, inputs.rightPositionMeters); - Logger.getInstance().recordOutput("Drivetrain Pose", odometry.getPoseMeters()); + Logger.recordOutput("Drivetrain Pose", odometry.getPoseMeters()); } }