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Separate year to year hardware with drive chassis #425

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59c9fe2
Separate year to year hardware with drive chassis
May 2, 2026
b4c1334
Remove surplus spacing
May 2, 2026
782f76f
Rename to readiness set
May 2, 2026
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82 changes: 11 additions & 71 deletions src/main/java/competition/electrical_contract/Contract2023.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,11 @@
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Distance;
import xbot.common.controls.sensors.XGyro;
import xbot.common.injection.electrical_contract.CANBusId;
import xbot.common.injection.electrical_contract.CANMotorControllerInfo;
import xbot.common.injection.electrical_contract.CANMotorControllerOutputConfig;
import xbot.common.injection.electrical_contract.CameraInfo;
import xbot.common.injection.electrical_contract.DeviceInfo;
import xbot.common.injection.electrical_contract.IMUInfo;
Expand All @@ -24,13 +25,15 @@
import static edu.wpi.first.units.Units.Inches;

import java.util.EnumSet;
import java.util.Map;
import java.util.Set;

public class Contract2023 extends Contract2026 {

protected final double simulationScalingValue = 256.0 * PoseSubsystem.INCHES_IN_A_METER;
public class Contract2023 extends GeneralContract {

@Inject
public Contract2023() {}
public Contract2023() {
super(Set.of());
}

@Override
public boolean isDriveReady() {
Expand All @@ -42,18 +45,6 @@ public boolean areCanCodersReady() {
return true;
}

protected String getDriveControllerName(SwerveInstance swerveInstance) {
return "DriveSubsystem/" + swerveInstance.label() + "/Drive";
}

protected String getSteeringControllerName(SwerveInstance swerveInstance) {
return "DriveSubsystem/" + swerveInstance.label() + "/Steering";
}

protected String getSteeringEncoderControllerName(SwerveInstance swerveInstance) {
return "DriveSubsystem/" + swerveInstance.label() + "/SteeringEncoder";
}

@Override
public CANMotorControllerInfo getDriveMotor(SwerveInstance swerveInstance) {
return switch (swerveInstance.label()) {
Expand Down Expand Up @@ -95,8 +86,6 @@ public CANMotorControllerInfo getDriveMotor(SwerveInstance swerveInstance) {

@Override
public CANMotorControllerInfo getSteeringMotor(SwerveInstance swerveInstance) {
double simulationScalingValue = 1.0;

return switch (swerveInstance.label()) {
case "FrontLeftDrive" ->
new CANMotorControllerInfo(
Expand Down Expand Up @@ -216,63 +205,14 @@ public CameraInfo[] getCameraInfo() {
};
}

@Override
@Override
public IMUInfo getIMUInfo() {
return new IMUInfo(XGyro.InterfaceType.spi, PowerSource.RIO);
}

@Override
public boolean isLightsReady() {
return false;
}

@Override
public boolean isHopperRollerReady() {
return false;
}

@Override
public boolean isShooterFeederReady() {
return false;
}

@Override
public boolean isIntakeDeployReady() {
return false;
public Distance getRadiusOfRobot() {
return Units.Inches.of(18);
}

@Override
public boolean isLeftShooterReady() {
return false;
}

@Override
public boolean isMiddleShooterReady() {
return false;
}

@Override
public boolean isRightShooterReady() {
return false;
}

@Override
public boolean isHoodServoLeftReady() {
return false;
}

@Override
public boolean isHoodServoRightReady() {
return false;
}

@Override
public boolean isClimberLeftReady() {
return false;
}

@Override
public boolean isClimberRightReady() {
return false;
}
}
94 changes: 17 additions & 77 deletions src/main/java/competition/electrical_contract/Contract2025.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Distance;
import xbot.common.controls.sensors.XGyro;
import xbot.common.injection.electrical_contract.CANBusId;
import xbot.common.injection.electrical_contract.CANMotorControllerInfo;
Expand All @@ -21,16 +23,16 @@
import javax.inject.Inject;

import java.util.EnumSet;
import java.util.Set;

import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Inches;

public class Contract2025 extends Contract2026 {

protected final double simulationScalingValue = 256.0 * PoseSubsystem.INCHES_IN_A_METER;
public class Contract2025 extends GeneralContract {

@Inject
public Contract2025() {
super(Set.of());
}

@Override
Expand All @@ -39,80 +41,8 @@ public IMUInfo getIMUInfo() {
}

@Override
public boolean isDriveReady() {
return true;
}

@Override
public boolean areCanCodersReady() {
return true;
}

@Override
public boolean isLightsReady() {
return false;
}

@Override
public boolean isHopperRollerReady() {
return false;
}

@Override
public boolean isShooterFeederReady() {
return false;
}

@Override
public boolean isIntakeDeployReady() {
return false;
}

@Override
public boolean isLeftShooterReady() {
return false;
}

@Override
public boolean isMiddleShooterReady() {
return false;
}

@Override
public boolean isRightShooterReady() {
return false;
}

@Override
public boolean isHoodServoLeftReady() {
return false;
}

@Override
public boolean isHoodServoRightReady() {
return false;
}

@Override
public boolean isClimberLeftReady() {
return false;
}

@Override
public boolean isClimberRightReady() {
return false;
}

protected String getDriveControllerName(SwerveInstance swerveInstance) {
return "DriveSubsystem/" + swerveInstance.label() + "/Drive";
}

protected String getSteeringControllerName(SwerveInstance swerveInstance) {
return "DriveSubsystem/" + swerveInstance.label() + "/Steering";
}

protected String getSteeringEncoderControllerName(SwerveInstance swerveInstance) {
return "DriveSubsystem/" + swerveInstance.label() + "/SteeringEncoder";
public Distance getRadiusOfRobot() {
return Units.Inches.of(18);
}

TalonFxMotorControllerOutputConfig regularDriveMotorConfig =
Expand All @@ -127,6 +57,16 @@ protected String getSteeringEncoderControllerName(SwerveInstance swerveInstance)
.withStatorCurrentLimit(Amps.of(80))
.withNeutralMode(CANMotorControllerOutputConfig.NeutralMode.Brake);

@Override
public boolean isDriveReady() {
return false;
}

@Override
public boolean areCanCodersReady() {
return false;
}

@Override
public CANMotorControllerInfo getDriveMotor(SwerveInstance swerveInstance) {
return switch (swerveInstance.label()) {
Expand Down
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