diff --git a/build.gradle b/build.gradle index 04ddcb5..b146847 100644 --- a/build.gradle +++ b/build.gradle @@ -6,7 +6,7 @@ plugins { id 'edu.wpi.first.NativeUtils' version '2025.9.0' id 'edu.wpi.first.GradleJni' version '1.1.0' id 'edu.wpi.first.GradleVsCode' version '2.1.0' - id "edu.wpi.first.GradleRIO" version "2025.2.1" // Version should be defined here. + id "edu.wpi.first.GradleRIO" version "2025.3.1" // Version should be defined here. id "com.diffplug.spotless" version "6.11.0" } diff --git a/docs/index-all.html b/docs/index-all.html index de6215b..40aac4c 100644 --- a/docs/index-all.html +++ b/docs/index-all.html @@ -396,14 +396,6 @@

K

L

-
limitSwitchFunction() - Method in class maniplib.ManipArm
-
-
Function that sees if there's active limit switches then stops the ManipArm if one is hit.
-
-
limitSwitchFunction() - Method in class maniplib.ManipElevator
-
-
Function that sees if there's active limit switches then stops the ManipElevator if one is hit.
-
LOW - Enum constant in enum class maniplib.Telemetry.ManipTelemetry
 
@@ -662,13 +654,17 @@

S

Sets the ManipSparkMax to follow another ManipMotor.
-
setBottomLimitSwitch(Trigger) - Method in class maniplib.ManipArm
+
setAutoStow(boolean) - Method in class maniplib.ManipArm
+
 
+
setAutoStow(boolean) - Method in class maniplib.ManipElevator
+
 
+
setBottomLimitSwitch(boolean) - Method in class maniplib.ManipArm
-
Sets the Trigger for when the bottom limit switch is hit for ManipArm.
+
Sets the Boolean for when the bottom limit switch is hit for ManipArm.
-
setBottomLimitSwitch(Trigger) - Method in class maniplib.ManipElevator
+
setBottomLimitSwitch(boolean) - Method in class maniplib.ManipElevator
-
Sets the Trigger for when the bottom limit switch is hit for ManipElevator.
+
Sets the Boolean for when the bottom limit switch is hit for ManipElevator.
setCurrentLimit(int) - Method in class maniplib.motors.ManipMotor
@@ -766,13 +762,13 @@

S

Determines whether to sync the absolute encoder in the ManipElevator class or not.
-
setTopLimitSwitch(Trigger) - Method in class maniplib.ManipArm
+
setTopLimitSwitch(boolean) - Method in class maniplib.ManipArm
-
Sets the Trigger for when the top limit switch is hit for ManipArm.
+
Sets the Boolean for when the top limit switch is hit for ManipArm.
-
setTopLimitSwitch(Trigger) - Method in class maniplib.ManipElevator
+
setTopLimitSwitch(boolean) - Method in class maniplib.ManipElevator
-
Sets the Trigger for when the top limit switch is hit for ManipElevator.
+
Sets the Boolean for when the top limit switch is hit for ManipElevator.
setupRioPID(PIDFConfig, double, double, double, boolean) - Method in class maniplib.motors.ManipMotor
diff --git a/docs/maniplib/ManipArm.html b/docs/maniplib/ManipArm.html index 6b3cad6..8677ab4 100644 --- a/docs/maniplib/ManipArm.html +++ b/docs/maniplib/ManipArm.html @@ -151,58 +151,56 @@

Method Summary

Get the velocity of Arm.
-
void
-
limitSwitchFunction()
+
boolean
+
nearMax(double toleranceDegrees)
-
Function that sees if there's active limit switches then stops the ManipArm if one is hit.
+
Near the maximum Angle of the arm within X degrees.
boolean
-
nearMax(double toleranceDegrees)
+
nearMin(double toleranceDegrees)
-
Near the maximum Angle of the arm within X degrees.
-
-
boolean
-
nearMin(double toleranceDegrees)
-
Near the minimum angle of the Arm in within X degrees.
-
void
-
periodic()
-
 
void
-
reachSetpoint(double setpoint)
-
-
Run the control loop to reach and maintain the setpoint from the preferences.
-
+
periodic()
+
 
void
-
runArmSpeed(double speed)
+
reachSetpoint(double setpoint)
-
Basic method to run the arm at commanded speed.
+
Run the control loop to reach and maintain the setpoint from the preferences.
-
Command
-
runArmSpeedCommand(double speed)
+
void
+
runArmSpeed(double speed)
-
Runs runArmSpeed as a Command.
+
Basic method to run the arm at commanded speed.
-
void
-
runArmVoltage(Voltage volts)
+
Command
+
runArmSpeedCommand(double speed)
-
Basic method to run the arm at commanded voltage.
+
Runs runArmSpeed as a Command.
-
Command
-
runArmVoltageCommand(Voltage volts)
+
void
+
runArmVoltage(Voltage volts)
-
Runs runArmVoltage as a Command.
+
Basic method to run the arm at commanded voltage.
Command
-
runSysIdRoutine()
+
runArmVoltageCommand(Voltage volts)
+
Runs runArmVoltage as a Command.
+
+
Command
+
runSysIdRoutine()
+
Runs the SysId routine to tune the Arm
+
void
+
setAutoStow(boolean autoStow)
+
 
void
-
setBottomLimitSwitch(Trigger bottomLimitHit)
+
setBottomLimitSwitch(boolean bottomLimit)
-
Sets the Trigger for when the bottom limit switch is hit for ManipArm.
+
Sets the Boolean for when the bottom limit switch is hit for ManipArm.
Command
setGoal(double degrees)
@@ -216,9 +214,9 @@

Method Summary

ManipArm class or not.
void
-
setTopLimitSwitch(Trigger topLimitHit)
+
setTopLimitSwitch(boolean topLimit)
-
Sets the Trigger for when the top limit switch is hit for ManipArm.
+
Sets the Boolean for when the top limit switch is hit for ManipArm.
void
simulationPeriodic()
@@ -235,7 +233,7 @@

Method Summary

Seeds inbuilt encoder with absolute encoder value.
-
Command
+
void
toggleAutoStow()
Toggles auto-stow of defaultCommandOverride
@@ -461,33 +459,17 @@

runArmVoltageCommand

  • -
    +

    setTopLimitSwitch

    -
    public void setTopLimitSwitch(Trigger topLimitHit)
    -
    Sets the Trigger for when the top limit switch is hit for ManipArm.
    -
    -
    Parameters:
    -
    topLimitHit - top limit switch Trigger.
    -
    +
    public void setTopLimitSwitch(boolean topLimit)
    +
    Sets the Boolean for when the top limit switch is hit for ManipArm.
  • -
    +

    setBottomLimitSwitch

    -
    public void setBottomLimitSwitch(Trigger bottomLimitHit)
    -
    Sets the Trigger for when the bottom limit switch is hit for ManipArm.
    -
    -
    Parameters:
    -
    bottomLimitHit - bottom limit switch Trigger.
    -
    -
    -
    • -
  • -
    -

    limitSwitchFunction

    -
    public void limitSwitchFunction()
    -
    Function that sees if there's active limit switches then stops the ManipArm if one is hit. - Also sets soft limits based off of given Min and Max positions.
    +
    public void setBottomLimitSwitch(boolean bottomLimit)
    +
    Sets the Boolean for when the bottom limit switch is hit for ManipArm.
  • @@ -502,11 +484,17 @@

    autoStowWithOverride

  • toggleAutoStow

    -
    public Command toggleAutoStow()
    +
    public void toggleAutoStow()
    Toggles auto-stow of defaultCommandOverride
  • +
    +

    setAutoStow

    +
    public void setAutoStow(boolean autoStow)
    +
    +
    • +

  • stopArm

    public void stopArm()
    diff --git a/docs/maniplib/ManipElevator.html b/docs/maniplib/ManipElevator.html index f4f5210..713e4d9 100644 --- a/docs/maniplib/ManipElevator.html +++ b/docs/maniplib/ManipElevator.html @@ -167,58 +167,56 @@

    Method Summary

    The velocity of the elevator in meters per second.
    -
    void
    -
    limitSwitchFunction()
    +
    boolean
    +
    nearMax(double toleranceMillimeters)
    -
    Function that sees if there's active limit switches then stops the ManipElevator if one is hit.
    +
    Near the maximum height of the elevator within X millimeters.
    boolean
    -
    nearMax(double toleranceMillimeters)
    +
    nearMin(double toleranceMillimeters)
    -
    Near the maximum height of the elevator within X millimeters.
    -
    -
    boolean
    -
    nearMin(double toleranceMillimeters)
    -
    Near the minimum height of the elevator in within X millimeters.
    -
    void
    -
    periodic()
    -
     
    void
    -
    reachSetpoint(double setpointInches)
    -
    -
    Run the control loop to reach and maintain the setpoint from the preferences.
    -
    +
    periodic()
    +
     
    void
    -
    runElevatorSpeed(double speed)
    +
    reachSetpoint(double setpointInches)
    -
    Basic method to run the elevator at commanded speed.
    +
    Run the control loop to reach and maintain the setpoint from the preferences.
    -
    Command
    -
    runElevatorSpeedCommand(double speed)
    +
    void
    +
    runElevatorSpeed(double speed)
    -
    Runs runElevatorSpeed as a Command.
    +
    Basic method to run the elevator at commanded speed.
    -
    void
    -
    runElevatorVoltage(Voltage volts)
    +
    Command
    +
    runElevatorSpeedCommand(double speed)
    -
    Basic method to run the elevator at commanded voltage.
    +
    Runs runElevatorSpeed as a Command.
    -
    Command
    -
    runElevatorVoltageCommand(Voltage volts)
    +
    void
    +
    runElevatorVoltage(Voltage volts)
    -
    Runs runElevatorVoltage as a Command.
    +
    Basic method to run the elevator at commanded voltage.
    Command
    -
    runSysIdRoutine()
    +
    runElevatorVoltageCommand(Voltage volts)
    +
    Runs runElevatorVoltage as a Command.
    +
    +
    Command
    +
    runSysIdRoutine()
    +
    Runs the SysId routine to tune the elevator
    +
    void
    +
    setAutoStow(boolean autoStow)
    +
     
    void
    -
    setBottomLimitSwitch(Trigger bottomLimitHit)
    +
    setBottomLimitSwitch(boolean bottomLimit)
    -
    Sets the Trigger for when the bottom limit switch is hit for ManipElevator.
    +
    Sets the Boolean for when the bottom limit switch is hit for ManipElevator.
    Command
    setGoal(double setpointInches)
    @@ -232,9 +230,9 @@

    Method Summary

    ManipElevator class or not.
    • void
    -
    setTopLimitSwitch(Trigger topLimitHit)
    +
    setTopLimitSwitch(boolean topLimit)
    -
    Sets the Trigger for when the top limit switch is hit for ManipElevator.
    +
    Sets the Boolean for when the top limit switch is hit for ManipElevator.
    void
    simulationPeriodic()
    @@ -251,7 +249,7 @@

    Method Summary

    Seeds inbuilt encoder with absolute encoder value.
    -
    Command
    +
    void
    toggleAutoStow()
    Toggles auto-stow of defaultCommandOverride
    @@ -515,33 +513,17 @@

    runElevatorVoltageCommand

  • -
    +

    setTopLimitSwitch

    -
    public void setTopLimitSwitch(Trigger topLimitHit)
    -
    Sets the Trigger for when the top limit switch is hit for ManipElevator.
    -
    -
    Parameters:
    -
    topLimitHit - top limit switch Trigger.
    -
    +
    public void setTopLimitSwitch(boolean topLimit)
    +
    Sets the Boolean for when the top limit switch is hit for ManipElevator.
  • -
    +

    setBottomLimitSwitch

    -
    public void setBottomLimitSwitch(Trigger bottomLimitHit)
    -
    Sets the Trigger for when the bottom limit switch is hit for ManipElevator.
    -
    -
    Parameters:
    -
    bottomLimitHit - bottom limit switch Trigger.
    -
    -
    -
    • -
  • -
    -

    limitSwitchFunction

    -
    public void limitSwitchFunction()
    -
    Function that sees if there's active limit switches then stops the ManipElevator if one is hit. - Also sets soft limits based off of given Min and Max positions.
    +
    public void setBottomLimitSwitch(boolean bottomLimit)
    +
    Sets the Boolean for when the bottom limit switch is hit for ManipElevator.
  • @@ -556,11 +538,17 @@

    autoStowWithOverride

  • toggleAutoStow

    -
    public Command toggleAutoStow()
    +
    public void toggleAutoStow()
    Toggles auto-stow of defaultCommandOverride
  • +
    +

    setAutoStow

    +
    public void setAutoStow(boolean autoStow)
    +
    +
    • +

  • stopElevator

    public void stopElevator()
    diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 5bc8c48..aaec3f1 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"maniplib","c":"ManipArm","l":"addAbsoluteEncoderValue(double)"},{"p":"maniplib","c":"ManipElevator","l":"addAbsoluteEncoderValue(double)"},{"p":"maniplib","c":"ManipArm","l":"addFollower(ManipMotor, boolean)","u":"addFollower(maniplib.motors.ManipMotor,boolean)"},{"p":"maniplib","c":"ManipElevator","l":"addFollower(ManipMotor, boolean)","u":"addFollower(maniplib.motors.ManipMotor,boolean)"},{"p":"maniplib","c":"ManipShooterIntake","l":"addFollower(ManipMotor, boolean)","u":"addFollower(maniplib.motors.ManipMotor,boolean)"},{"p":"maniplib.utils","c":"ManipMath.Arm","l":"Arm()","u":"%3Cinit%3E()"},{"p":"maniplib","c":"ManipElevator","l":"atHeight(double, 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b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5/ManipLib-cpp-2025.0.0-beta0.5.pom.sha256 new file mode 100644 index 0000000..7eca79a --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5/ManipLib-cpp-2025.0.0-beta0.5.pom.sha256 @@ -0,0 +1 @@ +eeae6984232649d83bca67e7943cc35f008ffd5e04fb08b2d3a82694575f7b31 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5/ManipLib-cpp-2025.0.0-beta0.5.pom.sha512 b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5/ManipLib-cpp-2025.0.0-beta0.5.pom.sha512 new file mode 100644 index 0000000..b4b6a4d --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-cpp/2025.0.0-beta0.5/ManipLib-cpp-2025.0.0-beta0.5.pom.sha512 @@ -0,0 +1 @@ +5437a1d459a478a327dbc0007a2326af6d4d7f31e0ada48a8b1d0a4e66c25246cb8d8c3233e2c44a2f55df0511546d2e8f9d50061564897e495ee68bb7c2c446 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml index 7a56d34..af43f7c 100644 --- a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml +++ b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml @@ -3,8 +3,8 @@ maniplib ManipLib-cpp - 2025.0.0-beta0.4 - 2025.0.0-beta0.4 + 2025.0.0-beta0.5 + 2025.0.0-beta0.5 test 2025.0.0-beta0 @@ -12,7 +12,8 @@ 2025.0.0-beta0.2 2025.0.0-beta0.3 2025.0.0-beta0.4 + 2025.0.0-beta0.5 - 20250215054041 + 20250216072256 diff --git a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.md5 b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.md5 index 4fa57c7..8702063 100644 --- a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.md5 +++ b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.md5 @@ -1 +1 @@ -d1a8042fee4c105ff46744802a5ef198 \ No newline at end of file +c946a1744a69d9dcbf2d809489cd8b3e \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.sha1 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b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.sha512 index 8883b07..3fd8182 100644 --- a/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.sha512 +++ b/maniplib/repos/maniplib/ManipLib-cpp/maven-metadata.xml.sha512 @@ -1 +1 @@ -671b929bcfc58bbad71962ee533190e70a9ea8e54508fe22b52d5c71343bca4c8bb5db609c07a846eb7f39058aed98e03a8a302015ba848414c74405d1c5e7db \ No newline at end of file +f337038728bba3c7e31baab3d9f4b55deac4ad9d8ea8eb897724e67d5a17105a4f6581d8f83f452bc23cd72114e90b55cd10570971d3c4ef827069d37e250078 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar new file mode 100644 index 0000000..3775017 Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar differ diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.md5 new file mode 100644 index 0000000..1e6176a --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.md5 @@ -0,0 +1 @@ +bd4fa650df1158f19effcd05e8793085 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha1 new file mode 100644 index 0000000..abba5a5 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha1 @@ -0,0 +1 @@ +4963b144bd12081ae5da344ff38666df870d66e0 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha256 new file mode 100644 index 0000000..b654729 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha256 @@ -0,0 +1 @@ +df3a86281892d61ac397f502c6f53eed882ae8725a483bc0ee7e284db77211a3 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha512 new file mode 100644 index 0000000..562b886 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-javadoc.jar.sha512 @@ -0,0 +1 @@ +f2c9ae54795c452295414f9757f57744adb3c9b724820348091ddf3f39b12d3af332eeaff539a0b8019790e363b4aa55ab76b584e9c983489851fae4404b5a9b \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar new file mode 100644 index 0000000..c908255 Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar differ diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.md5 new file mode 100644 index 0000000..a74e6ee --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.md5 @@ -0,0 +1 @@ +8d69ebab30b61f7b3ea2f60b3388ae4f \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha1 new file mode 100644 index 0000000..e88ae40 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha1 @@ -0,0 +1 @@ +ec109eb1de735fee3999c6d0c82f3e7e09e4e017 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha256 new file mode 100644 index 0000000..6768bf0 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha256 @@ -0,0 +1 @@ +1fffcaabaf2b89d77066437f30d2b43e80876cbf55707b1d7f5377f1aec2cd0d \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha512 new file mode 100644 index 0000000..e8197e8 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5-sources.jar.sha512 @@ -0,0 +1 @@ +6e0fff0bd891c05382b40c208b5ac84699c1b306b76f012c0ce698bb99895e6157fe1b7a0e3e31a47232718786ce23384e1fe5f1621b16a35135f2b96f98e649 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar new file mode 100644 index 0000000..9b35906 Binary files /dev/null and b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar differ diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.md5 new file mode 100644 index 0000000..5810a4a --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.md5 @@ -0,0 +1 @@ +4f844df56be75488149a619abb0d3af7 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha1 new file mode 100644 index 0000000..c1ccf2f --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha1 @@ -0,0 +1 @@ +02b1c2651a942bf44775071e36c3bfc2d6981bc2 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha256 new file mode 100644 index 0000000..f435a4a --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha256 @@ -0,0 +1 @@ +bb00b9628c2ffa875d8300d4885d9ca2bb17ef237c2297cdceb42af09060c0ba \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha512 new file mode 100644 index 0000000..c58ad11 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.jar.sha512 @@ -0,0 +1 @@ +550fcfbfe143523353a304f625dd704c4ff271077f84355ccfcd934dd3b35b9d225276a3a408facc8b166d8e0fdee5188f48dc10b719308d0a97036f32a5d519 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom new file mode 100644 index 0000000..460fd7d --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom @@ -0,0 +1,8 @@ + + + 4.0.0 + maniplib + ManipLib-java + 2025.0.0-beta0.5 + diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.md5 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.md5 new file mode 100644 index 0000000..331f55f --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.md5 @@ -0,0 +1 @@ +257c6e896b2a3103a8853424be89280b \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha1 new file mode 100644 index 0000000..221eb16 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha1 @@ -0,0 +1 @@ +48f27d9b53dbf72b19c87a36486f4b039fff3393 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha256 new file mode 100644 index 0000000..c80efe0 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha256 @@ -0,0 +1 @@ +461f692bf611b5d681dad4a52124c91db5d69d6fa0eb01beff2d7b992b3dc929 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha512 new file mode 100644 index 0000000..65c36e7 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5/ManipLib-java-2025.0.0-beta0.5.pom.sha512 @@ -0,0 +1 @@ +49f40597f9df22d99836bf59d84f10953b37702958240ed44da01575ae92869bf815ea3716bbc1cdddf15e56605701ec8be3bad8516b0a019f8d06684fed012b \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml index 9e8a5e2..98c20fd 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml @@ -3,8 +3,8 @@ maniplib ManipLib-java - 2025.0.0-beta0.4 - 2025.0.0-beta0.4 + 2025.0.0-beta0.5 + 2025.0.0-beta0.5 2025.0.0-unreleased test @@ -13,7 +13,8 @@ 2025.0.0-beta0.2 2025.0.0-beta0.3 2025.0.0-beta0.4 + 2025.0.0-beta0.5 - 20250215054041 + 20250216072300 diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 index 5549a16..1ae876e 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 @@ -1 +1 @@ -cd73f0e7dd93180b32654fa888181f9c \ No newline at end of file +1fe1939bab969ca0974e839809090b56 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 index 5772f12..b3d2886 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 @@ -1 +1 @@ -fcc3af15de8f0ac6cdd98283ab150411ea38f171 \ No newline at end of file +eff971d49263d2efb8e0b43c390d8c32c38a46f9 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 index 55d9872..2d77123 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 @@ -1 +1 @@ -ba0e98f323e0d353ea314cc14dae5be644132da9ec43a3dc2fa619e638cecfeb \ No newline at end of file +fd2758f7af6b0b6920e7ffbf0eda46754147fefbef7c4ed956b8082156637c84 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 index 266d350..04d1677 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 @@ -1 +1 @@ -961d38fdec138e31274a45904f2ff74469f81f9e16c4d94d0bd76a17cc03e99c6ce40dd523f8c174c53a680e64dd4a3834d618b76a3464d7b9555687eb98b52b \ No newline at end of file +71f93958fee43666a9689490a156285178715db97e08004aa7ac167809f3618f6db30c45af8a15891c4aa03a49a5f1c0748c769acf49d2ee4bd06a3069e7d26c \ No newline at end of file diff --git a/publish.gradle b/publish.gradle index e950b73..8167511 100644 --- a/publish.gradle +++ b/publish.gradle @@ -2,7 +2,7 @@ apply plugin: 'maven-publish' ext.licenseFile = files("$rootDir/LICENSE.txt") -def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.4" +def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5" def releasesRepoUrl = "maniplib/repos/" diff --git a/src/main/java/maniplib/ManipArm.java b/src/main/java/maniplib/ManipArm.java index 005231f..f7cc8c7 100644 --- a/src/main/java/maniplib/ManipArm.java +++ b/src/main/java/maniplib/ManipArm.java @@ -37,9 +37,12 @@ public class ManipArm extends SubsystemBase { // Triggers for when reaching max movements. private Trigger atMin; private Trigger atMax; + // Booleans for limit switch functions. + private boolean topLimitBoolean = false; + private boolean bottomLimitBoolean = false; // Triggers for limit switch functions. - private Trigger topLimitHit; - private Trigger bottomLimitHit; + private Trigger topLimit; + private Trigger bottomLimit; // Various booleans to determine what to enable private boolean absSetup = false; private boolean isAdvancedEnabled = false; @@ -80,9 +83,24 @@ public ManipArm(ManipMotor motor, ManipArmConstants armConstants) { armConstants.kArmInverted ); + this.topLimit = new Trigger(() -> topLimitBoolean); + this.bottomLimit = new Trigger(() -> bottomLimitBoolean); + this.atMin = new Trigger(() -> getAngle().isNear(this.armConstants.kMinAngle, Degrees.of(3))); this.atMax = new Trigger(() -> getAngle().isNear(this.armConstants.kMaxAngle, Degrees.of(3))); + this.atMax.or(topLimit).onTrue(run(this::stopArm)); + this.atMin.or(topLimit).onTrue(run(this::stopArm)); + + this.topLimit.onTrue(run(() -> + motor.setPosition((ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + armConstants.kMaxAngle)).in(Rotations)))); + this.bottomLimit.onTrue(run(() -> + motor.setPosition((ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + armConstants.kMinAngle)).in(Rotations)))); + this.motor.setGearbox(armConstants.gearbox); this.motor.setupRioPID( @@ -154,7 +172,6 @@ public ManipArm(ManipMotor motor, ManipArmConstants armConstants) { new Color8Bit(Color.kOrange) )); } - } /** @@ -181,7 +198,11 @@ public void periodic() { } if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.HIGH.ordinal()) { SmartDashboard.putNumber("Arm Angle", getAngle().in(Degrees)); + SmartDashboard.putNumber("Arm Motor Rotations", motor.getPosition()); SmartDashboard.putNumber("Arm Applied Output", motor.getAppliedOutput()); + + SmartDashboard.putBoolean("Top Limit", topLimit.getAsBoolean()); + SmartDashboard.putBoolean("Bottom Limit", topLimit.getAsBoolean()); } } @@ -317,7 +338,6 @@ public Command runSysIdRoutine() { */ public void reachSetpoint(double setpoint) { if (isAdvancedEnabled) { - limitSwitchFunction(); double goalPosition = ManipMath.Arm.convertAngleToSensorUnits(armConstants.kArmReduction, Degrees.of(setpoint)).in(Rotations); double pidOutput = motor.getRioController().calculate(motor.getPosition(), goalPosition); TrapezoidProfile.State setpointState = motor.getRioController().getSetpoint(); @@ -327,8 +347,7 @@ public void reachSetpoint(double setpoint) { setpointState.velocity)); } else { - limitSwitchFunction(); - motor.setReference(setpoint); + motor.setReference(setpoint); } } @@ -337,7 +356,6 @@ public void reachSetpoint(double setpoint) { * This does not stop!! */ public void runArmSpeed(double speed) { - limitSwitchFunction(); motor.set(speed); } @@ -346,7 +364,6 @@ public void runArmSpeed(double speed) { * This does not stop!! */ public void runArmVoltage(Voltage volts) { - limitSwitchFunction(); motor.setVoltage(volts); } @@ -400,62 +417,17 @@ public Command runArmVoltageCommand(Voltage volts) { } /** - * Sets the {@link Trigger} for when the top limit switch is hit for {@link ManipArm}. - * - * @param topLimitHit top limit switch {@link Trigger}. + * Sets the {@link Boolean} for when the top limit switch is hit for {@link ManipArm}. */ - public void setTopLimitSwitch(Trigger topLimitHit) { - this.topLimitHit = topLimitHit; + public void setTopLimitSwitch(boolean topLimit) { + this.topLimitBoolean = topLimit; } /** - * Sets the {@link Trigger} for when the bottom limit switch is hit for {@link ManipArm}. - * - * @param bottomLimitHit bottom limit switch {@link Trigger}. + * Sets the {@link Boolean} for when the bottom limit switch is hit for {@link ManipArm}. */ - public void setBottomLimitSwitch(Trigger bottomLimitHit) { - this.bottomLimitHit = bottomLimitHit; - } - - /** - * Function that sees if there's active limit switches then stops the {@link ManipArm} if one is hit. - * Also sets soft limits based off of given Min and Max positions. - */ - public void limitSwitchFunction() { - - if (motor.getAppliedOutput() > 0 && atMax.getAsBoolean()) { - stopArm(); - } else { - Commands.none(); // Stop stopping the arm - } - if (motor.getAppliedOutput() < 0 && atMin.getAsBoolean()) { - stopArm(); - } else { - Commands.none(); // Stop stopping the arm - } - - if (topLimitHit != null) { - if (motor.getAppliedOutput() > 0 && topLimitHit.getAsBoolean()) { - stopArm(); - - motor.setPosition(ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, - armConstants.kMaxAngle).in(Rotations)); - } else { - Commands.none(); // Stop stopping the arm - } - } - if (bottomLimitHit != null) { - if (motor.getAppliedOutput() < 0 && bottomLimitHit.getAsBoolean()) { - stopArm(); - - motor.setPosition(ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, - armConstants.kMinAngle).in(Rotations)); - } else { - Commands.none(); // Stop stopping the arm - } - } + public void setBottomLimitSwitch(boolean bottomLimit) { + this.bottomLimitBoolean = bottomLimit; } /** @@ -476,10 +448,12 @@ public Command autoStowWithOverride(double stowAngle) { /** * Toggles auto-stow of defaultCommandOverride */ - public Command toggleAutoStow() { - return run(() -> { - defaultCommandOverride = !defaultCommandOverride; - }); + public void toggleAutoStow() { + this.defaultCommandOverride = !defaultCommandOverride; + } + + public void setAutoStow(boolean autoStow) { + this.defaultCommandOverride = autoStow; } /** diff --git a/src/main/java/maniplib/ManipElevator.java b/src/main/java/maniplib/ManipElevator.java index 414d427..73269b2 100644 --- a/src/main/java/maniplib/ManipElevator.java +++ b/src/main/java/maniplib/ManipElevator.java @@ -37,9 +37,12 @@ public class ManipElevator extends SubsystemBase { // Triggers for when reaching max movements. private Trigger atMin; private Trigger atMax; + // Booleans for limit switch functions. + private boolean topLimitBoolean = false; + private boolean bottomLimitBoolean = false; // Triggers for limit switch functions. - private Trigger topLimitHit; - private Trigger bottomLimitHit; + private Trigger topLimit; + private Trigger bottomLimit; // Various booleans to determine what to enable private boolean absSetup = false; private boolean isAdvancedEnabled = false; @@ -71,9 +74,28 @@ public ManipElevator(ManipMotor motor, ManipElevatorConstants config) { this.elevatorConstants = config; this.isAdvancedEnabled = true; + this.topLimit = new Trigger(() -> topLimitBoolean); + this.bottomLimit = new Trigger(() -> bottomLimitBoolean); + this.atMin = new Trigger(() -> getLinearPosition().isNear(config.kMinHeight, Inches.of(1))); this.atMax = new Trigger(() -> getLinearPosition().isNear(config.kMaxHeight, Inches.of(1))); + this.atMax.or(topLimit).onTrue(run(this::stopElevator)); + this.atMin.or(topLimit).onTrue(run(this::stopElevator)); + + this.topLimit.onTrue(run(() -> + motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( + config.kElevatorDrumRadius, + config.kElevatorGearing, + config.kMaxHeight + ).in(Rotations)))); + this.bottomLimit.onTrue(run(() -> + motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( + config.kElevatorDrumRadius, + config.kElevatorGearing, + config.kMaxHeight + ).in(Rotations)))); + this.motor.setGearbox(elevatorConstants.gearbox); this.motor.configureMotor( @@ -371,15 +393,12 @@ public boolean nearMin(double toleranceMillimeters) { */ public void reachSetpoint(double setpointInches) { if (isAdvancedEnabled) { - limitSwitchFunction(); - motor.setVoltage(MathUtil.clamp( motor.getRioController().calculate(getHeightMeters(), Meters.convertFrom(setpointInches, Inches)) + feedforward.calculateWithVelocities(getVelocityMetersPerSecond(), motor.getRioController().getSetpoint().velocity), -7, 7)); } else { - limitSwitchFunction(); motor.setReference(setpointInches); } } @@ -389,7 +408,6 @@ public void reachSetpoint(double setpointInches) { * This does not stop!! */ public void runElevatorSpeed(double speed) { - limitSwitchFunction(); motor.set(speed); } @@ -398,7 +416,6 @@ public void runElevatorSpeed(double speed) { * This does not stop!! */ public void runElevatorVoltage(Voltage volts) { - limitSwitchFunction(); motor.setVoltage(volts); } @@ -426,64 +443,17 @@ public Command runElevatorVoltageCommand(Voltage volts) { } /** - * Sets the {@link Trigger} for when the top limit switch is hit for {@link ManipElevator}. - * - * @param topLimitHit top limit switch {@link Trigger}. + * Sets the {@link Boolean} for when the top limit switch is hit for {@link ManipElevator}. */ - public void setTopLimitSwitch(Trigger topLimitHit) { - this.topLimitHit = topLimitHit; + public void setTopLimitSwitch(boolean topLimit) { + this.topLimitBoolean = topLimit; } /** - * Sets the {@link Trigger} for when the bottom limit switch is hit for {@link ManipElevator}. - * - * @param bottomLimitHit bottom limit switch {@link Trigger}. + * Sets the {@link Boolean} for when the bottom limit switch is hit for {@link ManipElevator}. */ - public void setBottomLimitSwitch(Trigger bottomLimitHit) { - this.bottomLimitHit = bottomLimitHit; - } - - /** - * Function that sees if there's active limit switches then stops the {@link ManipElevator} if one is hit. - * Also sets soft limits based off of given Min and Max positions. - */ - public void limitSwitchFunction() { - - if (motor.getAppliedOutput() > 0 && atMax.getAsBoolean()) { - stopElevator(); - } else { - Commands.none(); // Stop stopping the arm - } - if (motor.getAppliedOutput() < 0 && atMin.getAsBoolean()) { - stopElevator(); - } else { - Commands.none(); // Stop stopping the arm - } - - if (topLimitHit != null) { - if (motor.getAppliedOutput() > 0 && topLimitHit.getAsBoolean()) { - stopElevator(); - - motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( - elevatorConstants.kElevatorDrumRadius, - elevatorConstants.kElevatorGearing, - elevatorConstants.kMaxHeight).in(Rotations)); - } else { - Commands.none(); // Stop stopping the arm - } - } - if (bottomLimitHit != null) { - if (motor.getAppliedOutput() < 0 && bottomLimitHit.getAsBoolean()) { - motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( - elevatorConstants.kElevatorDrumRadius, - elevatorConstants.kElevatorGearing, - elevatorConstants.kMinHeight).in(Rotations)); - - stopElevator(); - } else { - Commands.none(); // Stop stopping the arm - } - } + public void setBottomLimitSwitch(boolean bottomLimit) { + this.bottomLimitBoolean = bottomLimit; } /** @@ -493,7 +463,7 @@ public void limitSwitchFunction() { */ public Command autoStowWithOverride(double stowHeight) { return run(() -> { - if (!defaultCommandOverride) { + if (!this.defaultCommandOverride) { reachSetpoint(stowHeight); } else { Commands.none(); @@ -504,10 +474,12 @@ public Command autoStowWithOverride(double stowHeight) { /** * Toggles auto-stow of defaultCommandOverride */ - public Command toggleAutoStow() { - return run(() -> { - defaultCommandOverride = !defaultCommandOverride; - }); + public void toggleAutoStow() { + this.defaultCommandOverride = !defaultCommandOverride; + } + + public void setAutoStow(boolean autoStow) { + this.defaultCommandOverride = autoStow; } /** diff --git a/src/main/java/maniplib/utils/ManipArmConstants.java b/src/main/java/maniplib/utils/ManipArmConstants.java index 8c70801..929142c 100644 --- a/src/main/java/maniplib/utils/ManipArmConstants.java +++ b/src/main/java/maniplib/utils/ManipArmConstants.java @@ -103,7 +103,7 @@ public ManipArmConstants( this.kMaxAngle = Degrees.of(kMaxAngle); this.kArmInverted = kArmInverted; this.kArmRampRate = kArmRampRate; - this.kArmOffsetToHorizantalZero = Rotations.of(kArmOffsetToHorizantalZero); + this.kArmOffsetToHorizantalZero = Degrees.of(kArmOffsetToHorizantalZero); this.kArmAllowedClosedLoopError = ManipMath.Arm.convertAngleToSensorUnits(kArmReduction, Degrees.of(kArmAllowedClosedLoopError)); this.kArmStallCurrentLimitAmps = kArmStallCurrentLimitAmps; this.kArmMaxVelocityRPM = ManipMath.Arm.convertAngleToSensorUnits(kArmReduction, Degrees.of(kArmMaxVelocityRPM)).per(