Omer elevator

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2020",
+    "projectYear": "2021",
     "teamNumber": 5987
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.3.2"
+    id "edu.wpi.first.GradleRIO" version "2022.4.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -9,60 +9,91 @@ targetCompatibility = JavaVersion.VERSION_11
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
+// This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roboRIO("roborio") {
+        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 = frc.getTeamNumber()
-        }
-    }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            targets << "roborio"
-            // Debug can be overridden by command line, for use with VSCode
-            debug = frc.getDebugOrDefault(false)
-        }
-        // Built in artifact to deploy arbitrary files to the roboRIO.
-        fileTreeArtifact('frcStaticFileDeploy') {
-            // The directory below is the local directory to deploy
-            files = fileTree(dir: 'src/main/deploy')
-            // Deploy to RoboRIO target, into /home/lvuser/deploy
-            targets << "roborio"
-            directory = '/home/lvuser/deploy'
+            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'
+                }
+            }
         }
     }
 }
 
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = true
+
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
+
 
+repositories {
+    maven { url 'https://jitpack.io' }
+    flatDir {
+        dirs 'libs'
+    }
+}
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    implementation wpi.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+    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()
 
-    implementation wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'junit:junit:4.12'
+    testImplementation 'junit:junit:4.13.2'
+
+    implementation group: 'com.google.code.gson', name: 'gson', version: '2.8.9'
+
+    implementation group: 'org.apache.commons', name: 'commons-lang3', version: '3.12.0'
 
-    // Enable simulation gui support. Must check the box in vscode to enable support
-    // upon debugging
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
 }
 
+// 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) } }
     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)

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-all.zip
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-zipStorePath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists

gradlew.bat

@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :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 %CMD_LINE_ARGS%
+"%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
@@ -97,4 +86,4 @@ exit /b 1
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal
 
-:omega
+:omega

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2020'
+        String frcYear = '2022'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -24,4 +24,4 @@ pluginManagement {
             url frcHomeMaven
         }
     }
-}
+}

src/main/java/frc/robot/Constants.java

@@ -16,6 +16,17 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    public static final class Elevator {
+
+        public static final double kP = 0;
+        public static final double kI = 0;
+        public static final double kD = 0;
+        public static final double kF = 0;
+        public static final double RADIUS = 0.66;
+        public static final double GEAR_RATIO = 0.1;
+        public static final double TICKS_PER_METER = 2048. / (2*Math.PI*RADIUS) * GEAR_RATIO;
+    }
+
     public static final class Gripper {
     }
 

src/main/java/frc/robot/Ports.java

@@ -1,8 +1,8 @@
 package frc.robot;
 
 public class Ports {
-    public static class Gripper {
-        public static final int LEFTMOTOR = 0;
+    public static class Elevator {
+        public static final int motor = 0;
         public static final int RIGHTMOTOR = 0;
         public static final int SOLENOID = 0;
 

src/main/java/frc/robot/subsystems/elevator/Elevator.java

@@ -0,0 +1,44 @@
+package frc.robot.subsystems.elevator;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.TalonFXInvertType;
+import com.ctre.phoenix.motorcontrol.can.TalonFX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+import frc.robot.Ports;
+import frc.robot.subsystems.UnitModel;
+
+import javax.sound.sampled.Port;
+
+public class Elevator extends SubsystemBase {
+    private final WPI_TalonFX motor = new WPI_TalonFX(Ports.Elevator.motor);
+    private final UnitModel unitModel = new UnitModel(Constants.Elevator.TICKS_PER_METER);
+    private static Elevator INSTANCE = null;
+    private Elevator(){
+        motor.setInverted(TalonFXInvertType.Clockwise);
+        motor.config_kP(0, Constants.Elevator.kP);
+        motor.config_kI(0, Constants.Elevator.kI);
+        motor.config_kD(0, Constants.Elevator.kD);
+        motor.config_kF(0, Constants.Elevator.kF);
+
+    }
+    public static Elevator getInstance(){
+        if (INSTANCE == null){
+            INSTANCE = new Elevator();
+
+        }
+        return INSTANCE;
+    }
+
+    public double getheight(){
+        return unitModel.toUnits(motor.getSensorCollection().getIntegratedSensorPosition());
+    }
+    public void setHeight(double height){
+        motor.set(ControlMode.Position,unitModel.toTicks(height));
+    }
+
+    public void stop(){
+        motor.set(0);
+    }
+}

src/main/java/frc/robot/subsystems/elevator/commands/Height.java

@@ -0,0 +1,30 @@
+package frc.robot.subsystems.elevator.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.elevator.Elevator;
+
+public class Height extends CommandBase {
+    Elevator elevator;
+    double height;
+
+    public Height(Elevator elevator, double height) {
+        this.height = height;
+        this.elevator = elevator;
+        addRequirements(elevator);
+    }
+
+    @Override
+    public void initialize() {
+        elevator.setHeight(height);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        elevator.stop();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return Math.abs( elevator.getheight() - height);
+    }
+}