diff --git a/.gitignore b/.gitignore
index 983678a..a8d1911 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
-# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
### C++ ###
# Prerequisites
@@ -151,11 +152,21 @@ gradle-app.setting
# gradle/wrapper/gradle-wrapper.properties
# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
.classpath
.project
.settings/
bin/
-imgui.ini
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
-# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+*-window.json
diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..26d3352
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
new file mode 100644
index 0000000..4edc9d5
--- /dev/null
+++ b/.idea/gradle.xml
@@ -0,0 +1,17 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..6ed36dd
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..35eb1dd
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 5200b5c..4ed293b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,5 +1,6 @@
{
"java.configuration.updateBuildConfiguration": "automatic",
+ "java.server.launchMode": "Standard",
"files.exclude": {
"**/.git": true,
"**/.svn": true,
@@ -10,6 +11,19 @@
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
- "**/.factorypath": 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"
}
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index a5920a4..9c62ece 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
- "projectYear": "2020",
+ "projectYear": "2023",
"teamNumber": 4388
}
\ No newline at end of file
diff --git a/WPILib-License.md b/WPILib-License.md
new file mode 100644
index 0000000..3d5a824
--- /dev/null
+++ b/WPILib-License.md
@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 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/build.gradle b/build.gradle
index b202c6b..a2aa528 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
plugins {
id "java"
- id "edu.wpi.first.GradleRIO" version "2020.3.2"
+ id "edu.wpi.first.GradleRIO" version "2023.4.3"
}
sourceCompatibility = JavaVersion.VERSION_11
@@ -9,61 +9,91 @@ targetCompatibility = JavaVersion.VERSION_11
def ROBOT_MAIN_CLASS = "frc4388.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 = 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 4.
+// Also defines JUnit 5.
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)
- implementation wpi.deps.vendor.java()
- nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
- nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+ roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+ roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
- testImplementation 'junit:junit:4.12'
- testCompile "org.mockito:mockito-core:2.+"
+ nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+ nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+ simulationDebug wpi.sim.enableDebug()
- // Enable simulation gui support. Must check the box in vscode to enable support
- // upon debugging
- simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+ 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-api:5.8.2'
+ testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+ testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+}
+
+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) } }
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'
}
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index cc4fdc2..249e583 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index d050f17..c23a1b3 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
index 2fe81a7..a69d9cb 100644
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
#
-# Copyright 2015 the original author or authors.
+# 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.
@@ -17,78 +17,113 @@
#
##############################################################################
-##
-## Gradle start up script for UN*X
-##
+#
+# 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/master/subprojects/plugins/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
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
- ls=`ls -ld "$PRG"`
- link=`expr "$ls" : '.*-> \(.*\)$'`
- if expr "$link" : '/.*' > /dev/null; then
- PRG="$link"
- else
- PRG=`dirname "$PRG"`"/$link"
- fi
+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
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
# 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"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+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
- ;;
- MINGW* )
- msys=true
- ;;
- NONSTOP* )
- nonstop=true
- ;;
+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="$JAVA_HOME/jre/sh/java"
+ JAVACMD=$JAVA_HOME/jre/sh/java
else
- JAVACMD="$JAVA_HOME/bin/java"
+ JAVACMD=$JAVA_HOME/bin/java
fi
if [ ! -x "$JAVACMD" ] ; then
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
else
- JAVACMD="java"
+ JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,101 @@ location of your Java installation."
fi
# Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
- MAX_FD_LIMIT=`ulimit -H -n`
- if [ $? -eq 0 ] ; then
- if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
- MAX_FD="$MAX_FD_LIMIT"
- fi
- ulimit -n $MAX_FD
- if [ $? -ne 0 ] ; then
- warn "Could not set maximum file descriptor limit: $MAX_FD"
- fi
- else
- warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
- fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+ case $MAX_FD in #(
+ max*)
+ MAX_FD=$( ulimit -H -n ) ||
+ warn "Could not query maximum file descriptor limit"
+ esac
+ case $MAX_FD in #(
+ '' | soft) :;; #(
+ *)
+ ulimit -n "$MAX_FD" ||
+ warn "Could not set maximum file descriptor limit to $MAX_FD"
+ esac
fi
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
- GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-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 [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
- APP_HOME=`cygpath --path --mixed "$APP_HOME"`
- CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
- JAVACMD=`cygpath --unix "$JAVACMD"`
-
- # We build the pattern for arguments to be converted via cygpath
- ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
- SEP=""
- for dir in $ROOTDIRSRAW ; do
- ROOTDIRS="$ROOTDIRS$SEP$dir"
- SEP="|"
- done
- OURCYGPATTERN="(^($ROOTDIRS))"
- # Add a user-defined pattern to the cygpath arguments
- if [ "$GRADLE_CYGPATTERN" != "" ] ; then
- OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
- fi
+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
- i=0
- for arg in "$@" ; do
- CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
- CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
-
- if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
- eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
- else
- eval `echo args$i`="\"$arg\""
+ 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
- i=`expr $i + 1`
+ # Roll the args list around exactly as many times as the number of
+ # args, so each arg winds up back in the position where it started, but
+ # possibly modified.
+ #
+ # NB: a `for` loop captures its iteration list before it begins, so
+ # changing the positional parameters here affects neither the number of
+ # iterations, nor the values presented in `arg`.
+ shift # remove old arg
+ set -- "$@" "$arg" # push replacement arg
done
- case $i in
- 0) set -- ;;
- 1) set -- "$args0" ;;
- 2) set -- "$args0" "$args1" ;;
- 3) set -- "$args0" "$args1" "$args2" ;;
- 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
- 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
- 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
- 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
- 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
- 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
- esac
fi
-# Escape application args
-save () {
- for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
- echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# shell script including quotes and variable substitutions, so put them in
+# double quotes to make sure that they get re-expanded; and
+# * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+ "-Dorg.gradle.appname=$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.
+#
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+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/gradlew.bat b/gradlew.bat
index 9618d8d..f127cfd 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -14,7 +14,7 @@
@rem limitations under the License.
@rem
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@rem
@rem Gradle startup script for Windows
@@ -25,10 +25,13 @@
if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+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% equ 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%
@@ -61,38 +64,26 @@ 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
-if "%ERRORLEVEL%"=="0" goto mainEnd
+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!
-if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+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
diff --git a/settings.gradle b/settings.gradle
index 81f96ab..48c039e 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
- String frcYear = '2020'
+ String frcYear = '2023'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index d50cd10..7077079 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -7,7 +7,10 @@
package frc4388.robot;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
import frc4388.utility.LEDPatterns;
+import frc4388.utility.Gains;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -18,6 +21,96 @@
* constants are needed, to reduce verbosity.
*/
public final class Constants {
+ public static final class SwerveDriveConstants {
+
+ public static final double MAX_ROT_SPEED = 1.5;
+ public static final double MIN_ROT_SPEED = 0.8;
+ public static double ROTATION_SPEED = MAX_ROT_SPEED;
+ public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
+
+ public static final double CORRECTION_MIN = 10;
+ public static final double CORRECTION_MAX = 50;
+
+ public static final double SLOW_SPEED = 0.8;
+ public static final double FAST_SPEED = 1.0;
+ public static final double TURBO_SPEED = 4.0;
+
+ public static final class IDs {
+ public static final int LEFT_FRONT_WHEEL_ID = 2;
+ public static final int LEFT_FRONT_STEER_ID = 3;
+ public static final int LEFT_FRONT_ENCODER_ID = 10;
+
+ public static final int RIGHT_FRONT_WHEEL_ID = 4;
+ public static final int RIGHT_FRONT_STEER_ID = 5;
+ public static final int RIGHT_FRONT_ENCODER_ID = 11;
+
+ public static final int LEFT_BACK_WHEEL_ID = 6;
+ public static final int LEFT_BACK_STEER_ID = 7;
+ public static final int LEFT_BACK_ENCODER_ID = 12;
+
+ public static final int RIGHT_BACK_WHEEL_ID = 8;
+ public static final int RIGHT_BACK_STEER_ID = 9;
+ public static final int RIGHT_BACK_ENCODER_ID = 13;
+ }
+
+ public static final class PIDConstants {
+ public static final int SWERVE_SLOT_IDX = 0;
+ public static final int SWERVE_PID_LOOP_IDX = 1;
+ public static final Gains SWERVE_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 1.0);
+ }
+
+ public static final class AutoConstants {
+ public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
+ public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
+ public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
+ public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
+
+ public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
+ public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
+ }
+
+ public static final class Conversions {
+ public static final int CANCODER_TICKS_PER_ROTATION = 4096;
+
+ public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
+ public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
+
+ public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
+ public static final double MOTOR_REV_PER_STEER_REV = 12.8;
+
+ public static final double TICKS_PER_MOTOR_REV = 2048;
+ public static final double WHEEL_DIAMETER_INCHES = 3.9;
+ public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
+
+ public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
+ public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
+ public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
+ public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
+
+ public static final double TICK_TIME_TO_SECONDS = 10;
+ public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
+ }
+
+ public static final class Configurations {
+ public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
+ public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
+ public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
+ }
+
+ public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
+ public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
+
+ // dimensions
+ public static final double WIDTH = 18.5;
+ public static final double HEIGHT = 18.5;
+ public static final double HALF_WIDTH = WIDTH / 2.d;
+ public static final double HALF_HEIGHT = HEIGHT / 2.d;
+
+ // misc
+ public static final int TIMEOUT_MS = 30;
+ public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
+ }
+
public static final class DriveConstants {
public static final int DRIVE_PIGEON_ID = 6;
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 4bec615..5f17853 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -12,7 +12,7 @@
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.RobotGyro;
diff --git a/src/main/java/frc4388/robot/subsystems/DiffDrive.java b/src/main/java/frc4388/robot/subsystems/DiffDrive.java
index a791913..9ec39df 100644
--- a/src/main/java/frc4388/robot/subsystems/DiffDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/DiffDrive.java
@@ -80,6 +80,6 @@ private void updateSmartDashboard() {
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
- SmartDashboard.putData(m_gyro);
+ //SmartDashboard.putData(m_gyro);
}
}
diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java
index 57c7b58..0d4af80 100644
--- a/src/main/java/frc4388/robot/subsystems/LED.java
+++ b/src/main/java/frc4388/robot/subsystems/LED.java
@@ -7,7 +7,7 @@
package frc4388.robot.subsystems;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
new file mode 100644
index 0000000..055230b
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -0,0 +1,195 @@
+// 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 frc4388.robot.subsystems;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.RobotGyro;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class SwerveDrive extends SubsystemBase {
+
+ private SwerveModule leftFront;
+ private SwerveModule rightFront;
+ private SwerveModule leftBack;
+ private SwerveModule rightBack;
+
+ private SwerveModule[] modules;
+
+ private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+ private Translation2d rightFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+ private Translation2d leftBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+ private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH));
+
+ private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
+
+ private RobotGyro gyro;
+
+ public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
+
+ public double rotTarget = 0.0;
+ public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
+
+ /** Creates a new SwerveDrive. */
+ public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
+ this.leftFront = leftFront;
+ this.rightFront = rightFront;
+ this.leftBack = leftBack;
+ this.rightBack = rightBack;
+
+ this.gyro = gyro;
+
+ this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
+ }
+
+ boolean stopped = false;
+ public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
+ if (fieldRelative) {
+
+ double rot = 0;
+
+ if (rightStick.getNorm() > 0.05) {
+ rotTarget = gyro.getAngle();
+ rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
+ SmartDashboard.putBoolean("drift correction", false);
+ stopped = false;
+ } else if(leftStick.getNorm() > 0.05) {
+ if (!stopped) {
+ stopModules();
+ stopped = true;
+ }
+
+ SmartDashboard.putBoolean("drift correction", true);
+ rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
+
+ }
+
+ // Use the left joystick to set speed. Apply a cubic curve and the set max speed.
+ Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
+ // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
+
+ // Convert field-relative speeds to robot-relative speeds.
+ chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
+ } else {
+ // Create robot-relative speeds.
+ chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
+ }
+ setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
+ }
+
+ /**
+ * Set each module of the swerve drive to the corresponding desired state.
+ * @param desiredStates Array of module states to set.
+ */
+ public void setModuleStates(SwerveModuleState[] desiredStates) {
+ SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+ for (int i = 0; i < desiredStates.length; i++) {
+ SwerveModule module = modules[i];
+ SwerveModuleState state = desiredStates[i];
+ module.setDesiredState(state);
+ }
+ }
+
+ public boolean rotateToTarget(double angle) {
+ double currentAngle = getGyroAngle();
+ double error = angle - currentAngle;
+
+ driveWithInput(new Translation2d(0, 0), new Translation2d(error / Math.abs(error) * 0.3, 0), true);
+
+ if (Math.abs(angle - getGyroAngle()) < 5.0) {
+ return true;
+ }
+
+ return false;
+ }
+
+ public double getGyroAngle() {
+ return gyro.getAngle();
+ }
+
+ public void resetGyro() {
+ gyro.reset();
+ rotTarget = 0.0;
+ }
+
+ public void stopModules() {
+ for (SwerveModule module : this.modules) {
+ module.stop();
+ }
+ }
+
+ public SwerveDriveKinematics getKinematics() {
+ return this.kinematics;
+ }
+
+ @Override
+ public void periodic() {
+ // This method will be called once per scheduler run\
+ SmartDashboard.putNumber("Gyro", getGyroAngle());
+ }
+
+ public void shiftDown() {
+ if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
+
+ } else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
+ this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
+ } else {
+ this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
+ }
+ }
+
+ public void setToSlow() {
+ this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ System.out.println("SLOW");
+ }
+
+ public void setToFast() {
+ this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
+ System.out.println("FAST");
+ System.out.println("FAST");
+ System.out.println("FAST");
+ System.out.println("FAST");
+ System.out.println("FAST");
+ }
+
+ public void setToTurbo() {
+ this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ System.out.println("TURBO");
+ }
+
+ public void shiftUp() {
+ if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
+ this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
+ } else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
+ this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
+ } else {
+
+ }
+ }
+
+ public void toggleGear(double angle) {
+ if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
+ this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
+ SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
+ } else {
+ this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
+ SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
+ }
+ }
+
+}
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
new file mode 100644
index 0000000..1ddab51
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java
@@ -0,0 +1,161 @@
+// 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 frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.sensors.CANCoder;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.utility.Gains;
+
+public class SwerveModule extends SubsystemBase {
+ private WPI_TalonFX driveMotor;
+ private WPI_TalonFX angleMotor;
+ private CANCoder encoder;
+
+ public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
+
+ /** Creates a new SwerveModule. */
+ public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
+ this.driveMotor = driveMotor;
+ this.angleMotor = angleMotor;
+ this.encoder = encoder;
+
+ TalonFXConfiguration angleConfig = new TalonFXConfiguration();
+ angleConfig.slot0.kP = swerveGains.kP;
+ angleConfig.slot0.kI = swerveGains.kI;
+ angleConfig.slot0.kD = swerveGains.kD;
+
+ // use the CANcoder as the remote sensor for the primary TalonFX PID
+ angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
+ angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
+ angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
+ angleMotor.configAllSettings(angleConfig);
+
+ encoder.configMagnetOffset(offset);
+
+ driveMotor.setSelectedSensorPosition(0);
+ driveMotor.config_kP(0, 0.2);
+ }
+
+ /**
+ * Get the drive motor of the SwerveModule
+ * @return the drive motor of the SwerveModule
+ */
+ public WPI_TalonFX getDriveMotor() {
+ return this.driveMotor;
+ }
+
+ /**
+ * Get the angle motor of the SwerveModule
+ * @return the angle motor of the SwerveModule
+ */
+ public WPI_TalonFX getAngleMotor() {
+ return this.angleMotor;
+ }
+
+ /**
+ * Get the CANcoder of the SwerveModule
+ * @return the CANcoder of the SwerveModule
+ */
+ public CANCoder getEncoder() {
+ return this.encoder;
+ }
+
+ /**
+ * Get the angle of a SwerveModule as a Rotation2d
+ * @return the angle of a SwerveModule as a Rotation2d
+ */
+ public Rotation2d getAngle() {
+ // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
+ return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
+ }
+
+ public double getAngularVel() {
+ return this.angleMotor.getSelectedSensorVelocity();
+ }
+
+ public double getDrivePos() {
+ return this.driveMotor.getSelectedSensorPosition() / SwerveDriveConstants.Conversions.TICKS_PER_MOTOR_REV;
+ }
+
+ public double getDriveVel() {
+ return this.driveMotor.getSelectedSensorVelocity(0);
+ }
+
+ public void stop() {
+ driveMotor.set(0);
+ angleMotor.set(0);
+ }
+
+ public void rotateToAngle(double angle) {
+ angleMotor.set(TalonFXControlMode.Position, angle);
+ }
+
+ /**
+ * Get state of swerve module
+ * @return speed in m/s and angle in degrees
+ */
+ public SwerveModuleState getState() {
+ return new SwerveModuleState(
+ Units.inchesToMeters(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.Conversions.INCHES_PER_TICK) * SwerveDriveConstants.Conversions.TICK_TIME_TO_SECONDS,
+ getAngle()
+ );
+ }
+
+ /**
+ * Returns the current position of the SwerveModule
+ * @return The current position of the SwerveModule in meters traveled by the driveMotor and the angle of the angleMotor.
+ */
+ public SwerveModulePosition getPosition() {
+ return new SwerveModulePosition(Units.inchesToMeters(driveMotor.getSelectedSensorPosition() * SwerveDriveConstants.Conversions.INCHES_PER_TICK), getAngle());
+ }
+
+ /**
+ * Set the speed and rotation of the SwerveModule from a SwerveModuleState object
+ * @param desiredState a SwerveModuleState representing the desired new state of the module
+ */
+ public void setDesiredState(SwerveModuleState desiredState) {
+ Rotation2d currentRotation = this.getAngle();
+
+ SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
+
+ // calculate the difference between our current rotational position and our new rotational position
+ Rotation2d rotationDelta = state.angle.minus(currentRotation);
+
+ // calculate the new absolute position of the SwerveModule based on the difference in rotation
+ double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
+
+ // convert the CANCoder from its position reading to ticks
+ double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
+
+ angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
+
+ double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
+
+ driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+ }
+
+ public void reset(double position) {
+ encoder.setPositionToAbsolute();
+ }
+
+ public double getCurrent() {
+ return angleMotor.getSupplyCurrent() + driveMotor.getSupplyCurrent();
+ }
+
+ public double getVoltage() {
+ return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
+ }
+}
diff --git a/src/main/java/frc4388/utility/Gains.java b/src/main/java/frc4388/utility/Gains.java
new file mode 100644
index 0000000..7a3a026
--- /dev/null
+++ b/src/main/java/frc4388/utility/Gains.java
@@ -0,0 +1,83 @@
+// 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 frc4388.utility;
+
+/** Add your docs here. */
+public class Gains {
+ public double kP;
+ public double kI;
+ public double kD;
+ public double kF;
+ public int kIZone;
+ public double kPeakOutput;
+ public double kMaxOutput;
+ public double kMinOutput;
+
+ /**
+ * Creates Gains object for PIDs
+ * @param kP The P value.
+ * @param kI The I value.
+ * @param kD The D value.
+ * @param kF The F value.
+ * @param kIZone The zone of the I value.
+ * @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
+ */
+ public Gains(double kP, double kI, double kD, double kF, int kIZone, double kPeakOutput) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ this.kF = kF;
+ this.kIZone = kIZone;
+ this.kPeakOutput = kPeakOutput;
+ this.kMaxOutput = kPeakOutput;
+ this.kMinOutput = -kPeakOutput;
+ }
+
+ /**
+ * Creates Gains object for PIDs
+ * @param kP The P value.
+ * @param kI The I value.
+ * @param kD The D value.
+ * @param kF The F value.
+ * @param kIZone The zone of the I value.
+ */
+ public Gains(double kP, double kI, double kD, double kF, int kIZone) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ this.kF = kF;
+ this.kIZone = kIZone;
+ this.kPeakOutput = 1.0;
+ this.kMaxOutput = 1.0;
+ this.kMinOutput = -1.0;
+ }
+
+ public Gains(double kP, double kI, double kD) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ }
+
+ /**
+ * Creates Gains object for PIDs
+ * @param kP The P value.
+ * @param kI The I value.
+ * @param kD The D value.
+ * @param kF The F value.
+ * @param kIZone The zone of the I value.
+ * @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
+ * @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
+ */
+ public Gains(double kP, double kI, double kD, double kF, int kIZone, double kMaxOutput, double kMinOutput) {
+ this.kP = kP;
+ this.kI = kI;
+ this.kD = kD;
+ this.kF = kF;
+ this.kIZone = kIZone;
+ this.kMaxOutput = kMaxOutput;
+ this.kMinOutput = kMinOutput;
+ this.kPeakOutput = (Math.abs(kMinOutput) > Math.abs(kMaxOutput)) ? Math.abs(kMinOutput) : Math.abs(kMaxOutput);
+ }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java
index a42e8c8..a037914 100644
--- a/src/main/java/frc4388/utility/RobotGyro.java
+++ b/src/main/java/frc4388/utility/RobotGyro.java
@@ -7,31 +7,34 @@
package frc4388.utility;
-import com.ctre.phoenix.sensors.PigeonIMU;
-import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
+import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.kauailabs.navx.frc.AHRS;
-import edu.wpi.first.wpilibj.GyroBase;
-import edu.wpi.first.wpiutil.math.MathUtil;
+// import edu.wpi.first.wpilibj.GyroBase;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.math.MathUtil;
/**
* Gyro class that allows for interchangeable use between a pigeon and a navX
*/
-public class RobotGyro extends GyroBase {
+public class RobotGyro implements Gyro {
private RobotTime m_robotTime = RobotTime.getInstance();
- private PigeonIMU m_pigeon = null;
+ private WPI_Pigeon2 m_pigeon = null;
private AHRS m_navX = null;
public boolean m_isGyroAPigeon; //true if pigeon, false if navX
private double m_lastPigeonAngle;
private double m_deltaPigeonAngle;
+ private double pitchZero = 0;
+ private double rollZero = 0;
+
/**
* Creates a Gyro based on a pigeon
* @param gyro the gyroscope to use for Gyro
*/
- public RobotGyro(PigeonIMU gyro) {
+ public RobotGyro(WPI_Pigeon2 gyro) {
m_pigeon = gyro;
m_isGyroAPigeon = true;
}
@@ -45,6 +48,16 @@ public RobotGyro(AHRS gyro){
m_isGyroAPigeon = false;
}
+ /**
+ * Resets yaw, pitch, and roll.
+ */
+ public void resetZeroValues() {
+ if (!m_isGyroAPigeon) return;
+
+ pitchZero = m_pigeon.getPitch();
+ rollZero = m_pigeon.getRoll();
+ }
+
/**
* Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
* that the getRate() method for a navX will likely be much more accurate than for a pigeon.
@@ -74,7 +87,7 @@ public void updatePigeonDeltas() {
@Override
public void calibrate() {
if (m_isGyroAPigeon) {
- m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
+ m_pigeon.calibrate();
} else {
m_navX.calibrate();
}
@@ -82,6 +95,8 @@ public void calibrate() {
@Override
public void reset() {
+ resetZeroValues();
+
if (m_isGyroAPigeon) {
m_pigeon.setYaw(0);
} else {
@@ -98,9 +113,10 @@ public void reset() {
* Roll is within [-90,+90] degrees.
*/
private double[] getPigeonAngles() {
- double[] angles = new double[3];
- m_pigeon.getYawPitchRoll(angles);
- return angles;
+ double[] ypr = new double[3];
+ m_pigeon.getYawPitchRoll(ypr);
+
+ return new double[] {ypr[0], (ypr[1] - pitchZero), (ypr[2] - rollZero)};
}
@Override
@@ -112,6 +128,10 @@ public double getAngle() {
}
}
+ public double getYaw() {
+ return this.getAngle();
+ }
+
/**
* Gets an absolute heading of the robot
* @return heading from -180 to 180 degrees
@@ -165,7 +185,7 @@ public double getRate() {
}
}
- public PigeonIMU getPigeon(){
+ public WPI_Pigeon2 getPigeon(){
return m_pigeon;
}
diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
index 26372c2..8c2fe88 100644
--- a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java
@@ -1,7 +1,6 @@
package frc4388.utility.controller;
import edu.wpi.first.wpilibj2.command.button.Button;
-import frc4388.utility.controller.XboxController;
/**
* Mapping for the Xbox controller triggers to allow triggers to be defined as
@@ -32,7 +31,7 @@ public XboxTriggerButton(XboxController controller, int trigger) {
}
/** {@inheritDoc} */
- @Override
+ // @Override
public boolean get() {
if (m_trigger == RIGHT_TRIGGER) {
return m_controller.getRightTrigger();
diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old
similarity index 100%
rename from src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
rename to src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.old
diff --git a/src/test/java/frc4388/utility/RobotGyroUtilityTest.java b/src/test/java/frc4388/utility/RobotGyroUtilityTest.old
similarity index 100%
rename from src/test/java/frc4388/utility/RobotGyroUtilityTest.java
rename to src/test/java/frc4388/utility/RobotGyroUtilityTest.old
diff --git a/src/test/java/frc4388/utility/RobotTimeUtilityTest.java b/src/test/java/frc4388/utility/RobotTimeUtilityTest.old
similarity index 100%
rename from src/test/java/frc4388/utility/RobotTimeUtilityTest.java
rename to src/test/java/frc4388/utility/RobotTimeUtilityTest.old
diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json
new file mode 100644
index 0000000..33d81f6
--- /dev/null
+++ b/vendordeps/NavX.json
@@ -0,0 +1,39 @@
+{
+ "fileName": "NavX.json",
+ "name": "KauaiLabs_navX_FRC",
+ "version": "2023.0.4",
+ "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+ "mavenUrls": [
+ "https://dev.studica.com/maven/release/2023/"
+ ],
+ "jsonUrl": "https://dev.studica.com/releases/2023/NavX.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-frc-java",
+ "version": "2023.0.4"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-frc-cpp",
+ "version": "2023.0.4",
+ "headerClassifier": "headers",
+ "sourcesClassifier": "sources",
+ "sharedLibrary": false,
+ "libName": "navx_frc",
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena",
+ "linuxraspbian",
+ "linuxarm32",
+ "linuxarm64",
+ "linuxx86-64",
+ "osxuniversal",
+ "windowsx86-64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index f8d42a4..614dc3a 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,180 +1,423 @@
{
"fileName": "Phoenix.json",
- "name": "CTRE-Phoenix",
- "version": "5.17.3",
+ "name": "CTRE-Phoenix (v5)",
+ "version": "5.31.0+23.2.2",
+ "frcYear": 2023,
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
- "http://devsite.ctr-electronics.com/maven/release/"
+ "https://maven.ctr-electronics.com/release/"
],
- "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+ "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json",
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
- "version": "5.17.3"
+ "version": "5.31.0"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
- "version": "5.17.3"
+ "version": "5.31.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
- "version": "5.17.3",
+ "version": "5.31.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "diagnostics",
- "version": "5.17.3",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "cci-sim",
+ "version": "5.31.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "canutils",
- "version": "5.17.3",
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "23.2.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "platform-stub",
- "version": "5.17.3",
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "23.2.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "core",
- "version": "5.17.3",
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonFX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "23.2.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "23.2.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
- "version": "5.17.3",
+ "version": "5.31.0",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
- "version": "5.17.3",
+ "version": "5.31.0",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
- "version": "5.17.3",
+ "version": "5.31.0",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "diagnostics",
- "version": "5.17.3",
- "libName": "CTRE_PhoenixDiagnostics",
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "23.2.2",
+ "libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "canutils",
- "version": "5.17.3",
- "libName": "CTRE_PhoenixCanutils",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "5.31.0",
+ "libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "platform-stub",
- "version": "5.17.3",
- "libName": "CTRE_PhoenixPlatform",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "api-cpp-sim",
+ "version": "5.31.0",
+ "libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "core",
- "version": "5.17.3",
- "libName": "CTRE_PhoenixCore",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "cci-sim",
+ "version": "5.31.0",
+ "libName": "CTRE_PhoenixCCISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "23.2.2",
+ "libName": "CTRE_PhoenixTools_Sim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonFX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "23.2.2",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "23.2.2",
+ "libName": "CTRE_SimCANCoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "23.2.2",
+ "libName": "CTRE_SimProTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "23.2.2",
+ "libName": "CTRE_SimProCANcoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "23.2.2",
+ "libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
- "linuxx86-64"
- ]
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
}
]
}
\ No newline at end of file
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
index 83de291..bd535bf 100644
--- a/vendordeps/WPILibNewCommands.json
+++ b/vendordeps/WPILibNewCommands.json
@@ -1,37 +1,37 @@
{
- "fileName": "WPILibNewCommands.json",
- "name": "WPILib-New-Commands",
- "version": "2020.0.0",
- "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
- "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",
- "linuxraspbian",
- "linuxaarch64bionic",
- "windowsx86-64",
- "windowsx86",
- "linuxx86-64",
- "osxx86-64"
- ]
- }
- ]
-}
\ No newline at end of file
+ "fileName": "WPILibNewCommands.json",
+ "name": "WPILib-New-Commands",
+ "version": "1.0.0",
+ "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+ "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"
+ ]
+ }
+ ]
+}