From 1b263524d3d47adf9dd25c96f9e9ea2e11f835fb Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Sat, 6 Jan 2024 11:19:54 -0800 Subject: [PATCH 01/37] initial commit --- .gitignore | 178 +++++++++++++ .vscode/launch.json | 21 ++ .vscode/settings.json | 29 ++ .wpilib/wpilib_preferences.json | 6 + WPILib-License.md | 24 ++ build.gradle | 102 +++++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43462 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 ++++++++++++++++++ gradlew.bat | 92 +++++++ settings.gradle | 30 +++ src/main/deploy/example.txt | 3 + src/main/java/frc/robot/Constants.java | 19 ++ src/main/java/frc/robot/Main.java | 25 ++ src/main/java/frc/robot/Robot.java | 103 ++++++++ src/main/java/frc/robot/RobotContainer.java | 63 +++++ src/main/java/frc/robot/commands/Autos.java | 20 ++ .../frc/robot/commands/ExampleCommand.java | 43 +++ .../robot/subsystems/ExampleSubsystem.java | 47 ++++ vendordeps/WPILibNewCommands.json | 38 +++ 20 files changed, 1099 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100644 gradlew create mode 100644 gradlew.bat create mode 100644 settings.gradle create mode 100644 src/main/deploy/example.txt create mode 100644 src/main/java/frc/robot/Constants.java create mode 100644 src/main/java/frc/robot/Main.java create mode 100644 src/main/java/frc/robot/Robot.java create mode 100644 src/main/java/frc/robot/RobotContainer.java create mode 100644 src/main/java/frc/robot/commands/Autos.java create mode 100644 src/main/java/frc/robot/commands/ExampleCommand.java create mode 100644 src/main/java/frc/robot/subsystems/ExampleSubsystem.java create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5528d4f --- /dev/null +++ b/.gitignore @@ -0,0 +1,178 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..4ed293b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,29 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..2c73773 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024beta", + "teamNumber": 2976 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..43b62ec --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2023 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 new file mode 100644 index 0000000..7b9d182 --- /dev/null +++ b/build.gradle @@ -0,0 +1,102 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter-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) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d64cd4917707c1f8861d8cb53dd15194d4248596 GIT binary patch literal 43462 zcma&NWl&^owk(X(xVyW%ySuwf;qI=D6|RlDJ2cR^yEKh!@I- zp9QeisK*rlxC>+~7Dk4IxIRsKBHqdR9b3+fyL=ynHmIDe&|>O*VlvO+%z5;9Z$|DJ zb4dO}-R=MKr^6EKJiOrJdLnCJn>np?~vU-1sSFgPu;pthGwf}bG z(1db%xwr#x)r+`4AGu$j7~u2MpVs3VpLp|mx&;>`0p0vH6kF+D2CY0fVdQOZ@h;A` z{infNyvmFUiu*XG}RNMNwXrbec_*a3N=2zJ|Wh5z* z5rAX$JJR{#zP>KY**>xHTuw?|-Rg|o24V)74HcfVT;WtQHXlE+_4iPE8QE#DUm%x0 zEKr75ur~W%w#-My3Tj`hH6EuEW+8K-^5P62$7Sc5OK+22qj&Pd1;)1#4tKihi=~8C zHiQSst0cpri6%OeaR`PY>HH_;CPaRNty%WTm4{wDK8V6gCZlG@U3$~JQZ;HPvDJcT1V{ z?>H@13MJcCNe#5z+MecYNi@VT5|&UiN1D4ATT+%M+h4c$t;C#UAs3O_q=GxK0}8%8 z8J(_M9bayxN}69ex4dzM_P3oh@ZGREjVvn%%r7=xjkqxJP4kj}5tlf;QosR=%4L5y zWhgejO=vao5oX%mOHbhJ8V+SG&K5dABn6!WiKl{|oPkq(9z8l&Mm%(=qGcFzI=eLu zWc_oCLyf;hVlB@dnwY98?75B20=n$>u3b|NB28H0u-6Rpl((%KWEBOfElVWJx+5yg z#SGqwza7f}$z;n~g%4HDU{;V{gXIhft*q2=4zSezGK~nBgu9-Q*rZ#2f=Q}i2|qOp z!!y4p)4o=LVUNhlkp#JL{tfkhXNbB=Ox>M=n6soptJw-IDI|_$is2w}(XY>a=H52d z3zE$tjPUhWWS+5h=KVH&uqQS=$v3nRs&p$%11b%5qtF}S2#Pc`IiyBIF4%A!;AVoI zXU8-Rpv!DQNcF~(qQnyyMy=-AN~U>#&X1j5BLDP{?K!%h!;hfJI>$mdLSvktEr*89 zdJHvby^$xEX0^l9g$xW-d?J;L0#(`UT~zpL&*cEh$L|HPAu=P8`OQZV!-}l`noSp_ zQ-1$q$R-gDL)?6YaM!=8H=QGW$NT2SeZlb8PKJdc=F-cT@j7Xags+Pr*jPtlHFnf- zh?q<6;)27IdPc^Wdy-mX%2s84C1xZq9Xms+==F4);O`VUASmu3(RlgE#0+#giLh-& zcxm3_e}n4{%|X zJp{G_j+%`j_q5}k{eW&TlP}J2wtZ2^<^E(O)4OQX8FDp6RJq!F{(6eHWSD3=f~(h} zJXCf7=r<16X{pHkm%yzYI_=VDP&9bmI1*)YXZeB}F? 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file mode 100644 index 0000000..5e82d67 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/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 +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..93e3f59 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..d94f73c --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..c50ba05 --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,19 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +/** + * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean + * constants. This class should not be used for any other purpose. All constants should be declared + * globally (i.e. public static). Do not put anything functional in this class. + * + *

It is advised to statically import this class (or one of its inner classes) wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + public static class OperatorConstants { + public static final int kDriverControllerPort = 0; + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..8776e5d --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,25 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..687a0a0 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,103 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, running already-scheduled commands, removing finished or interrupted commands, + // and running subsystem periodic() methods. This must be called from the robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** This function is called once each time the robot enters Disabled mode. */ + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() {} + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} + + /** This function is called once when the robot is first started up. */ + @Override + public void simulationInit() {} + + /** This function is called periodically whilst in simulation. */ + @Override + public void simulationPeriodic() {} +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..a33249e --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,63 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import frc.robot.Constants.OperatorConstants; +import frc.robot.commands.Autos; +import frc.robot.commands.ExampleCommand; +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; + +/** + * This class is where the bulk of the robot should be declared. Since Command-based is a + * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} + * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including + * subsystems, commands, and trigger mappings) should be declared here. + */ +public class RobotContainer { + // The robot's subsystems and commands are defined here... + private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); + + // Replace with CommandPS4Controller or CommandJoystick if needed + private final CommandXboxController m_driverController = + new CommandXboxController(OperatorConstants.kDriverControllerPort); + + /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { + // Configure the trigger bindings + configureBindings(); + } + + /** + * Use this method to define your trigger->command mappings. Triggers can be created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary + * predicate, or via the named factories in {@link + * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link + * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller + * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight + * joysticks}. + */ + private void configureBindings() { + // Schedule `ExampleCommand` when `exampleCondition` changes to `true` + new Trigger(m_exampleSubsystem::exampleCondition) + .onTrue(new ExampleCommand(m_exampleSubsystem)); + + // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed, + // cancelling on release. + m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // An example command will be run in autonomous + return Autos.exampleAuto(m_exampleSubsystem); + } +} diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java new file mode 100644 index 0000000..107aad7 --- /dev/null +++ b/src/main/java/frc/robot/commands/Autos.java @@ -0,0 +1,20 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; + +public final class Autos { + /** Example static factory for an autonomous command. */ + public static Command exampleAuto(ExampleSubsystem subsystem) { + return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem)); + } + + private Autos() { + throw new UnsupportedOperationException("This is a utility class!"); + } +} diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java new file mode 100644 index 0000000..7481d3c --- /dev/null +++ b/src/main/java/frc/robot/commands/ExampleCommand.java @@ -0,0 +1,43 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj2.command.Command; + +/** An example command that uses an example subsystem. */ +public class ExampleCommand extends Command { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private final ExampleSubsystem m_subsystem; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public ExampleCommand(ExampleSubsystem subsystem) { + m_subsystem = subsystem; + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(subsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() {} + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() {} + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java new file mode 100644 index 0000000..6b375da --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java @@ -0,0 +1,47 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class ExampleSubsystem extends SubsystemBase { + /** Creates a new ExampleSubsystem. */ + public ExampleSubsystem() {} + + /** + * Example command factory method. + * + * @return a command + */ + public Command exampleMethodCommand() { + // Inline construction of command goes here. + // Subsystem::RunOnce implicitly requires `this` subsystem. + return runOnce( + () -> { + /* one-time action goes here */ + }); + } + + /** + * An example method querying a boolean state of the subsystem (for example, a digital sensor). + * + * @return value of some boolean subsystem state, such as a digital sensor. + */ + public boolean exampleCondition() { + // Query some boolean state, such as a digital sensor. + return false; + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + } + + @Override + public void simulationPeriodic() { + // This method will be called once per scheduler run during simulation + } +} diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..67bf389 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} From a3e3354cbc71e0f2f88a63b35d1b645f461ff612 Mon Sep 17 00:00:00 2001 From: Solar138 <46548002+solar138@users.noreply.github.com> Date: Sat, 6 Jan 2024 15:54:29 -0800 Subject: [PATCH 02/37] Create README.md --- README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..bd2eeb3 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +The 2024 Spartabots Code for the Artemis. From fbcff6d9c17aa713d80ec6968f387f36a87260f5 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Sat, 6 Jan 2024 17:34:45 -0800 Subject: [PATCH 03/37] almost finished updating swerve code to phoenix 6 --- src/main/java/frc/lib/math/Conversions.java | 115 ++++++ .../lib/util/COTSFalconSwerveConstants.java | 120 +++++++ .../java/frc/lib/util/CTREModuleState.java | 61 ++++ .../frc/lib/util/SwerveModuleConstants.java | 29 ++ src/main/java/frc/robot/CTREConfigs.java | 72 ++++ src/main/java/frc/robot/Constants.java | 150 ++++++++ src/main/java/frc/robot/Robot.java | 3 + src/main/java/frc/robot/SwerveModule.java | 148 ++++++++ .../java/frc/robot/subsystems/Swerve.java | 7 + vendordeps/Phoenix6.json | 339 ++++++++++++++++++ 10 files changed, 1044 insertions(+) create mode 100644 src/main/java/frc/lib/math/Conversions.java create mode 100644 src/main/java/frc/lib/util/COTSFalconSwerveConstants.java create mode 100644 src/main/java/frc/lib/util/CTREModuleState.java create mode 100644 src/main/java/frc/lib/util/SwerveModuleConstants.java create mode 100644 src/main/java/frc/robot/CTREConfigs.java create mode 100644 src/main/java/frc/robot/SwerveModule.java create mode 100644 src/main/java/frc/robot/subsystems/Swerve.java create mode 100644 vendordeps/Phoenix6.json diff --git a/src/main/java/frc/lib/math/Conversions.java b/src/main/java/frc/lib/math/Conversions.java new file mode 100644 index 0000000..3ce88b5 --- /dev/null +++ b/src/main/java/frc/lib/math/Conversions.java @@ -0,0 +1,115 @@ +/* +conversion constants, used by the swerve drivetrain library we use (team 364) +https://github.com/Team364/BaseFalconSwerve +*/ + +package frc.lib.math; + +public class Conversions { + + /** + * @param positionCounts CANCoder Position Counts + * @param gearRatio Gear Ratio between CANCoder and Mechanism + * @return Degrees of Rotation of Mechanism + */ + public static double CANcoderToDegrees(double positionCounts, double gearRatio) { + return positionCounts * (360.0 / (gearRatio * 4096.0)); + } + + /** + * @param degrees Degrees of rotation of Mechanism + * @param gearRatio Gear Ratio between CANCoder and Mechanism + * @return CANCoder Position Counts + */ + public static double degreesToCANcoder(double degrees, double gearRatio) { + return degrees / (360.0 / (gearRatio * 4096.0)); + } + + /** + * @param counts Falcon Position Counts + * @param gearRatio Gear Ratio between Falcon and Mechanism + * @return Degrees of Rotation of Mechanism + */ + public static double falconToDegrees(double positionCounts, double gearRatio) { + return positionCounts * (360.0 / (gearRatio * 2048.0)); + } + + /** + * @param degrees Degrees of rotation of Mechanism + * @param gearRatio Gear Ratio between Falcon and Mechanism + * @return Falcon Position Counts + */ + public static double degreesToFalcon(double degrees, double gearRatio) { + return degrees / (360.0 / (gearRatio * 2048.0)); + } + + /** + * @param velocityCounts Falcon Velocity Counts + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for + * Falcon RPM) + * @return RPM of Mechanism + */ + public static double falconToRPM(double velocityCounts, double gearRatio) { + double motorRPM = velocityCounts * (600.0 / 2048.0); + double mechRPM = motorRPM / gearRatio; + return mechRPM; + } + + /** + * @param RPM RPM of mechanism + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon + * RPM) + * @return RPM of Mechanism + */ + public static double RPMToFalcon(double RPM, double gearRatio) { + double motorRPM = RPM * gearRatio; + double sensorCounts = motorRPM * (2048.0 / 600.0); + return sensorCounts; + } + + /** + * @param velocitycounts Falcon Velocity Counts + * @param circumference Circumference of Wheel + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for + * Falcon MPS) + * @return Falcon Velocity Counts + */ + public static double falconToMPS(double velocitycounts, double circumference, double gearRatio) { + double wheelRPM = falconToRPM(velocitycounts, gearRatio); + double wheelMPS = (wheelRPM * circumference) / 60; + return wheelMPS; + } + + /** + * @param velocity Velocity MPS + * @param circumference Circumference of Wheel + * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for + * Falcon MPS) + * @return Falcon Velocity Counts + */ + public static double MPSToFalcon(double velocity, double circumference, double gearRatio) { + double wheelRPM = ((velocity * 60) / circumference); + double wheelVelocity = RPMToFalcon(wheelRPM, gearRatio); + return wheelVelocity; + } + + /** + * @param positionCounts Falcon Position Counts + * @param circumference Circumference of Wheel + * @param gearRatio Gear Ratio between Falcon and Wheel + * @return Meters + */ + public static double falconToMeters(double positionCounts, double circumference, double gearRatio) { + return positionCounts * (circumference / (gearRatio * 2048.0)); + } + + /** + * @param meters Meters + * @param circumference Circumference of Wheel + * @param gearRatio Gear Ratio between Falcon and Wheel + * @return Falcon Position Counts + */ + public static double MetersToFalcon(double meters, double circumference, double gearRatio) { + return meters / (circumference / (gearRatio * 2048.0)); + } +} \ No newline at end of file diff --git a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java new file mode 100644 index 0000000..5a7a9f6 --- /dev/null +++ b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java @@ -0,0 +1,120 @@ +/* +swerve module constants, used by the swerve drivetrain library we use (team 364) +https://github.com/Team364/BaseFalconSwerve +*/ + +package frc.lib.util; + +import edu.wpi.first.math.util.Units; + +/* Contains values and required settings for common COTS swerve modules. */ +public class COTSFalconSwerveConstants { + public final double wheelDiameter; + public final double wheelCircumference; + public final double angleGearRatio; + public final double driveGearRatio; + public final double angleKP; + public final double angleKI; + public final double angleKD; + public final double angleKF; + public final boolean driveMotorInvert; + public final boolean angleMotorInvert; + public final boolean canCoderInvert; + + public COTSFalconSwerveConstants(double wheelDiameter, double angleGearRatio, double driveGearRatio, double angleKP, double angleKI, double angleKD, double angleKF, boolean driveMotorInvert, boolean angleMotorInvert, boolean canCoderInvert){ + this.wheelDiameter = wheelDiameter; + this.wheelCircumference = wheelDiameter * Math.PI; + this.angleGearRatio = angleGearRatio; + this.driveGearRatio = driveGearRatio; + this.angleKP = angleKP; + this.angleKI = angleKI; + this.angleKD = angleKD; + this.angleKF = angleKF; + this.driveMotorInvert = driveMotorInvert; + this.angleMotorInvert = angleMotorInvert; + this.canCoderInvert = canCoderInvert; + } + + /** Swerve Drive Specialties - MK3 Module*/ + public static COTSFalconSwerveConstants SDSMK3(double driveGearRatio){ + double wheelDiameter = Units.inchesToMeters(4.0); + + /** 12.8 : 1 */ + double angleGearRatio = (12.8 / 1.0); + + double angleKP = 0.2; + double angleKI = 0.0; + double angleKD = 0.0; + double angleKF = 0.0; + + boolean driveMotorInvert = false; + boolean angleMotorInvert = false; + boolean canCoderInvert = false; + return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); + } + + /** Swerve Drive Specialties - MK4 Module*/ + public static COTSFalconSwerveConstants SDSMK4(double driveGearRatio){ + double wheelDiameter = Units.inchesToMeters(4.0); + + /** 12.8 : 1 */ + double angleGearRatio = (12.8 / 1.0); + + double angleKP = 0.2; + double angleKI = 0.0; + double angleKD = 0.0; + double angleKF = 0.0; + + boolean driveMotorInvert = true; + boolean angleMotorInvert = false; + boolean canCoderInvert = false; + return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); + } + + /** Swerve Drive Specialties - MK4i Module*/ + public static COTSFalconSwerveConstants SDSMK4i(double driveGearRatio){ + double wheelDiameter = Units.inchesToMeters(4.0); + + /** (150 / 7) : 1 */ + double angleGearRatio = ((150.0 / 7.0) / 1.0); + + double angleKP = 0.3; + double angleKI = 0.0; + double angleKD = 0.0; + double angleKF = 0.0; + + boolean driveMotorInvert = false; + boolean angleMotorInvert = true; + boolean canCoderInvert = false; + return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); + } + + /* Drive Gear Ratios for all supported modules */ + public class driveGearRatios{ + /* SDS MK3 */ + /** SDS MK3 - 8.16 : 1 */ + public static final double SDSMK3_Standard = (8.16 / 1.0); + /** SDS MK3 - 6.86 : 1 */ + public static final double SDSMK3_Fast = (6.86 / 1.0); + + /* SDS MK4 */ + /** SDS MK4 - 8.14 : 1 */ + public static final double SDSMK4_L1 = (8.14 / 1.0); + /** SDS MK4 - 6.75 : 1 */ + public static final double SDSMK4_L2 = (6.75 / 1.0); + /** SDS MK4 - 6.12 : 1 */ + public static final double SDSMK4_L3 = (6.12 / 1.0); + /** SDS MK4 - 5.14 : 1 */ + public static final double SDSMK4_L4 = (5.14 / 1.0); + + /* SDS MK4i */ + /** SDS MK4i - 8.14 : 1 */ + public static final double SDSMK4i_L1 = (8.14 / 1.0); + /** SDS MK4i - 6.75 : 1 */ + public static final double SDSMK4i_L2 = (6.75 / 1.0); + /** SDS MK4i - 6.12 : 1 */ + public static final double SDSMK4i_L3 = (6.12 / 1.0); + } +} + + \ No newline at end of file diff --git a/src/main/java/frc/lib/util/CTREModuleState.java b/src/main/java/frc/lib/util/CTREModuleState.java new file mode 100644 index 0000000..fbeb177 --- /dev/null +++ b/src/main/java/frc/lib/util/CTREModuleState.java @@ -0,0 +1,61 @@ +/* +swerve module states, used by the swerve drivetrain library we use (team 364) +https://github.com/Team364/BaseFalconSwerve +*/ + +package frc.lib.util; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; + +public class CTREModuleState { + + /** + * Minimize the change in heading the desired swerve module state would require by potentially + * reversing the direction the wheel spins. Customized from WPILib's version to include placing + * in appropriate scope for CTRE onboard control. + * + * @param desiredState The desired state. + * @param currentAngle The current module angle. + */ + public static SwerveModuleState optimize(SwerveModuleState desiredState, Rotation2d currentAngle) { + double targetAngle = placeInAppropriate0To360Scope(currentAngle.getDegrees(), desiredState.angle.getDegrees()); + double targetSpeed = desiredState.speedMetersPerSecond; + double delta = targetAngle - currentAngle.getDegrees(); + if (Math.abs(delta) > 90){ + targetSpeed = -targetSpeed; + targetAngle = delta > 90 ? (targetAngle -= 180) : (targetAngle += 180); + } + return new SwerveModuleState(targetSpeed, Rotation2d.fromDegrees(targetAngle)); + } + + /** + * @param scopeReference Current Angle + * @param newAngle Target Angle + * @return Closest angle within scope + */ + private static double placeInAppropriate0To360Scope(double scopeReference, double newAngle) { + double lowerBound; + double upperBound; + double lowerOffset = scopeReference % 360; + if (lowerOffset >= 0) { + lowerBound = scopeReference - lowerOffset; + upperBound = scopeReference + (360 - lowerOffset); + } else { + upperBound = scopeReference - lowerOffset; + lowerBound = scopeReference - (360 + lowerOffset); + } + while (newAngle < lowerBound) { + newAngle += 360; + } + while (newAngle > upperBound) { + newAngle -= 360; + } + if (newAngle - scopeReference > 180) { + newAngle -= 360; + } else if (newAngle - scopeReference < -180) { + newAngle += 360; + } + return newAngle; + } +} diff --git a/src/main/java/frc/lib/util/SwerveModuleConstants.java b/src/main/java/frc/lib/util/SwerveModuleConstants.java new file mode 100644 index 0000000..19c81c5 --- /dev/null +++ b/src/main/java/frc/lib/util/SwerveModuleConstants.java @@ -0,0 +1,29 @@ +/* +swerve module object, used by the swerve drivetrain library we use (team 364) +https://github.com/Team364/BaseFalconSwerve +*/ + +package frc.lib.util; + +import edu.wpi.first.math.geometry.Rotation2d; + +public class SwerveModuleConstants { + public final int driveMotorID; + public final int angleMotorID; + public final int cancoderID; + public final Rotation2d angleOffset; + + /** + * Swerve Module Constants to be used when creating swerve modules. + * @param driveMotorID + * @param angleMotorID + * @param canCoderID + * @param angleOffset + */ + public SwerveModuleConstants(int driveMotorID, int angleMotorID, int canCoderID, Rotation2d angleOffset) { + this.driveMotorID = driveMotorID; + this.angleMotorID = angleMotorID; + this.cancoderID = canCoderID; + this.angleOffset = angleOffset; + } +} diff --git a/src/main/java/frc/robot/CTREConfigs.java b/src/main/java/frc/robot/CTREConfigs.java new file mode 100644 index 0000000..f8deb2a --- /dev/null +++ b/src/main/java/frc/robot/CTREConfigs.java @@ -0,0 +1,72 @@ +/* + swerve CTRE configs, used by the swerve drivetrain library we use (team 364) + https://github.com/Team364/BaseFalconSwerve +*/ + +package frc.robot; + +import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; +import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; +import com.ctre.phoenix.sensors.AbsoluteSensorRange; +import com.ctre.phoenix.sensors.CANCoderConfiguration; +import com.ctre.phoenix.sensors.SensorInitializationStrategy; +import com.ctre.phoenix.sensors.SensorTimeBase; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.MagnetSensorConfigs; +import com.ctre.phoenix6.configs.OpenLoopRampsConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; + +public final class CTREConfigs { + public TalonFXConfiguration swerveAngleFXConfig; + public TalonFXConfiguration swerveDriveFXConfig; + public CANcoderConfiguration swerveCanCoderConfig; + + public CTREConfigs(){ + swerveAngleFXConfig = new TalonFXConfiguration(); + swerveDriveFXConfig = new TalonFXConfiguration(); + swerveCanCoderConfig = new CANcoderConfiguration(); + Slot0Configs slot0Configs = new Slot0Configs(); + CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs(); + + /* Swerve Angle Motor Configurations */ + currentLimitsConfigs.SupplyCurrentLimit = Constants.SwerveConstants.angleContinuousCurrentLimit; + currentLimitsConfigs.SupplyCurrentLimitEnable = true; + slot0Configs.kP = Constants.SwerveConstants.angleKP; + slot0Configs.kI = Constants.SwerveConstants.angleKI; + slot0Configs.kD = Constants.SwerveConstants.angleKD; + swerveAngleFXConfig.Slot0 = slot0Configs; + swerveAngleFXConfig.CurrentLimits = currentLimitsConfigs; + + /* Swerve Drive Motor Configuration */ + currentLimitsConfigs.SupplyCurrentLimit = Constants.SwerveConstants.driveContinuousCurrentLimit; + currentLimitsConfigs.SupplyCurrentLimitEnable = true; + slot0Configs.kP = Constants.SwerveConstants.driveKP; + slot0Configs.kI = Constants.SwerveConstants.driveKI; + slot0Configs.kD = Constants.SwerveConstants.driveKD; + + swerveDriveFXConfig.Slot0 = slot0Configs; + swerveDriveFXConfig.CurrentLimits = currentLimitsConfigs; + + OpenLoopRampsConfigs openLoopRampsConfigs = new OpenLoopRampsConfigs(); + openLoopRampsConfigs.DutyCycleOpenLoopRampPeriod = Constants.SwerveConstants.openLoopRamp; + openLoopRampsConfigs.TorqueOpenLoopRampPeriod = Constants.SwerveConstants.openLoopRamp; + openLoopRampsConfigs.VoltageOpenLoopRampPeriod = Constants.SwerveConstants.openLoopRamp; + + ClosedLoopRampsConfigs closedLoopRampsConfigs = new ClosedLoopRampsConfigs(); + closedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod = Constants.SwerveConstants.closedLoopRamp; + closedLoopRampsConfigs.TorqueClosedLoopRampPeriod = Constants.SwerveConstants.closedLoopRamp; + closedLoopRampsConfigs.VoltageClosedLoopRampPeriod = Constants.SwerveConstants.closedLoopRamp; + + swerveDriveFXConfig.OpenLoopRamps = openLoopRampsConfigs; + swerveDriveFXConfig.ClosedLoopRamps = closedLoopRampsConfigs; + + /* Swerve CANCoder Configuration */ + // swerveCanCoderConfig.MagnetSensor; + // MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs(); + // magnetSensorConfigs.AbsoluteSensorRange = AbsoluteSensorRangeValue.Uns + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c50ba05..faf87f2 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,6 +4,12 @@ package frc.robot; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import frc.lib.util.COTSFalconSwerveConstants; +import frc.lib.util.SwerveModuleConstants; + /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * constants. This class should not be used for any other purpose. All constants should be declared @@ -13,7 +19,151 @@ * constants are needed, to reduce verbosity. */ public final class Constants { + public static final int timeOutMs = 10; + public static final double stickDeadband = 0.15; + public static final double triggerDeadzone = 0.2; + + // hardware ports for all hardware components on the robot + // these include CAN IDs, pneumatic hub ports, etc. + + public static final class HardwarePorts { + // motors (predicted) IDs not fixed + public static final int shooterLeaderMotor = 1; + public static final int shooterFollowerMotor = 2; + public static final int climbLeaderMotor = 3; + public static final int climbFollowerMotor = 4; + + } + + public static final double FIELD_WIDTH_METERS = 8.21055; + public static final double FIELD_LENGTH_METERS = 16.54175; + public static class OperatorConstants { public static final int kDriverControllerPort = 0; } + + public static final class SwerveConstants { + + public static final int pigeonID = 15; + + public static final COTSFalconSwerveConstants chosenModule = COTSFalconSwerveConstants + .SDSMK4i(COTSFalconSwerveConstants.driveGearRatios.SDSMK4_L2); + + /* Drivetrain Constants */ + public static final double trackWidth = 0.5715; + public static final double wheelBase = 0.5715; + public static final double wheelCircumference = chosenModule.wheelCircumference; + /* + * Swerve Kinematics + * No need to ever change this unless you are not doing a traditional + * rectangular/square 4 module swerve + */ + public static final SwerveDriveKinematics swerveKinematics = new SwerveDriveKinematics( + new Translation2d(wheelBase / 2.0, trackWidth / 2.0), + new Translation2d(wheelBase / 2.0, -trackWidth / 2.0), + new Translation2d(-wheelBase / 2.0, trackWidth / 2.0), + new Translation2d(-wheelBase / 2.0, -trackWidth / 2.0) + ); + /* Module Gear Ratios */ + public static final double driveGearRatio = chosenModule.driveGearRatio; + public static final double angleGearRatio = chosenModule.angleGearRatio; + + /* Motor Inverts */ + public static final boolean angleMotorInvert = chosenModule.angleMotorInvert; + public static final boolean driveMotorInvert = chosenModule.driveMotorInvert; + + /* Angle Encoder Invert */ + public static final boolean canCoderInvert = chosenModule.canCoderInvert; + + /* Swerve Current Limitting */ // DID NOT CHANGE + public static final int angleContinuousCurrentLimit = 25; + public static final int anglePeakCurrentLimit = 40; + public static final double anglePeakCurrentDuration = 0.1; + public static final boolean angleEnableCurrentLimit = true; + + public static final int driveContinuousCurrentLimit = 35; + public static final int drivePeakCurrentLimit = 60; + public static final double drivePeakCurrentDuration = 0.1; + public static final boolean driveEnableCurrentLimit = true; + + /* Max Voltages - subject to change */ + public static final int driveMaxVoltage = 30; + public static final int angleMaxVoltage = 30; + + /* + * These values are used by the drive falcon to ramp in open loop and closed + * loop driving. + * We found a small open loop ramp (0.25) helps with tread wear, tipping, etc + */ // DID NOT CHANGE + public static final double openLoopRamp = 0.25; + public static final double closedLoopRamp = 0.0; + + /* Angle Motor PID Values */ + public static final double angleKP = chosenModule.angleKP; + public static final double angleKI = chosenModule.angleKI; + public static final double angleKD = chosenModule.angleKD; + public static final double angleKF = chosenModule.angleKF; + + /* Drive Motor PID Values */ + public static final double driveKP = 0.05; // TODO: This must be tuned to specific robot + public static final double driveKI = 0.0; + public static final double driveKD = 0.0; + public static final double driveKF = 0.0; + + /* + * Drive Motor Characterization Values + * Divide SYSID values by 12 to convert from volts to percent output for CTRE + */ + public static final double driveKS = (0.15932 / 12); + public static final double driveKV = (2.3349 / 12); + public static final double driveKA = (0.47337 / 12); + + /* Swerve Profiling Values */ + /* Meters per Second */ + public static final double maxSpeed = 4.5; + /** Radians per Second */ + public static final double maxAngularVelocity = 7.0; + + /* Module Specific Constants - TO BE DONE FOR ARTEMIS*/ + /* Front Left Module - Module 0 */ + public static final class Mod0 { + public static final int driveMotorID = 2; + public static final int angleMotorID = 1; + public static final int canCoderID = 9; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(338.17291259765625); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + canCoderID, angleOffset); + } + + /* Front Right Module - Module 1 */ + public static final class Mod1 { + public static final int driveMotorID = 8; + public static final int angleMotorID = 7; + public static final int canCoderID = 12; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(165.399169921875); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + canCoderID, angleOffset); + } + + /* Back Left Module - Module 2 */ + public static final class Mod2 { + public static final int driveMotorID = 4; + public static final int angleMotorID = 3; + public static final int canCoderID = 10; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(350.9994506835938); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + canCoderID, angleOffset); + } + + /* Back Right Module - Module 3 */ + public static final class Mod3 { + public static final int driveMotorID = 6; + public static final int angleMotorID = 5; + public static final int canCoderID = 11; + public static final Rotation2d angleOffset = Rotation2d.fromDegrees(33.3597412109375); + public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, + canCoderID, angleOffset); + } + } + } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 687a0a0..e04e3db 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -15,6 +15,9 @@ * project. */ public class Robot extends TimedRobot { + + public static CTREConfigs ctreConfigs; + private Command m_autonomousCommand; private RobotContainer m_robotContainer; diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java new file mode 100644 index 0000000..6754e2d --- /dev/null +++ b/src/main/java/frc/robot/SwerveModule.java @@ -0,0 +1,148 @@ +/* + swerve module objects, used by the swerve drivetrain library we use (team 364) + https://github.com/Team364/BaseFalconSwerve +*/ +package frc.robot; + +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +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.wpilibj.DutyCycle; +import frc.lib.math.Conversions; +import frc.lib.util.CTREModuleState; +import frc.lib.util.SwerveModuleConstants; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.controls.PositionDutyCycle; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VelocityDutyCycle; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.ControlModeValue; + + +public class SwerveModule { + + // Control requests + // Reuse these, don't make more + final DutyCycleOut dutyCycleRequest = new DutyCycleOut(0); + final VoltageOut voltageOutRequest = new VoltageOut(0); + // ControlMode.Position without voltage compensation + final PositionDutyCycle positionDutyCycleRequest = new PositionDutyCycle(0); + // ControlMode.Position with voltage compensation + final PositionVoltage positionVoltageRequest = new PositionVoltage(0); + // ControlMode.Velocity without voltage compensation + final VelocityDutyCycle velocityDutyCycle = new VelocityDutyCycle(0); + // ControlMode.Velocity with voltage compensation + final VelocityVoltage velocityVoltage = new VelocityVoltage(0); + + public int moduleNumber; + private Rotation2d angleOffset; + private Rotation2d lastAngle; + + private TalonFX mAngleMotor; + private TalonFX mDriveMotor; + private CANcoder angleEncoder; + + SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(Constants.SwerveConstants.driveKS, Constants.SwerveConstants.driveKV, Constants.SwerveConstants.driveKA); + + public SwerveModule(int moduleNumber, SwerveModuleConstants moduleConstants){ + this.moduleNumber = moduleNumber; + this.angleOffset = moduleConstants.angleOffset; + + /* Angle Encoder Config */ + angleEncoder = new CANcoder(moduleConstants.cancoderID, "2976 CANivore"); + configAngleEncoder(); + + /* Angle Motor Config */ + mAngleMotor = new TalonFX(moduleConstants.angleMotorID, "2976 CANivore"); + configAngleMotor(); + + /* Drive Motor Config */ + mDriveMotor = new TalonFX(moduleConstants.driveMotorID, "2976 CANivore"); + configDriveMotor(); + + lastAngle = getState().angle; + } + + public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop){ + /* This is a custom optimize function, since default WPILib optimize assumes continuous controller which CTRE and Rev onboard is not */ + desiredState = CTREModuleState.optimize(desiredState, getState().angle); + setAngle(desiredState); + setSpeed(desiredState, isOpenLoop); + } + + private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop){ + if(isOpenLoop){ + double percentOutput = desiredState.speedMetersPerSecond / Constants.SwerveConstants.maxSpeed; + mDriveMotor.setControl(dutyCycleRequest.withOutput(percentOutput)); + } + else { + double velocity = Conversions.MPSToFalcon(desiredState.speedMetersPerSecond, Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio); + mDriveMotor.setControl(velocityDutyCycle.withVelocity(velocity)); + } + } + + private void setAngle(SwerveModuleState desiredState){ + Rotation2d angle = (Math.abs(desiredState.speedMetersPerSecond) <= (Constants.SwerveConstants.maxSpeed * 0.01)) ? lastAngle : desiredState.angle; //Prevent rotating module if speed is less then 1%. Prevents Jittering. + mAngleMotor.setControl(positionDutyCycleRequest.withPosition(Conversions.degreesToFalcon(angle.getDegrees(), Constants.SwerveConstants.angleGearRatio))); + lastAngle = angle; + } + + private Rotation2d getAngle(){ + return Rotation2d.fromDegrees(Conversions.falconToDegrees(mAngleMotor.getPosition().getValueAsDouble(), Constants.SwerveConstants.angleGearRatio)); + } + + public Rotation2d getCanCoder(){ + return Rotation2d.fromDegrees(angleEncoder.getAbsolutePosition().getValueAsDouble()); + } + + private void resetToAbsolute(){ + double absolutePosition = Conversions.degreesToFalcon(getCanCoder().getDegrees() - angleOffset.getDegrees(), Constants.SwerveConstants.angleGearRatio); + // check later no idea if this is right + mAngleMotor.setPosition(absolutePosition); + } + + private void configAngleEncoder(){ + + angleEncoder.configAllSettings(Robot.ctreConfigs.swerveCanCoderConfig); + } + + private void configAngleMotor(){ + mAngleMotor.configAllSettings(Robot.ctreConfigs.swerveAngleFXConfig); + mAngleMotor.setInverted(Constants.SwerveConstants.angleMotorInvert); + mAngleMotor.setNeutralMode(Constants.SwerveConstants.angleNeutralMode); + resetToAbsolute(); + } + + private void configDriveMotor(){ + mDriveMotor.configFactoryDefault(); + mDriveMotor.configAllSettings(Robot.ctreConfigs.swerveDriveFXConfig); + mDriveMotor.setInverted(Constants.SwerveConstants.driveMotorInvert); + mDriveMotor.setNeutralMode(Constants.SwerveConstants.driveNeutralMode); + mDriveMotor.setSelectedSensorPosition(0); + } + + public SwerveModuleState getState(){ + return new SwerveModuleState( + Conversions.falconToMPS(mDriveMotor.getSelectedSensorVelocity(), Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio), + getAngle() + ); + } + + //added by Yanda to try to debug the drifting by comparing actual bus voltage. + public double getDriveBusVoltage(){ + return mDriveMotor.getBusVoltage(); + } + + public SwerveModulePosition getPosition(){ + return new SwerveModulePosition( + Conversions.falconToMeters(mDriveMotor.getSelectedSensorPosition(), Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio), + getAngle() + ); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java new file mode 100644 index 0000000..e0b075d --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -0,0 +1,7 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Swerve extends SubsystemBase { + +} diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..7020206 --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.0.0-beta-8", + "frcYear": 2024, + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-beta-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "24.0.0-beta-8" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "24.0.0-beta-8", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.0.0-beta-8", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "24.0.0-beta-8", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "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": "24.0.0-beta-8", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file From 2a35a386e75f5a7f1e113af8ca4452f1b75840d1 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Sun, 7 Jan 2024 10:57:08 -0800 Subject: [PATCH 04/37] ctre configs updated --- .../lib/util/COTSFalconSwerveConstants.java | 12 +++++++----- src/main/java/frc/robot/CTREConfigs.java | 19 +++++++++---------- src/main/java/frc/robot/Constants.java | 4 +++- src/main/java/frc/robot/Robot.java | 3 +-- src/main/java/frc/robot/SwerveModule.java | 2 +- 5 files changed, 21 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java index 5a7a9f6..bd1f9d8 100644 --- a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java +++ b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java @@ -5,6 +5,8 @@ swerve module constants, used by the swerve drivetrain library we use (team 364) package frc.lib.util; +import com.ctre.phoenix6.signals.SensorDirectionValue; + import edu.wpi.first.math.util.Units; /* Contains values and required settings for common COTS swerve modules. */ @@ -19,9 +21,9 @@ public class COTSFalconSwerveConstants { public final double angleKF; public final boolean driveMotorInvert; public final boolean angleMotorInvert; - public final boolean canCoderInvert; + public final SensorDirectionValue canCoderInvert; - public COTSFalconSwerveConstants(double wheelDiameter, double angleGearRatio, double driveGearRatio, double angleKP, double angleKI, double angleKD, double angleKF, boolean driveMotorInvert, boolean angleMotorInvert, boolean canCoderInvert){ + public COTSFalconSwerveConstants(double wheelDiameter, double angleGearRatio, double driveGearRatio, double angleKP, double angleKI, double angleKD, double angleKF, boolean driveMotorInvert, boolean angleMotorInvert, SensorDirectionValue canCoderInvert){ this.wheelDiameter = wheelDiameter; this.wheelCircumference = wheelDiameter * Math.PI; this.angleGearRatio = angleGearRatio; @@ -49,7 +51,7 @@ public static COTSFalconSwerveConstants SDSMK3(double driveGearRatio){ boolean driveMotorInvert = false; boolean angleMotorInvert = false; - boolean canCoderInvert = false; + SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); } @@ -67,7 +69,7 @@ public static COTSFalconSwerveConstants SDSMK4(double driveGearRatio){ boolean driveMotorInvert = true; boolean angleMotorInvert = false; - boolean canCoderInvert = false; + SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); } @@ -85,7 +87,7 @@ public static COTSFalconSwerveConstants SDSMK4i(double driveGearRatio){ boolean driveMotorInvert = false; boolean angleMotorInvert = true; - boolean canCoderInvert = false; + SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); } diff --git a/src/main/java/frc/robot/CTREConfigs.java b/src/main/java/frc/robot/CTREConfigs.java index f8deb2a..7af3ed7 100644 --- a/src/main/java/frc/robot/CTREConfigs.java +++ b/src/main/java/frc/robot/CTREConfigs.java @@ -5,12 +5,7 @@ swerve CTRE configs, used by the swerve drivetrain library we use (team 364) package frc.robot; -import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; -import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; -import com.ctre.phoenix.sensors.AbsoluteSensorRange; -import com.ctre.phoenix.sensors.CANCoderConfiguration; -import com.ctre.phoenix.sensors.SensorInitializationStrategy; -import com.ctre.phoenix.sensors.SensorTimeBase; + import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; @@ -25,7 +20,7 @@ public final class CTREConfigs { public TalonFXConfiguration swerveDriveFXConfig; public CANcoderConfiguration swerveCanCoderConfig; - public CTREConfigs(){ + public CTREConfigs() { swerveAngleFXConfig = new TalonFXConfiguration(); swerveDriveFXConfig = new TalonFXConfiguration(); swerveCanCoderConfig = new CANcoderConfiguration(); @@ -65,8 +60,12 @@ public CTREConfigs(){ swerveDriveFXConfig.ClosedLoopRamps = closedLoopRampsConfigs; /* Swerve CANCoder Configuration */ - // swerveCanCoderConfig.MagnetSensor; - // MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs(); - // magnetSensorConfigs.AbsoluteSensorRange = AbsoluteSensorRangeValue.Uns + // CANcoder is always initialized to absolute position on boot in Phoenix 6 - https://www.chiefdelphi.com/t/what-kind-of-encoders-are-built-into-the-kraken-motors/447253/7 + + MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs(); + magnetSensorConfigs.AbsoluteSensorRange = AbsoluteSensorRangeValue.Unsigned_0To1; + magnetSensorConfigs.SensorDirection = Constants.SwerveConstants.canCoderInvert; + + swerveCanCoderConfig.MagnetSensor = magnetSensorConfigs; } } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index faf87f2..d73c3ad 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,6 +4,8 @@ package frc.robot; +import com.ctre.phoenix6.signals.SensorDirectionValue; + import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; @@ -73,7 +75,7 @@ public static final class SwerveConstants { public static final boolean driveMotorInvert = chosenModule.driveMotorInvert; /* Angle Encoder Invert */ - public static final boolean canCoderInvert = chosenModule.canCoderInvert; + public static final SensorDirectionValue canCoderInvert = chosenModule.canCoderInvert; /* Swerve Current Limitting */ // DID NOT CHANGE public static final int angleContinuousCurrentLimit = 25; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e04e3db..694b08a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -28,8 +28,7 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { - // Instantiate our RobotContainer. This will perform all our button bindings, and put our - // autonomous chooser on the dashboard. + ctreConfigs = new CTREConfigs(); m_robotContainer = new RobotContainer(); } diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java index 6754e2d..46dd0ae 100644 --- a/src/main/java/frc/robot/SwerveModule.java +++ b/src/main/java/frc/robot/SwerveModule.java @@ -108,7 +108,7 @@ private void resetToAbsolute(){ } private void configAngleEncoder(){ - + angleEncoder.getConfigurator().apply(Robot.ctreConfigs.swerveCanCoderConfig); angleEncoder.configAllSettings(Robot.ctreConfigs.swerveCanCoderConfig); } From 81ef873e67b1312014ec3b2e4a830f6fe0289d90 Mon Sep 17 00:00:00 2001 From: Ryan Lin Date: Sun, 7 Jan 2024 14:18:29 -0800 Subject: [PATCH 05/37] import code from old repo --- .../java/frc/lib/drivers/LazyTalonFX.java | 95 ++++++ .../java/frc/lib/drivers/TalonFXFactory.java | 142 +++++++++ src/main/java/frc/lib/math/Conversions.java | 115 -------- .../lib/util/COTSFalconSwerveConstants.java | 122 -------- .../java/frc/lib/util/CTREModuleState.java | 61 ---- src/main/java/frc/lib/util/Controller.java | 52 ++++ .../frc/lib/util/SwerveModuleConstants.java | 29 -- src/main/java/frc/robot/CTREConfigs.java | 71 ----- src/main/java/frc/robot/Constants.java | 233 ++++++--------- src/main/java/frc/robot/Robot.java | 6 +- src/main/java/frc/robot/RobotContainer.java | 19 ++ src/main/java/frc/robot/SwerveModule.java | 148 ---------- .../frc/robot/commands/ExampleCommand.java | 4 +- .../robot/commands/TeleopDriveCommand.java | 72 +++++ .../frc/robot/subsystems/ClimbSubsystem.java | 19 ++ .../robot/subsystems/DrivetrainSubsystem.java | 271 ++++++++++++++++++ .../robot/subsystems/ShooterSubsystem.java | 53 ++++ .../java/frc/robot/subsystems/Swerve.java | 7 - vendordeps/REVLib.json | 74 +++++ vendordeps/SdsSwerveLib.json | 20 ++ vendordeps/navx_frc.json | 36 +++ 21 files changed, 943 insertions(+), 706 deletions(-) create mode 100644 src/main/java/frc/lib/drivers/LazyTalonFX.java create mode 100644 src/main/java/frc/lib/drivers/TalonFXFactory.java delete mode 100644 src/main/java/frc/lib/math/Conversions.java delete mode 100644 src/main/java/frc/lib/util/COTSFalconSwerveConstants.java delete mode 100644 src/main/java/frc/lib/util/CTREModuleState.java create mode 100644 src/main/java/frc/lib/util/Controller.java delete mode 100644 src/main/java/frc/lib/util/SwerveModuleConstants.java delete mode 100644 src/main/java/frc/robot/CTREConfigs.java delete mode 100644 src/main/java/frc/robot/SwerveModule.java create mode 100644 src/main/java/frc/robot/commands/TeleopDriveCommand.java create mode 100644 src/main/java/frc/robot/subsystems/ClimbSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java delete mode 100644 src/main/java/frc/robot/subsystems/Swerve.java create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/SdsSwerveLib.json create mode 100644 vendordeps/navx_frc.json diff --git a/src/main/java/frc/lib/drivers/LazyTalonFX.java b/src/main/java/frc/lib/drivers/LazyTalonFX.java new file mode 100644 index 0000000..435d049 --- /dev/null +++ b/src/main/java/frc/lib/drivers/LazyTalonFX.java @@ -0,0 +1,95 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.lib.drivers; + +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.hardware.TalonFX; + +public class LazyTalonFX extends TalonFX { + + protected double mLastSet = Double.NaN; + // Control mode no longer uses enums. + //protected TalonFXControlMode mLastControlMode = null; + + private String mName; + + protected LazyTalonFX mLeader = null; + protected Slot0Configs mConfigs; + + public LazyTalonFX(String name, int deviceID) { + super(deviceID); + mName = name; + mConfigs = new Slot0Configs(); + super.getConfigurator().apply(mConfigs); + } + + public double getLastSet() { + return mLastSet; + } + + public void setName(String name) { + mName = name; + } + + public String getName() { + return mName; + } + + public LazyTalonFX getLeader() { + return mLeader; + } + + public void setLeader(final LazyTalonFX leader) { + mLeader = leader; + super.setControl(new Follower(leader.getDeviceID(), false)); + } + + public void config_kP(double p, double timeout) { + mConfigs.kP = p; + + super.getConfigurator().refresh(mConfigs); + } + + public void config_kI(double i, double timeout) { + mConfigs.kI = i; + + super.getConfigurator().refresh(mConfigs); + } + + public void config_kD(double d, double timeout) { + mConfigs.kD = d; + + super.getConfigurator().refresh(mConfigs); + } + + public void config_kV(double v, double timeout) { + mConfigs.kV = v; + + super.getConfigurator().refresh(mConfigs); + } + + public void clearLeader() { + mLeader = null; + super.setControl(_emptyControl); + } + + @Override + public void set(double value) { + if(value != mLastSet) { + mLastSet = value; + super.set(value); + } + } + + @Override + public String toString() { + return getName() + " -> Output Power: " + mLastSet; + } + +} \ No newline at end of file diff --git a/src/main/java/frc/lib/drivers/TalonFXFactory.java b/src/main/java/frc/lib/drivers/TalonFXFactory.java new file mode 100644 index 0000000..a9588ba --- /dev/null +++ b/src/main/java/frc/lib/drivers/TalonFXFactory.java @@ -0,0 +1,142 @@ +// TODO: Migrate TalonFXFactory.java to Phoenix 6 + +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and BACK_RIGHTared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.lib.drivers; + +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; + +import frc.robot.Constants; + +public class TalonFXFactory { + + public final static double kTimeoutMs = Constants.kTimeOutMs; + + public static class Configuration { + public NeutralModeValue NEUTRAL_MODE = NeutralModeValue.Coast; + public double NEUTRAL_DEADBAND = 0.04; + + public double OPEN_LOOP_RAMP_RATE = 0.0; + public double CLOSED_LOOP_RAMP_RATE = 0.0; + + public InvertedValue INVERTED = InvertedValue.Clockwise_Positive; + + //public TalonFXFeedbackDevice DEVICE = TalonFXFeedbackDevice.IntegratedSensor; + + public double INPUT_CURRENT_LIMIT = 20; + public double OUTPUT_CURRENT_LIMIT = 20; + + //public MotorCommutation COMMUTATION = MotorCommutation.Trapezoidal; + + //public SensorInitializationStrategy INITIALIZATION_STRATEGY = SensorInitializationStrategy.BootToZero; + public boolean SENSOR_PHASE = false; + public double SENSOR_FEEDBACK_COEFFECIENT = 1; // TODO: Calculate new values for ratio. + //OLD: for gear reduction x (input) -> y (output), coeffecient = 256 * x / Math.PI * y; + + public int CONTROL_FRAME_PERIOD_MS = 5; + public int MOTION_CONTROL_FRAME_PERIOD_MS = 100; + public int GENERAL_STATUS_FRAME_RATE_MS = 5; + public int FEEDBACK_STATUS_FRAME_RATE_MS = 100; + public int QUAD_ENCODER_STATUS_FRAME_RATE_MS = 1000; + public int ANALOG_TEMP_VBAT_STATUS_FRAME_RATE_MS = 1000; + public int PULSE_WIDTH_STATUS_FRAME_RATE_MS = 1000; + + //public VelocityMeasPeriod VELOCITY_MEASUREMENT_PERIOD = VelocityMeasPeriod.Period_100Ms; + public int VELOCITY_MEASUREMENT_ROLLING_WINDOW = 64; + + } + + private static Configuration kDefaultConfiguration = new Configuration(); + private static Configuration kSlaveConfiguration = new Configuration(); + + static { + kSlaveConfiguration.CONTROL_FRAME_PERIOD_MS = 25; + kSlaveConfiguration.MOTION_CONTROL_FRAME_PERIOD_MS = 1000; + kSlaveConfiguration.GENERAL_STATUS_FRAME_RATE_MS = 35; + kSlaveConfiguration.FEEDBACK_STATUS_FRAME_RATE_MS = 1000; + kSlaveConfiguration.QUAD_ENCODER_STATUS_FRAME_RATE_MS = 1000; + kSlaveConfiguration.ANALOG_TEMP_VBAT_STATUS_FRAME_RATE_MS = 5000; + kSlaveConfiguration.PULSE_WIDTH_STATUS_FRAME_RATE_MS = 1000; + // kSlaveConfiguration.DEVICE = TalonFXFeedbackDevice.None; + } + + public static LazyTalonFX createDefaultFalcon(String name, int deviceID) { + return createFalcon(name, deviceID, kDefaultConfiguration); + } + + public static LazyTalonFX createSlaveFalcon(String name, int deviceID, LazyTalonFX leader) { + final LazyTalonFX falcon = createFalcon(name, deviceID, kSlaveConfiguration); + falcon.setLeader(leader); + return falcon; + } + + public static LazyTalonFX createFalcon(String name, int deviceID, Configuration config) { + LazyTalonFX falcon = new LazyTalonFX(name, deviceID); + falcon.setControl(new DutyCycleOut(0.0)); + + TalonFXConfiguration configs = new TalonFXConfiguration(); + + //falcon.changeMotionControlFramePeriod(config.MOTION_CONTROL_FRAME_PERIOD_MS); + //falcon.clearMotionProfileHasUnderrun(); + //falcon.clearMotionProfileTrajectories(); + configs.MotorOutput.withDutyCycleNeutralDeadband(config.NEUTRAL_DEADBAND); + + //PheonixUtil.checkError(falcon.configNeutralDeadband(), name + + // " failed to configure neutral deadband on init", false); + + configs.MotorOutput.withPeakReverseDutyCycle(-1.0); + configs.MotorOutput.withPeakForwardDutyCycle(1.0); + //falcon.configNominalOutputForward(0.0); + //falcon.configNominalOutputReverse(0.0); + + //falcon.configVoltageCompSaturation(0.0); + //falcon.configVoltageMeasurementFilter(32); + //falcon.enableVoltageCompensation(false); + + //falcon.selectProfileSlot(0, 0); + + configs.CurrentLimits.StatorCurrentLimit = config.OUTPUT_CURRENT_LIMIT; + configs.CurrentLimits.StatorCurrentLimitEnable = true; + configs.CurrentLimits.SupplyCurrentLimit = config.OUTPUT_CURRENT_LIMIT; + configs.CurrentLimits.SupplyCurrentLimitEnable = true; + + // PheonixUtil.checkError(falcon.configVelocityMeasurementPeriod(config.VELOCITY_MEASUREMENT_PERIOD, kTimeoutMs), name + + // " failed to set velocity meas. period on init", true); + + // PheonixUtil.checkError(falcon.configVelocityMeasurementWindow(config.VELOCITY_MEASUREMENT_ROLLING_WINDOW, kTimeoutMs), name + + // " failed to set velocity measurement window on init", true); + + falcon.clearStickyFaults(); + + /*PheonixUtil.checkError(falcon.configSelectedFeedbackSensor(config.DEVICE, 0, kTimeoutMs), + name + " failed to set feedback sensor on init", true);*/ + + // + configs.Feedback.SensorToMechanismRatio = config.SENSOR_FEEDBACK_COEFFECIENT; + + // Possibly related to configs.configs.OpenLoopRamps.DutyCycleOpenLoopRampPeriod. + // PheonixUtil.checkError(falcon.configOpenloopRamp(config.OPEN_LOOP_RAMP_RATE, kTimeoutMs), + // name + " failed to set open loop ramp rate on init", true); + + // PheonixUtil.checkError(falcon.configClosedloopRamp(config.CLOSED_LOOP_RAMP_RATE, kTimeoutMs), + // name + " failed to set closed loop ramp rate on init", true); + + configs.SoftwareLimitSwitch.ForwardSoftLimitEnable = false; + configs.SoftwareLimitSwitch.ReverseSoftLimitEnable = false; + + configs.MotorOutput.Inverted = config.INVERTED; + + //falcon.setSensorPhase(config.SENSOR_PHASE); + + return falcon; + } + +} \ No newline at end of file diff --git a/src/main/java/frc/lib/math/Conversions.java b/src/main/java/frc/lib/math/Conversions.java deleted file mode 100644 index 3ce88b5..0000000 --- a/src/main/java/frc/lib/math/Conversions.java +++ /dev/null @@ -1,115 +0,0 @@ -/* -conversion constants, used by the swerve drivetrain library we use (team 364) -https://github.com/Team364/BaseFalconSwerve -*/ - -package frc.lib.math; - -public class Conversions { - - /** - * @param positionCounts CANCoder Position Counts - * @param gearRatio Gear Ratio between CANCoder and Mechanism - * @return Degrees of Rotation of Mechanism - */ - public static double CANcoderToDegrees(double positionCounts, double gearRatio) { - return positionCounts * (360.0 / (gearRatio * 4096.0)); - } - - /** - * @param degrees Degrees of rotation of Mechanism - * @param gearRatio Gear Ratio between CANCoder and Mechanism - * @return CANCoder Position Counts - */ - public static double degreesToCANcoder(double degrees, double gearRatio) { - return degrees / (360.0 / (gearRatio * 4096.0)); - } - - /** - * @param counts Falcon Position Counts - * @param gearRatio Gear Ratio between Falcon and Mechanism - * @return Degrees of Rotation of Mechanism - */ - public static double falconToDegrees(double positionCounts, double gearRatio) { - return positionCounts * (360.0 / (gearRatio * 2048.0)); - } - - /** - * @param degrees Degrees of rotation of Mechanism - * @param gearRatio Gear Ratio between Falcon and Mechanism - * @return Falcon Position Counts - */ - public static double degreesToFalcon(double degrees, double gearRatio) { - return degrees / (360.0 / (gearRatio * 2048.0)); - } - - /** - * @param velocityCounts Falcon Velocity Counts - * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for - * Falcon RPM) - * @return RPM of Mechanism - */ - public static double falconToRPM(double velocityCounts, double gearRatio) { - double motorRPM = velocityCounts * (600.0 / 2048.0); - double mechRPM = motorRPM / gearRatio; - return mechRPM; - } - - /** - * @param RPM RPM of mechanism - * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon - * RPM) - * @return RPM of Mechanism - */ - public static double RPMToFalcon(double RPM, double gearRatio) { - double motorRPM = RPM * gearRatio; - double sensorCounts = motorRPM * (2048.0 / 600.0); - return sensorCounts; - } - - /** - * @param velocitycounts Falcon Velocity Counts - * @param circumference Circumference of Wheel - * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for - * Falcon MPS) - * @return Falcon Velocity Counts - */ - public static double falconToMPS(double velocitycounts, double circumference, double gearRatio) { - double wheelRPM = falconToRPM(velocitycounts, gearRatio); - double wheelMPS = (wheelRPM * circumference) / 60; - return wheelMPS; - } - - /** - * @param velocity Velocity MPS - * @param circumference Circumference of Wheel - * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for - * Falcon MPS) - * @return Falcon Velocity Counts - */ - public static double MPSToFalcon(double velocity, double circumference, double gearRatio) { - double wheelRPM = ((velocity * 60) / circumference); - double wheelVelocity = RPMToFalcon(wheelRPM, gearRatio); - return wheelVelocity; - } - - /** - * @param positionCounts Falcon Position Counts - * @param circumference Circumference of Wheel - * @param gearRatio Gear Ratio between Falcon and Wheel - * @return Meters - */ - public static double falconToMeters(double positionCounts, double circumference, double gearRatio) { - return positionCounts * (circumference / (gearRatio * 2048.0)); - } - - /** - * @param meters Meters - * @param circumference Circumference of Wheel - * @param gearRatio Gear Ratio between Falcon and Wheel - * @return Falcon Position Counts - */ - public static double MetersToFalcon(double meters, double circumference, double gearRatio) { - return meters / (circumference / (gearRatio * 2048.0)); - } -} \ No newline at end of file diff --git a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java deleted file mode 100644 index bd1f9d8..0000000 --- a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java +++ /dev/null @@ -1,122 +0,0 @@ -/* -swerve module constants, used by the swerve drivetrain library we use (team 364) -https://github.com/Team364/BaseFalconSwerve -*/ - -package frc.lib.util; - -import com.ctre.phoenix6.signals.SensorDirectionValue; - -import edu.wpi.first.math.util.Units; - -/* Contains values and required settings for common COTS swerve modules. */ -public class COTSFalconSwerveConstants { - public final double wheelDiameter; - public final double wheelCircumference; - public final double angleGearRatio; - public final double driveGearRatio; - public final double angleKP; - public final double angleKI; - public final double angleKD; - public final double angleKF; - public final boolean driveMotorInvert; - public final boolean angleMotorInvert; - public final SensorDirectionValue canCoderInvert; - - public COTSFalconSwerveConstants(double wheelDiameter, double angleGearRatio, double driveGearRatio, double angleKP, double angleKI, double angleKD, double angleKF, boolean driveMotorInvert, boolean angleMotorInvert, SensorDirectionValue canCoderInvert){ - this.wheelDiameter = wheelDiameter; - this.wheelCircumference = wheelDiameter * Math.PI; - this.angleGearRatio = angleGearRatio; - this.driveGearRatio = driveGearRatio; - this.angleKP = angleKP; - this.angleKI = angleKI; - this.angleKD = angleKD; - this.angleKF = angleKF; - this.driveMotorInvert = driveMotorInvert; - this.angleMotorInvert = angleMotorInvert; - this.canCoderInvert = canCoderInvert; - } - - /** Swerve Drive Specialties - MK3 Module*/ - public static COTSFalconSwerveConstants SDSMK3(double driveGearRatio){ - double wheelDiameter = Units.inchesToMeters(4.0); - - /** 12.8 : 1 */ - double angleGearRatio = (12.8 / 1.0); - - double angleKP = 0.2; - double angleKI = 0.0; - double angleKD = 0.0; - double angleKF = 0.0; - - boolean driveMotorInvert = false; - boolean angleMotorInvert = false; - SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; - return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); - } - - /** Swerve Drive Specialties - MK4 Module*/ - public static COTSFalconSwerveConstants SDSMK4(double driveGearRatio){ - double wheelDiameter = Units.inchesToMeters(4.0); - - /** 12.8 : 1 */ - double angleGearRatio = (12.8 / 1.0); - - double angleKP = 0.2; - double angleKI = 0.0; - double angleKD = 0.0; - double angleKF = 0.0; - - boolean driveMotorInvert = true; - boolean angleMotorInvert = false; - SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; - return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); - } - - /** Swerve Drive Specialties - MK4i Module*/ - public static COTSFalconSwerveConstants SDSMK4i(double driveGearRatio){ - double wheelDiameter = Units.inchesToMeters(4.0); - - /** (150 / 7) : 1 */ - double angleGearRatio = ((150.0 / 7.0) / 1.0); - - double angleKP = 0.3; - double angleKI = 0.0; - double angleKD = 0.0; - double angleKF = 0.0; - - boolean driveMotorInvert = false; - boolean angleMotorInvert = true; - SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; - return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); - } - - /* Drive Gear Ratios for all supported modules */ - public class driveGearRatios{ - /* SDS MK3 */ - /** SDS MK3 - 8.16 : 1 */ - public static final double SDSMK3_Standard = (8.16 / 1.0); - /** SDS MK3 - 6.86 : 1 */ - public static final double SDSMK3_Fast = (6.86 / 1.0); - - /* SDS MK4 */ - /** SDS MK4 - 8.14 : 1 */ - public static final double SDSMK4_L1 = (8.14 / 1.0); - /** SDS MK4 - 6.75 : 1 */ - public static final double SDSMK4_L2 = (6.75 / 1.0); - /** SDS MK4 - 6.12 : 1 */ - public static final double SDSMK4_L3 = (6.12 / 1.0); - /** SDS MK4 - 5.14 : 1 */ - public static final double SDSMK4_L4 = (5.14 / 1.0); - - /* SDS MK4i */ - /** SDS MK4i - 8.14 : 1 */ - public static final double SDSMK4i_L1 = (8.14 / 1.0); - /** SDS MK4i - 6.75 : 1 */ - public static final double SDSMK4i_L2 = (6.75 / 1.0); - /** SDS MK4i - 6.12 : 1 */ - public static final double SDSMK4i_L3 = (6.12 / 1.0); - } -} - - \ No newline at end of file diff --git a/src/main/java/frc/lib/util/CTREModuleState.java b/src/main/java/frc/lib/util/CTREModuleState.java deleted file mode 100644 index fbeb177..0000000 --- a/src/main/java/frc/lib/util/CTREModuleState.java +++ /dev/null @@ -1,61 +0,0 @@ -/* -swerve module states, used by the swerve drivetrain library we use (team 364) -https://github.com/Team364/BaseFalconSwerve -*/ - -package frc.lib.util; - -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.SwerveModuleState; - -public class CTREModuleState { - - /** - * Minimize the change in heading the desired swerve module state would require by potentially - * reversing the direction the wheel spins. Customized from WPILib's version to include placing - * in appropriate scope for CTRE onboard control. - * - * @param desiredState The desired state. - * @param currentAngle The current module angle. - */ - public static SwerveModuleState optimize(SwerveModuleState desiredState, Rotation2d currentAngle) { - double targetAngle = placeInAppropriate0To360Scope(currentAngle.getDegrees(), desiredState.angle.getDegrees()); - double targetSpeed = desiredState.speedMetersPerSecond; - double delta = targetAngle - currentAngle.getDegrees(); - if (Math.abs(delta) > 90){ - targetSpeed = -targetSpeed; - targetAngle = delta > 90 ? (targetAngle -= 180) : (targetAngle += 180); - } - return new SwerveModuleState(targetSpeed, Rotation2d.fromDegrees(targetAngle)); - } - - /** - * @param scopeReference Current Angle - * @param newAngle Target Angle - * @return Closest angle within scope - */ - private static double placeInAppropriate0To360Scope(double scopeReference, double newAngle) { - double lowerBound; - double upperBound; - double lowerOffset = scopeReference % 360; - if (lowerOffset >= 0) { - lowerBound = scopeReference - lowerOffset; - upperBound = scopeReference + (360 - lowerOffset); - } else { - upperBound = scopeReference - lowerOffset; - lowerBound = scopeReference - (360 + lowerOffset); - } - while (newAngle < lowerBound) { - newAngle += 360; - } - while (newAngle > upperBound) { - newAngle -= 360; - } - if (newAngle - scopeReference > 180) { - newAngle -= 360; - } else if (newAngle - scopeReference < -180) { - newAngle += 360; - } - return newAngle; - } -} diff --git a/src/main/java/frc/lib/util/Controller.java b/src/main/java/frc/lib/util/Controller.java new file mode 100644 index 0000000..d26871e --- /dev/null +++ b/src/main/java/frc/lib/util/Controller.java @@ -0,0 +1,52 @@ +package frc.lib.util; + +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; + +public class Controller { + private XboxController xbox; + // private static final byte DPAD_U_PORT = -1; + // private static final byte DPAD_D_PORT = -3; + // private static final byte DPAD_L_PORT = -4; + // private static final byte DPAD_R_PORT = -2; + private Trigger a, b, x, y, rb, lb, lstick, rstick, back, start; + // private POVButton up, down, left, right; + public Controller(XboxController xbox){ + this.xbox = xbox; + a = new Trigger(xbox::getAButton); + b = new Trigger(xbox::getBButton); + x = new Trigger(xbox::getXButton); + y = new Trigger(xbox::getYButton); + lb = new Trigger(xbox::getLeftBumper); + rb = new Trigger(xbox::getRightBumper); + lstick = new Trigger(xbox::getLeftStickButton); + rstick = new Trigger(xbox::getRightStickButton); + back = new Trigger(xbox::getBackButton); + start = new Trigger(xbox::getStartButton); + } + + public boolean getDpadUp(){ return xbox.getPOV() == 0; } + public boolean getDpadUpRight(){ return xbox.getPOV() > 15 && xbox.getPOV() < 75; } + public boolean getDpadRight(){ return xbox.getPOV() == 90;} + public boolean getDpadDown(){ return xbox.getPOV() == 180;} + public boolean getDpadLeft(){ return xbox.getPOV() == 270;} + + public double getRightTriggerAxis(){ return xbox.getRightTriggerAxis();} + public double getLeftTriggerAxis(){ return xbox.getLeftTriggerAxis();} + + public Trigger getAButton(){ return a;} + public Trigger getBButton(){ return b;} + public Trigger getXButton(){ return x;} + public Trigger getYButton(){ return y;} + public Trigger getLeftBumper(){ return lb;} + public Trigger getRightBumper(){ return rb;} + public Trigger getLeftStickButton(){ return lstick;} + public Trigger getRightStickButton(){ return rstick;} + public Trigger getBackButton(){ return back;} + public Trigger getStartButton(){ return start;} + + public double getLeftX(){ return xbox.getLeftX();} + public double getLeftY(){ return xbox.getLeftY();} + public double getRightX(){ return xbox.getRightX();} + public double getRightY(){ return xbox.getRightY();} +} \ No newline at end of file diff --git a/src/main/java/frc/lib/util/SwerveModuleConstants.java b/src/main/java/frc/lib/util/SwerveModuleConstants.java deleted file mode 100644 index 19c81c5..0000000 --- a/src/main/java/frc/lib/util/SwerveModuleConstants.java +++ /dev/null @@ -1,29 +0,0 @@ -/* -swerve module object, used by the swerve drivetrain library we use (team 364) -https://github.com/Team364/BaseFalconSwerve -*/ - -package frc.lib.util; - -import edu.wpi.first.math.geometry.Rotation2d; - -public class SwerveModuleConstants { - public final int driveMotorID; - public final int angleMotorID; - public final int cancoderID; - public final Rotation2d angleOffset; - - /** - * Swerve Module Constants to be used when creating swerve modules. - * @param driveMotorID - * @param angleMotorID - * @param canCoderID - * @param angleOffset - */ - public SwerveModuleConstants(int driveMotorID, int angleMotorID, int canCoderID, Rotation2d angleOffset) { - this.driveMotorID = driveMotorID; - this.angleMotorID = angleMotorID; - this.cancoderID = canCoderID; - this.angleOffset = angleOffset; - } -} diff --git a/src/main/java/frc/robot/CTREConfigs.java b/src/main/java/frc/robot/CTREConfigs.java deleted file mode 100644 index 7af3ed7..0000000 --- a/src/main/java/frc/robot/CTREConfigs.java +++ /dev/null @@ -1,71 +0,0 @@ -/* - swerve CTRE configs, used by the swerve drivetrain library we use (team 364) - https://github.com/Team364/BaseFalconSwerve -*/ - -package frc.robot; - - -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs; -import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import com.ctre.phoenix6.configs.MagnetSensorConfigs; -import com.ctre.phoenix6.configs.OpenLoopRampsConfigs; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; - -public final class CTREConfigs { - public TalonFXConfiguration swerveAngleFXConfig; - public TalonFXConfiguration swerveDriveFXConfig; - public CANcoderConfiguration swerveCanCoderConfig; - - public CTREConfigs() { - swerveAngleFXConfig = new TalonFXConfiguration(); - swerveDriveFXConfig = new TalonFXConfiguration(); - swerveCanCoderConfig = new CANcoderConfiguration(); - Slot0Configs slot0Configs = new Slot0Configs(); - CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs(); - - /* Swerve Angle Motor Configurations */ - currentLimitsConfigs.SupplyCurrentLimit = Constants.SwerveConstants.angleContinuousCurrentLimit; - currentLimitsConfigs.SupplyCurrentLimitEnable = true; - slot0Configs.kP = Constants.SwerveConstants.angleKP; - slot0Configs.kI = Constants.SwerveConstants.angleKI; - slot0Configs.kD = Constants.SwerveConstants.angleKD; - swerveAngleFXConfig.Slot0 = slot0Configs; - swerveAngleFXConfig.CurrentLimits = currentLimitsConfigs; - - /* Swerve Drive Motor Configuration */ - currentLimitsConfigs.SupplyCurrentLimit = Constants.SwerveConstants.driveContinuousCurrentLimit; - currentLimitsConfigs.SupplyCurrentLimitEnable = true; - slot0Configs.kP = Constants.SwerveConstants.driveKP; - slot0Configs.kI = Constants.SwerveConstants.driveKI; - slot0Configs.kD = Constants.SwerveConstants.driveKD; - - swerveDriveFXConfig.Slot0 = slot0Configs; - swerveDriveFXConfig.CurrentLimits = currentLimitsConfigs; - - OpenLoopRampsConfigs openLoopRampsConfigs = new OpenLoopRampsConfigs(); - openLoopRampsConfigs.DutyCycleOpenLoopRampPeriod = Constants.SwerveConstants.openLoopRamp; - openLoopRampsConfigs.TorqueOpenLoopRampPeriod = Constants.SwerveConstants.openLoopRamp; - openLoopRampsConfigs.VoltageOpenLoopRampPeriod = Constants.SwerveConstants.openLoopRamp; - - ClosedLoopRampsConfigs closedLoopRampsConfigs = new ClosedLoopRampsConfigs(); - closedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod = Constants.SwerveConstants.closedLoopRamp; - closedLoopRampsConfigs.TorqueClosedLoopRampPeriod = Constants.SwerveConstants.closedLoopRamp; - closedLoopRampsConfigs.VoltageClosedLoopRampPeriod = Constants.SwerveConstants.closedLoopRamp; - - swerveDriveFXConfig.OpenLoopRamps = openLoopRampsConfigs; - swerveDriveFXConfig.ClosedLoopRamps = closedLoopRampsConfigs; - - /* Swerve CANCoder Configuration */ - // CANcoder is always initialized to absolute position on boot in Phoenix 6 - https://www.chiefdelphi.com/t/what-kind-of-encoders-are-built-into-the-kraken-motors/447253/7 - - MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs(); - magnetSensorConfigs.AbsoluteSensorRange = AbsoluteSensorRangeValue.Unsigned_0To1; - magnetSensorConfigs.SensorDirection = Constants.SwerveConstants.canCoderInvert; - - swerveCanCoderConfig.MagnetSensor = magnetSensorConfigs; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index d73c3ad..9d5094f 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,14 +4,13 @@ package frc.robot; -import com.ctre.phoenix6.signals.SensorDirectionValue; +import java.util.List; + +import com.swervedrivespecialties.swervelib.SdsModuleConfigurations; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -import frc.lib.util.COTSFalconSwerveConstants; -import frc.lib.util.SwerveModuleConstants; - +import edu.wpi.first.math.trajectory.TrapezoidProfile; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * constants. This class should not be used for any other purpose. All constants should be declared @@ -21,151 +20,91 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - public static final int timeOutMs = 10; - public static final double stickDeadband = 0.15; - public static final double triggerDeadzone = 0.2; - - // hardware ports for all hardware components on the robot - // these include CAN IDs, pneumatic hub ports, etc. - - public static final class HardwarePorts { - // motors (predicted) IDs not fixed - public static final int shooterLeaderMotor = 1; - public static final int shooterFollowerMotor = 2; - public static final int climbLeaderMotor = 3; - public static final int climbFollowerMotor = 4; - - } - - public static final double FIELD_WIDTH_METERS = 8.21055; - public static final double FIELD_LENGTH_METERS = 16.54175; - public static class OperatorConstants { public static final int kDriverControllerPort = 0; } + + //Dummy values, need to find/calculate + public static final List kReferenceTranslations = List.of( + new Translation2d(1, 0), + new Translation2d(3, 3) + ); + + public static final class Ports{ + public static final int MASTER_SHOOTER_MOTOR = 0; + public static final int FOLLOW_SHOOTER_MOTOR = 0; + + public static final int FRONT_LEFT_DRIVE = 2; + public static final int FRONT_LEFT_STEER = 1; + public static final int FRONT_LEFT_STEER_ENCODER = 9; + // public static final double FRONT_LEFT_OFFSET = -Math.toRadians(81.3812255859375); + public static final double FRONT_LEFT_OFFSET = 0; + + public static final int FRONT_RIGHT_DRIVE = 8; + public static final int FRONT_RIGHT_STEER = 7; + public static final int FRONT_RIGHT_STEER_ENCODER = 12; + // public static final double FRONT_RIGHT_OFFSET = -Math.toRadians(303.48358154296875); + public static final double FRONT_RIGHT_OFFSET = 0; + + + public static final int BACK_LEFT_DRIVE = 4; + public static final int BACK_LEFT_STEER = 3; + public static final int BACK_LEFT_STEER_ENCODER = 10; + // public static final double BACK_LEFT_OFFSET = -Math.toRadians(349.26910400390625); + public static final double BACK_LEFT_OFFSET = 0; + + + public static final int BACK_RIGHT_DRIVE = 6; + public static final int BACK_RIGHT_STEER = 5; + public static final int BACK_RIGHT_STEER_ENCODER = 11; + // public static final double BACK_RIGHT_OFFSET = -Math.toRadians(156.5277099609375); + public static final double BACK_RIGHT_OFFSET = 0; - public static final class SwerveConstants { - - public static final int pigeonID = 15; - - public static final COTSFalconSwerveConstants chosenModule = COTSFalconSwerveConstants - .SDSMK4i(COTSFalconSwerveConstants.driveGearRatios.SDSMK4_L2); - - /* Drivetrain Constants */ - public static final double trackWidth = 0.5715; - public static final double wheelBase = 0.5715; - public static final double wheelCircumference = chosenModule.wheelCircumference; - /* - * Swerve Kinematics - * No need to ever change this unless you are not doing a traditional - * rectangular/square 4 module swerve - */ - public static final SwerveDriveKinematics swerveKinematics = new SwerveDriveKinematics( - new Translation2d(wheelBase / 2.0, trackWidth / 2.0), - new Translation2d(wheelBase / 2.0, -trackWidth / 2.0), - new Translation2d(-wheelBase / 2.0, trackWidth / 2.0), - new Translation2d(-wheelBase / 2.0, -trackWidth / 2.0) - ); - /* Module Gear Ratios */ - public static final double driveGearRatio = chosenModule.driveGearRatio; - public static final double angleGearRatio = chosenModule.angleGearRatio; - - /* Motor Inverts */ - public static final boolean angleMotorInvert = chosenModule.angleMotorInvert; - public static final boolean driveMotorInvert = chosenModule.driveMotorInvert; - - /* Angle Encoder Invert */ - public static final SensorDirectionValue canCoderInvert = chosenModule.canCoderInvert; - - /* Swerve Current Limitting */ // DID NOT CHANGE - public static final int angleContinuousCurrentLimit = 25; - public static final int anglePeakCurrentLimit = 40; - public static final double anglePeakCurrentDuration = 0.1; - public static final boolean angleEnableCurrentLimit = true; - - public static final int driveContinuousCurrentLimit = 35; - public static final int drivePeakCurrentLimit = 60; - public static final double drivePeakCurrentDuration = 0.1; - public static final boolean driveEnableCurrentLimit = true; - - /* Max Voltages - subject to change */ - public static final int driveMaxVoltage = 30; - public static final int angleMaxVoltage = 30; - - /* - * These values are used by the drive falcon to ramp in open loop and closed - * loop driving. - * We found a small open loop ramp (0.25) helps with tread wear, tipping, etc - */ // DID NOT CHANGE - public static final double openLoopRamp = 0.25; - public static final double closedLoopRamp = 0.0; - - /* Angle Motor PID Values */ - public static final double angleKP = chosenModule.angleKP; - public static final double angleKI = chosenModule.angleKI; - public static final double angleKD = chosenModule.angleKD; - public static final double angleKF = chosenModule.angleKF; - - /* Drive Motor PID Values */ - public static final double driveKP = 0.05; // TODO: This must be tuned to specific robot - public static final double driveKI = 0.0; - public static final double driveKD = 0.0; - public static final double driveKF = 0.0; - - /* - * Drive Motor Characterization Values - * Divide SYSID values by 12 to convert from volts to percent output for CTRE - */ - public static final double driveKS = (0.15932 / 12); - public static final double driveKV = (2.3349 / 12); - public static final double driveKA = (0.47337 / 12); - - /* Swerve Profiling Values */ - /* Meters per Second */ - public static final double maxSpeed = 4.5; - /** Radians per Second */ - public static final double maxAngularVelocity = 7.0; - - /* Module Specific Constants - TO BE DONE FOR ARTEMIS*/ - /* Front Left Module - Module 0 */ - public static final class Mod0 { - public static final int driveMotorID = 2; - public static final int angleMotorID = 1; - public static final int canCoderID = 9; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(338.17291259765625); - public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, - canCoderID, angleOffset); - } - - /* Front Right Module - Module 1 */ - public static final class Mod1 { - public static final int driveMotorID = 8; - public static final int angleMotorID = 7; - public static final int canCoderID = 12; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(165.399169921875); - public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, - canCoderID, angleOffset); - } - - /* Back Left Module - Module 2 */ - public static final class Mod2 { - public static final int driveMotorID = 4; - public static final int angleMotorID = 3; - public static final int canCoderID = 10; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(350.9994506835938); - public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, - canCoderID, angleOffset); - } - - /* Back Right Module - Module 3 */ - public static final class Mod3 { - public static final int driveMotorID = 6; - public static final int angleMotorID = 5; - public static final int canCoderID = 11; - public static final Rotation2d angleOffset = Rotation2d.fromDegrees(33.3597412109375); - public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID, - canCoderID, angleOffset); - } } - + public static final double kTimeOutMs = 0.05; // This is a double now in seconds rather than an integer in milliseconds. + + public static final class DriveConstants { + public static final double kTrackWidth = 0.4953; + // Distance between centers of right and left wheels on robot + public static final double kWheelBase = 0.4953; + // Distance between front and back wheels on robot + public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics( + new Translation2d(kWheelBase / 2, kTrackWidth / 2), + new Translation2d(kWheelBase / 2, -kTrackWidth / 2), + new Translation2d(-kWheelBase / 2, kTrackWidth / 2), + new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)); + + public static final boolean kGyroReversed = false; + //Calculated via SysId + public static final double ksVolts = 0.74397; //before 3/1: 70541, 33259, 016433 + public static final double kvVoltSecondsPerMeter = 0.33778; + public static final double kaVoltSecondsSquaredPerMeter = 0.016934; + //Tuned to taste for desired max velocity + public static final double kVelocityGain = 6; + // The maximum voltage that will be delivered to the drive motors. + // This can be reduced to cap the robot's maximum speed. Typically, this is useful during initial testing of the robot. + public static final double kMaxVoltage = 12.0; + // The maximum velocity of the robot in meters per second. + // This is a measure of how fast the robot should be able to drive in a straight line. + public static final double kMaxSpeedMetersPerSecond = + 6380.0 / 60.0 * + SdsModuleConfigurations.MK4_L2.getDriveReduction() * + SdsModuleConfigurations.MK4_L2.getWheelDiameter() * Math.PI; + // need measure on robot + public static final double kMaxAccelerationMetersPerSecondSquared = 10; + //The maximum angular velocity of the robot in radians per second. + //This is a measure of how fast the robot can rotate in place. + // Here we calculate the theoretical maximum angular velocity. You can also replace this with a measured amount. + public static final double kMaxAngularSpeedRadiansPerSecond = kMaxSpeedMetersPerSecond / + Math.hypot(kTrackWidth / 2.0, kWheelBase / 2.0); + + public static final double kMaxAngularSpeedRadiansPerSecondSquared = kMaxAngularSpeedRadiansPerSecond; + + public static final double kpRotation = 0.1; + public static final double kiRotation = 0.0; + public static final double kdRotation = 0; + public static final TrapezoidProfile.Constraints kRotationConstraints = + new TrapezoidProfile.Constraints( + kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared); + } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 694b08a..687a0a0 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -15,9 +15,6 @@ * project. */ public class Robot extends TimedRobot { - - public static CTREConfigs ctreConfigs; - private Command m_autonomousCommand; private RobotContainer m_robotContainer; @@ -28,7 +25,8 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { - ctreConfigs = new CTREConfigs(); + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a33249e..cc4a1ac 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,10 +4,15 @@ package frc.robot; +import frc.lib.util.Controller; import frc.robot.Constants.OperatorConstants; import frc.robot.commands.Autos; import frc.robot.commands.ExampleCommand; +import frc.robot.subsystems.ClimbSubsystem; +import frc.robot.subsystems.DrivetrainSubsystem; import frc.robot.subsystems.ExampleSubsystem; +import frc.robot.subsystems.ShooterSubsystem; +import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -26,8 +31,16 @@ public class RobotContainer { private final CommandXboxController m_driverController = new CommandXboxController(OperatorConstants.kDriverControllerPort); + // The robot's subsystems and commands are defined here... + private DrivetrainSubsystem m_drivetrainSubsystem; + private ShooterSubsystem m_shooterSubsystem; + private ClimbSubsystem m_climbSubsystem; + /** The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { + m_drivetrainSubsystem = DrivetrainSubsystem.getInstance(); + m_shooterSubsystem = ShooterSubsystem.getInstance(); + m_climbSubsystem = ClimbSubsystem.getInstance(); // Configure the trigger bindings configureBindings(); } @@ -51,6 +64,12 @@ private void configureBindings() { m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); } + private static final Controller m_controller = new Controller(new XboxController(0)); + + public static Controller getController(){ + return m_controller; + } + /** * Use this to pass the autonomous command to the main {@link Robot} class. * diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java deleted file mode 100644 index 46dd0ae..0000000 --- a/src/main/java/frc/robot/SwerveModule.java +++ /dev/null @@ -1,148 +0,0 @@ -/* - swerve module objects, used by the swerve drivetrain library we use (team 364) - https://github.com/Team364/BaseFalconSwerve -*/ -package frc.robot; - -import edu.wpi.first.math.controller.SimpleMotorFeedforward; -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.wpilibj.DutyCycle; -import frc.lib.math.Conversions; -import frc.lib.util.CTREModuleState; -import frc.lib.util.SwerveModuleConstants; - -import com.ctre.phoenix6.controls.ControlRequest; -import com.ctre.phoenix6.controls.DutyCycleOut; -import com.ctre.phoenix6.controls.PositionDutyCycle; -import com.ctre.phoenix6.controls.PositionVoltage; -import com.ctre.phoenix6.controls.VelocityDutyCycle; -import com.ctre.phoenix6.controls.VelocityVoltage; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.CANcoder; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.ControlModeValue; - - -public class SwerveModule { - - // Control requests - // Reuse these, don't make more - final DutyCycleOut dutyCycleRequest = new DutyCycleOut(0); - final VoltageOut voltageOutRequest = new VoltageOut(0); - // ControlMode.Position without voltage compensation - final PositionDutyCycle positionDutyCycleRequest = new PositionDutyCycle(0); - // ControlMode.Position with voltage compensation - final PositionVoltage positionVoltageRequest = new PositionVoltage(0); - // ControlMode.Velocity without voltage compensation - final VelocityDutyCycle velocityDutyCycle = new VelocityDutyCycle(0); - // ControlMode.Velocity with voltage compensation - final VelocityVoltage velocityVoltage = new VelocityVoltage(0); - - public int moduleNumber; - private Rotation2d angleOffset; - private Rotation2d lastAngle; - - private TalonFX mAngleMotor; - private TalonFX mDriveMotor; - private CANcoder angleEncoder; - - SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(Constants.SwerveConstants.driveKS, Constants.SwerveConstants.driveKV, Constants.SwerveConstants.driveKA); - - public SwerveModule(int moduleNumber, SwerveModuleConstants moduleConstants){ - this.moduleNumber = moduleNumber; - this.angleOffset = moduleConstants.angleOffset; - - /* Angle Encoder Config */ - angleEncoder = new CANcoder(moduleConstants.cancoderID, "2976 CANivore"); - configAngleEncoder(); - - /* Angle Motor Config */ - mAngleMotor = new TalonFX(moduleConstants.angleMotorID, "2976 CANivore"); - configAngleMotor(); - - /* Drive Motor Config */ - mDriveMotor = new TalonFX(moduleConstants.driveMotorID, "2976 CANivore"); - configDriveMotor(); - - lastAngle = getState().angle; - } - - public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop){ - /* This is a custom optimize function, since default WPILib optimize assumes continuous controller which CTRE and Rev onboard is not */ - desiredState = CTREModuleState.optimize(desiredState, getState().angle); - setAngle(desiredState); - setSpeed(desiredState, isOpenLoop); - } - - private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop){ - if(isOpenLoop){ - double percentOutput = desiredState.speedMetersPerSecond / Constants.SwerveConstants.maxSpeed; - mDriveMotor.setControl(dutyCycleRequest.withOutput(percentOutput)); - } - else { - double velocity = Conversions.MPSToFalcon(desiredState.speedMetersPerSecond, Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio); - mDriveMotor.setControl(velocityDutyCycle.withVelocity(velocity)); - } - } - - private void setAngle(SwerveModuleState desiredState){ - Rotation2d angle = (Math.abs(desiredState.speedMetersPerSecond) <= (Constants.SwerveConstants.maxSpeed * 0.01)) ? lastAngle : desiredState.angle; //Prevent rotating module if speed is less then 1%. Prevents Jittering. - mAngleMotor.setControl(positionDutyCycleRequest.withPosition(Conversions.degreesToFalcon(angle.getDegrees(), Constants.SwerveConstants.angleGearRatio))); - lastAngle = angle; - } - - private Rotation2d getAngle(){ - return Rotation2d.fromDegrees(Conversions.falconToDegrees(mAngleMotor.getPosition().getValueAsDouble(), Constants.SwerveConstants.angleGearRatio)); - } - - public Rotation2d getCanCoder(){ - return Rotation2d.fromDegrees(angleEncoder.getAbsolutePosition().getValueAsDouble()); - } - - private void resetToAbsolute(){ - double absolutePosition = Conversions.degreesToFalcon(getCanCoder().getDegrees() - angleOffset.getDegrees(), Constants.SwerveConstants.angleGearRatio); - // check later no idea if this is right - mAngleMotor.setPosition(absolutePosition); - } - - private void configAngleEncoder(){ - angleEncoder.getConfigurator().apply(Robot.ctreConfigs.swerveCanCoderConfig); - angleEncoder.configAllSettings(Robot.ctreConfigs.swerveCanCoderConfig); - } - - private void configAngleMotor(){ - mAngleMotor.configAllSettings(Robot.ctreConfigs.swerveAngleFXConfig); - mAngleMotor.setInverted(Constants.SwerveConstants.angleMotorInvert); - mAngleMotor.setNeutralMode(Constants.SwerveConstants.angleNeutralMode); - resetToAbsolute(); - } - - private void configDriveMotor(){ - mDriveMotor.configFactoryDefault(); - mDriveMotor.configAllSettings(Robot.ctreConfigs.swerveDriveFXConfig); - mDriveMotor.setInverted(Constants.SwerveConstants.driveMotorInvert); - mDriveMotor.setNeutralMode(Constants.SwerveConstants.driveNeutralMode); - mDriveMotor.setSelectedSensorPosition(0); - } - - public SwerveModuleState getState(){ - return new SwerveModuleState( - Conversions.falconToMPS(mDriveMotor.getSelectedSensorVelocity(), Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio), - getAngle() - ); - } - - //added by Yanda to try to debug the drifting by comparing actual bus voltage. - public double getDriveBusVoltage(){ - return mDriveMotor.getBusVoltage(); - } - - public SwerveModulePosition getPosition(){ - return new SwerveModulePosition( - Conversions.falconToMeters(mDriveMotor.getSelectedSensorPosition(), Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio), - getAngle() - ); - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java index 7481d3c..282c40c 100644 --- a/src/main/java/frc/robot/commands/ExampleCommand.java +++ b/src/main/java/frc/robot/commands/ExampleCommand.java @@ -10,7 +10,7 @@ /** An example command that uses an example subsystem. */ public class ExampleCommand extends Command { @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) - private final ExampleSubsystem m_subsystem; + //private final ExampleSubsystem m_subsystem; /** * Creates a new ExampleCommand. @@ -18,7 +18,7 @@ public class ExampleCommand extends Command { * @param subsystem The subsystem used by this command. */ public ExampleCommand(ExampleSubsystem subsystem) { - m_subsystem = subsystem; + //m_subsystem = subsystem; // Use addRequirements() here to declare subsystem dependencies. addRequirements(subsystem); } diff --git a/src/main/java/frc/robot/commands/TeleopDriveCommand.java b/src/main/java/frc/robot/commands/TeleopDriveCommand.java new file mode 100644 index 0000000..1bdef5b --- /dev/null +++ b/src/main/java/frc/robot/commands/TeleopDriveCommand.java @@ -0,0 +1,72 @@ +package frc.robot.commands; + +import edu.wpi.first.math.filter.SlewRateLimiter; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.lib.util.Controller; +import frc.robot.RobotContainer; +import frc.robot.Constants.DriveConstants; +import frc.robot.subsystems.DrivetrainSubsystem; + +public class TeleopDriveCommand extends Command { + protected DrivetrainSubsystem m_drivetrainSubsystem; + + public TeleopDriveCommand(DrivetrainSubsystem m_drivetrainSubsystem) { + this.m_drivetrainSubsystem = m_drivetrainSubsystem; + addRequirements(m_drivetrainSubsystem); + m_controller = RobotContainer.getController(); + } + + @Override + public void execute() { + driveWithJoystick(); + } + + protected final Controller m_controller; + + //limit accel/deccel + protected SlewRateLimiter driveXFilter = new SlewRateLimiter(10); + protected SlewRateLimiter driveYFilter = new SlewRateLimiter(10); + protected SlewRateLimiter rotFilter = new SlewRateLimiter(30); + + public void driveWithJoystick() { + // get joystick input for drive + var xSpeed = -modifyAxis(m_controller.getLeftY()) * DriveConstants.kMaxSpeedMetersPerSecond; + var ySpeed = -modifyAxis(m_controller.getLeftX()) * DriveConstants.kMaxSpeedMetersPerSecond; + var rot = -modifyAxis(m_controller.getRightX()*0.7) * DriveConstants.kMaxAngularSpeedRadiansPerSecond; + + SmartDashboard.putNumber("xSpeed", xSpeed); + SmartDashboard.putNumber("ySpeed", ySpeed); + SmartDashboard.putNumber("rotSpeed", rot/3.14159*180); + + + //rotFilter.calculate + m_drivetrainSubsystem.drive(ChassisSpeeds.fromFieldRelativeSpeeds(driveXFilter.calculate(xSpeed), driveYFilter.calculate(ySpeed), + rotFilter.calculate(rot), m_drivetrainSubsystem.getGyroscopeRotation())); + /*m_drivetrainSubsystem.drive(new ChassisSpeeds(driveXFilter.calculate(xSpeed), driveYFilter.calculate(ySpeed), + rotFilter.calculate(rot)));*/ + } + + public static double applyDeadband(double value, double deadband) { + if (Math.abs(value) > deadband) { + if (value > 0.0) { + return (value - deadband) / (1.0 - deadband); + } else { + return (value + deadband) / (1.0 - deadband); + } + } else { + return 0.0; + } + } + + protected static double modifyAxis(double value) { + // Deadband + value = applyDeadband(value, 0.1); + + // Square the axis + value = Math.copySign(value, value); + + return value; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ClimbSubsystem.java b/src/main/java/frc/robot/subsystems/ClimbSubsystem.java new file mode 100644 index 0000000..71e2a17 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ClimbSubsystem.java @@ -0,0 +1,19 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class ClimbSubsystem extends SubsystemBase { + + private static ClimbSubsystem instance = null; + + public static ClimbSubsystem getInstance(){ + if(instance == null){ + instance = new ClimbSubsystem(); + } + return instance; + } + @Override + public void periodic(){ + + } +} diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java new file mode 100644 index 0000000..368187c --- /dev/null +++ b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java @@ -0,0 +1,271 @@ +package frc.robot.subsystems; + +import com.kauailabs.navx.frc.AHRS; +import com.swervedrivespecialties.swervelib.Mk4ModuleConfiguration; +import com.swervedrivespecialties.swervelib.Mk4SwerveModuleHelper; +import com.swervedrivespecialties.swervelib.SwerveModule; + +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +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.SwerveDriveOdometry; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.SPI; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.Ports; +import frc.robot.commands.TeleopDriveCommand; +import frc.robot.Constants; +import frc.robot.Constants.DriveConstants; + +public class DrivetrainSubsystem extends SubsystemBase { + + private static DrivetrainSubsystem instance = null; + private static double expectedVelocity; + // FIXME Measure the drivetrain's maximum velocity or calculate the theoretical. + // The formula for calculating the theoretical maximum velocity is: + // / 60 * * * pi + // By default this value is setup for a Mk3 standard module using Falcon500s to drive. + // An example of this constant for a Mk4 L2 module with NEOs to drive is: + // 5880.0 / 60.0 / SdsModuleConfigurations.MK4_L2.getDriveReduction() * SdsModuleConfigurations.MK4_L2.getWheelDiameter() * Math.PI + private final SwerveDriveOdometry m_odometry; + private final SimpleMotorFeedforward m_feedforward; + // These are our modules. We initialize them in the constructor. + private final SwerveModule m_frontLeftModule; + private final SwerveModule m_frontRightModule; + private final SwerveModule m_backLeftModule; + private final SwerveModule m_backRightModule; + + private ChassisSpeeds m_chassisSpeeds = new ChassisSpeeds(0.0, 0.0, 0.0); + private Field2d m_field = new Field2d(); + private Field2d m_hub = new Field2d(); + + private final AHRS m_navx = new AHRS(SPI.Port.kMXP, (byte) 200); // NavX connected over MXP + + public DrivetrainSubsystem() { + setDefaultCommand(new TeleopDriveCommand(this)); + + SmartDashboard.putData(m_field); + //SmartDashboard.putData(m_hub); + //ShuffleboardTab tab = Shuffleboard.getTab("Drivetrain"); + + Mk4ModuleConfiguration driveConfiguration = new Mk4ModuleConfiguration(); + driveConfiguration.setDriveCurrentLimit(40); + m_frontLeftModule = Mk4SwerveModuleHelper.createFalcon500( + // This parameter is optional, but will allow you to see the current state of the module on the dashboard. + // tab.getLayout("Front Left Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(0, 0), + // This can either be STANDARD or FAST depending on your gear configuration + driveConfiguration, + Mk4SwerveModuleHelper.GearRatio.L2, + // Port ID of drive motor, steer motor, steer encoder offset + Ports.FRONT_LEFT_DRIVE, Ports.FRONT_LEFT_STEER, + Ports.FRONT_LEFT_STEER_ENCODER, Ports.FRONT_LEFT_OFFSET); + // Steer Encoder Offset: This is how much the steer encoder is offset from true zero (In our case, zero is facing straight forward) + + + // We will do the same for the other modules + m_frontRightModule = Mk4SwerveModuleHelper.createFalcon500( + //tab.getLayout("Front Right Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(2, 0), + driveConfiguration, + Mk4SwerveModuleHelper.GearRatio.L2, Ports.FRONT_RIGHT_DRIVE, Ports.FRONT_RIGHT_STEER, + Ports.FRONT_RIGHT_STEER_ENCODER, Ports.FRONT_RIGHT_OFFSET); + + m_backLeftModule = Mk4SwerveModuleHelper.createFalcon500( + //tab.getLayout("Back Left Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(4, 0), + driveConfiguration, + Mk4SwerveModuleHelper.GearRatio.L2, Ports.BACK_LEFT_DRIVE, Ports.BACK_LEFT_STEER, + Ports.BACK_LEFT_STEER_ENCODER, Ports.BACK_LEFT_OFFSET); + + m_backRightModule = Mk4SwerveModuleHelper.createFalcon500( + //tab.getLayout("Back Right Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(6, 0), + driveConfiguration, + Mk4SwerveModuleHelper.GearRatio.L2, Ports.BACK_RIGHT_DRIVE, Ports.BACK_RIGHT_STEER, + Ports.BACK_RIGHT_STEER_ENCODER, Ports.BACK_RIGHT_OFFSET); + + m_odometry = new SwerveDriveOdometry(DriveConstants.kDriveKinematics, getGyroscopeRotation(), getModulePositions()); + m_feedforward = new SimpleMotorFeedforward(DriveConstants.ksVolts, DriveConstants.kvVoltSecondsPerMeter, DriveConstants.kaVoltSecondsSquaredPerMeter); + } + + public static double normalize(double deg) { + double angle = deg % 360; + if (angle < -180) { + angle = 180 - (Math.abs(angle) - 180); + } else if (angle > 180) { + angle = -180 + (Math.abs(angle) - 180); + } + return angle; + } + + public Field2d getField() { + return m_field; + } + public void setHubPosition(double hubX, double hubY){ + m_hub.setRobotPose(hubX, hubY, new Rotation2d(0)); + } + + //sets Gyroscope to 0 + public void zeroGyroscope() { + m_navx.zeroYaw(); + } + + public Rotation2d getGyroscopeRotation() { + return Rotation2d.fromDegrees(normalize(-m_navx.getAngle())); + } + + public Pose2d getPose() { + return m_odometry.getPoseMeters(); + } + + //resets to 0,0 + public void resetOdometry() { + m_navx.reset(); + m_navx.setAngleAdjustment(0); + m_odometry.resetPosition(new Rotation2d(0), getModulePositions(), new Pose2d()); + } + + //resets to start position (for blue four/five ball auto) + public void resetFromStart() { + final double startX = 7.82; + final double startY = 2.97; + final double startRot = -111; + resetOdometryFromPosition(startX, startY, startRot); + } + + //resets from offset + public void resetOdometryFromPosition(double x, double y, double rot) { + m_navx.reset(); + m_navx.setAngleAdjustment(-rot); + m_odometry.resetPosition( new Rotation2d(rot), new SwerveModulePosition[] {}, new Pose2d(x, y, new Rotation2d(rot))); + } + + //resets from offset + public void resetOdometryFromPosition(double x, double y) { + m_odometry.resetPosition( getGyroscopeRotation(), new SwerveModulePosition[] {}, new Pose2d(x, y, getGyroscopeRotation())); + } + + public void resetOdometryFromPosition(Pose2d pose) { + m_navx.reset(); + m_navx.setAngleAdjustment(-pose.getRotation().getDegrees()); + m_odometry.resetPosition(pose.getRotation(), new SwerveModulePosition[] {}, pose); + } + + public void resetOdometryFromReference() { + Translation2d current = getPose().getTranslation(); + double minError = 100d; + Translation2d newPos = null; + for (Translation2d ref : Constants.kReferenceTranslations) { + double errorX = Math.abs(ref.getX() - current.getX()); + double errorY = Math.abs(ref.getY() - current.getY()); + double error = Math.sqrt(Math.pow(errorX, 2) + Math.pow(errorY, 2)); + if (error < minError) { + newPos = ref; + minError = error; + } + } + resetOdometryFromPosition(new Pose2d(newPos, getGyroscopeRotation())); + } + + public SwerveModulePosition[] getModulePositions() + { + // TODO: Get module positions + return new SwerveModulePosition[] {}; + } + + public void drive(ChassisSpeeds chassisSpeeds) { + m_chassisSpeeds = chassisSpeeds; + } + + public boolean getNavxConnected() { + return m_navx.isConnected(); + } + + public double getRealVelocity() { + //FIND BETTER WAY TO DO THIS + //averaging module speeds + return (m_frontLeftModule.getDriveVelocity() + m_frontRightModule.getDriveVelocity() + + m_backLeftModule.getDriveVelocity() + m_backRightModule.getDriveVelocity()) / 4; + } + + public double getExpectedVelocity() { + return expectedVelocity; + } + + @Override + public void periodic() { + applyDrive(); + SmartDashboard.putNumber("Rotation", getGyroscopeRotation().getDegrees()); + SmartDashboard.putBoolean("IsCalibrating", m_navx.isCalibrating()); + SmartDashboard.putNumber("front left angle", m_frontLeftModule.getSteerAngle()); + SmartDashboard.putNumber("front right angle", m_frontRightModule.getSteerAngle()); + SmartDashboard.putNumber("back left angle", m_backLeftModule.getSteerAngle()); + SmartDashboard.putNumber("back right angle", m_backRightModule.getSteerAngle()); + + /*SmartDashboard.putNumber("FLSteer", RobotContainer.getPDP().getCurrent(4)); + SmartDashboard.putNumber("FLDrive", RobotContainer.getPDP().getCurrent(6)); + SmartDashboard.putNumber("BLSteer", RobotContainer.getPDP().getCurrent(5)); + SmartDashboard.putNumber("BLDrive", RobotContainer.getPDP().getCurrent(7)); + SmartDashboard.putNumber("FRSteer", RobotContainer.getPDP().getCurrent(15)); + SmartDashboard.putNumber("FRDrive", RobotContainer.getPDP().getCurrent(13)); + SmartDashboard.putNumber("BRDrive", RobotContainer.getPDP().getCurrent(12)); + SmartDashboard.putNumber("BRSteer", RobotContainer.getPDP().getCurrent(14));*/ + + } + + public void applyDrive() { + SwerveModuleState[] states = DriveConstants.kDriveKinematics.toSwerveModuleStates(m_chassisSpeeds); + SwerveDriveKinematics.desaturateWheelSpeeds(states, DriveConstants.kMaxSpeedMetersPerSecond); + + m_frontLeftModule.set(getVoltageByVelocity(states[0].speedMetersPerSecond), states[0].angle.getRadians()); + m_frontRightModule.set(getVoltageByVelocity(states[1].speedMetersPerSecond), states[1].angle.getRadians()); + m_backLeftModule.set(getVoltageByVelocity(states[2].speedMetersPerSecond), states[2].angle.getRadians()); + m_backRightModule.set(getVoltageByVelocity(states[3].speedMetersPerSecond), states[3].angle.getRadians()); + // m_frontLeftModule.set(states[0].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE , states[0].angle.getRadians()); + // m_frontRightModule.set(states[1].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE, states[1].angle.getRadians()); + // m_backLeftModule.set(states[2].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE, states[2].angle.getRadians()); + // m_backRightModule.set(states[3].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE, states[3].angle.getRadians()); + + //if (DriverStation.isAutonomous()) { + m_odometry.update(getGyroscopeRotation(), getModulePositions()); + + Pose2d pose = m_odometry.getPoseMeters(); + + SmartDashboard.putNumber("X Position", pose.getTranslation().getX()); + SmartDashboard.putNumber("Y Position", pose.getTranslation().getY()); + + m_field.setRobotPose(pose); + //} + } + + public double getVoltageByVelocity(double targetVelocity) { + return m_feedforward.calculate(targetVelocity * DriveConstants.kVelocityGain); + } + + + public static double distanceFromHub(double targetX, double targetY){ + return calculateDistance( + DrivetrainSubsystem.getInstance().getPose().getX(), DrivetrainSubsystem.getInstance().getPose().getY(), targetX,targetY); + } + public static double calculateDistance(double x1, double y1, double x2, double y2){ + return Math.sqrt(Math.pow(x1-x2,2) + Math.pow(y1-y2,2)); + } + + public static double findAngle(Pose2d currentPose, double toX, double toY, double offsetDeg){ + double deltaY = (toY - currentPose.getY()); + double deltaX = (toX - currentPose.getX()); + + double absolute = Math.toDegrees(Math.atan2(deltaY, deltaX)); + return normalize(absolute + offsetDeg); + } + + public static DrivetrainSubsystem getInstance(){ + if(instance == null){ + instance = new DrivetrainSubsystem(); + } + return instance; + } +} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java new file mode 100644 index 0000000..447e713 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -0,0 +1,53 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.signals.NeutralModeValue; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.lib.drivers.LazyTalonFX; +import frc.lib.drivers.TalonFXFactory; +import frc.robot.Constants; +import frc.robot.Constants.Ports; + +public class ShooterSubsystem extends SubsystemBase { + + private static ShooterSubsystem instance = null; + public static ShooterSubsystem getInstance() { + if(instance == null){ + instance = new ShooterSubsystem(); + } + return instance; + } + + private final LazyTalonFX mMasterMotor, mFollowerMotor; + + private ShooterSubsystem() { + mMasterMotor = TalonFXFactory.createDefaultFalcon("Master Shooter Motor", Ports.MASTER_SHOOTER_MOTOR); + configureMotor(mMasterMotor, true); + mFollowerMotor = TalonFXFactory.createSlaveFalcon("Follower Shooter Motor", Ports.FOLLOW_SHOOTER_MOTOR, mMasterMotor); + mFollowerMotor.setLeader(mMasterMotor); + configureMotor(mFollowerMotor, false); + //setMultipleStatuFramePeriod(); + } + + PIDController shooterController; + + private void configureMotor(LazyTalonFX talon, boolean b){ + talon.setInverted(b); + talon.setControl(new VoltageOut(12.0)); + talon.setNeutralMode(NeutralModeValue.Coast); + //talon.config_kF(0.05, Constants.kTimeOutMs); + talon.config_kP(0.12, Constants.kTimeOutMs); + talon.config_kI(0, Constants.kTimeOutMs); + talon.config_kD(0, Constants.kTimeOutMs); + } + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java deleted file mode 100644 index e0b075d..0000000 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ /dev/null @@ -1,7 +0,0 @@ -package frc.robot.subsystems; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class Swerve extends SubsystemBase { - -} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..0f3520e --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.0", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.2.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.0", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.0", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/SdsSwerveLib.json b/vendordeps/SdsSwerveLib.json new file mode 100644 index 0000000..70f663f --- /dev/null +++ b/vendordeps/SdsSwerveLib.json @@ -0,0 +1,20 @@ +{ + "fileName": "SdsSwerveLib.json", + "name": "swerve-lib", + "version": "1.1.0", + "frcYear": 2024, + "uuid": "9619F7EA-7F96-4236-9D94-02338DFED592", + "mavenUrls": [ + "https://jitpack.io" + ], + "jsonUrl": "https://raw.githubusercontent.com/SwerveDriveSpecialties/swerve-lib/master/SdsSwerveLib.json", + "javaDependencies": [ + { + "groupId": "com.github.SwerveDriveSpecialties", + "artifactId": "swerve-lib", + "version": "1.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json new file mode 100644 index 0000000..db560b5 --- /dev/null +++ b/vendordeps/navx_frc.json @@ -0,0 +1,36 @@ +{ + "fileName": "navx_frc.json", + "name": "KauaiLabs_navX_FRC", + "version": "4.0.447", + "frcYear": 2024, + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://repo1.maven.org/maven2/" + ], + "jsonUrl": "https://www.kauailabs.com/dist/frc/2022/navx_frc.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-java", + "version": "4.0.447" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-cpp", + "version": "4.0.447", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file From 05a3b802b420bba24be91229f194b5b6201475ea Mon Sep 17 00:00:00 2001 From: Ryan Lin Date: Sun, 7 Jan 2024 14:23:41 -0800 Subject: [PATCH 06/37] Removed unnecessary imports --- src/main/java/frc/robot/SwerveModule.java | 3 --- src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java index 099ab6d..80f7778 100644 --- a/src/main/java/frc/robot/SwerveModule.java +++ b/src/main/java/frc/robot/SwerveModule.java @@ -8,12 +8,10 @@ swerve module objects, used by the swerve drivetrain library we use (team 364) 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.wpilibj.DutyCycle; import frc.lib.math.Conversions; import frc.lib.util.CTREModuleState; import frc.lib.util.SwerveModuleConstants; -import com.ctre.phoenix6.controls.ControlRequest; import com.ctre.phoenix6.controls.DutyCycleOut; import com.ctre.phoenix6.controls.PositionDutyCycle; import com.ctre.phoenix6.controls.PositionVoltage; @@ -22,7 +20,6 @@ swerve module objects, used by the swerve drivetrain library we use (team 364) import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.ControlModeValue; public class SwerveModule { diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java index 368187c..3f44a58 100644 --- a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java @@ -27,7 +27,7 @@ public class DrivetrainSubsystem extends SubsystemBase { private static DrivetrainSubsystem instance = null; private static double expectedVelocity; - // FIXME Measure the drivetrain's maximum velocity or calculate the theoretical. + // TODO: Measure the drivetrain's maximum velocity or calculate the theoretical. // The formula for calculating the theoretical maximum velocity is: // / 60 * * * pi // By default this value is setup for a Mk3 standard module using Falcon500s to drive. From 53af6301dbcd432efc1c24700a86d98ddb4f4daa Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Sun, 7 Jan 2024 20:22:45 -0800 Subject: [PATCH 07/37] Revert "import code from old repo" This reverts commit 81ef873e67b1312014ec3b2e4a830f6fe0289d90. --- .../java/frc/lib/drivers/LazyTalonFX.java | 95 ------ .../java/frc/lib/drivers/TalonFXFactory.java | 142 --------- .../lib/util/COTSFalconSwerveConstants.java | 4 +- src/main/java/frc/lib/util/Controller.java | 52 ---- src/main/java/frc/robot/Constants.java | 114 ++------ src/main/java/frc/robot/RobotContainer.java | 19 -- .../robot/commands/TeleopDriveCommand.java | 72 ----- .../frc/robot/subsystems/ClimbSubsystem.java | 19 -- .../robot/subsystems/DrivetrainSubsystem.java | 271 ------------------ .../robot/subsystems/ShooterSubsystem.java | 53 ---- vendordeps/REVLib.json | 74 ----- vendordeps/SdsSwerveLib.json | 20 -- vendordeps/navx_frc.json | 36 --- 13 files changed, 25 insertions(+), 946 deletions(-) delete mode 100644 src/main/java/frc/lib/drivers/LazyTalonFX.java delete mode 100644 src/main/java/frc/lib/drivers/TalonFXFactory.java delete mode 100644 src/main/java/frc/lib/util/Controller.java delete mode 100644 src/main/java/frc/robot/commands/TeleopDriveCommand.java delete mode 100644 src/main/java/frc/robot/subsystems/ClimbSubsystem.java delete mode 100644 src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java delete mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java delete mode 100644 vendordeps/REVLib.json delete mode 100644 vendordeps/SdsSwerveLib.json delete mode 100644 vendordeps/navx_frc.json diff --git a/src/main/java/frc/lib/drivers/LazyTalonFX.java b/src/main/java/frc/lib/drivers/LazyTalonFX.java deleted file mode 100644 index 435d049..0000000 --- a/src/main/java/frc/lib/drivers/LazyTalonFX.java +++ /dev/null @@ -1,95 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc.lib.drivers; - -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.hardware.TalonFX; - -public class LazyTalonFX extends TalonFX { - - protected double mLastSet = Double.NaN; - // Control mode no longer uses enums. - //protected TalonFXControlMode mLastControlMode = null; - - private String mName; - - protected LazyTalonFX mLeader = null; - protected Slot0Configs mConfigs; - - public LazyTalonFX(String name, int deviceID) { - super(deviceID); - mName = name; - mConfigs = new Slot0Configs(); - super.getConfigurator().apply(mConfigs); - } - - public double getLastSet() { - return mLastSet; - } - - public void setName(String name) { - mName = name; - } - - public String getName() { - return mName; - } - - public LazyTalonFX getLeader() { - return mLeader; - } - - public void setLeader(final LazyTalonFX leader) { - mLeader = leader; - super.setControl(new Follower(leader.getDeviceID(), false)); - } - - public void config_kP(double p, double timeout) { - mConfigs.kP = p; - - super.getConfigurator().refresh(mConfigs); - } - - public void config_kI(double i, double timeout) { - mConfigs.kI = i; - - super.getConfigurator().refresh(mConfigs); - } - - public void config_kD(double d, double timeout) { - mConfigs.kD = d; - - super.getConfigurator().refresh(mConfigs); - } - - public void config_kV(double v, double timeout) { - mConfigs.kV = v; - - super.getConfigurator().refresh(mConfigs); - } - - public void clearLeader() { - mLeader = null; - super.setControl(_emptyControl); - } - - @Override - public void set(double value) { - if(value != mLastSet) { - mLastSet = value; - super.set(value); - } - } - - @Override - public String toString() { - return getName() + " -> Output Power: " + mLastSet; - } - -} \ No newline at end of file diff --git a/src/main/java/frc/lib/drivers/TalonFXFactory.java b/src/main/java/frc/lib/drivers/TalonFXFactory.java deleted file mode 100644 index a9588ba..0000000 --- a/src/main/java/frc/lib/drivers/TalonFXFactory.java +++ /dev/null @@ -1,142 +0,0 @@ -// TODO: Migrate TalonFXFactory.java to Phoenix 6 - -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and BACK_RIGHTared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc.lib.drivers; - -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.DutyCycleOut; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; - -import frc.robot.Constants; - -public class TalonFXFactory { - - public final static double kTimeoutMs = Constants.kTimeOutMs; - - public static class Configuration { - public NeutralModeValue NEUTRAL_MODE = NeutralModeValue.Coast; - public double NEUTRAL_DEADBAND = 0.04; - - public double OPEN_LOOP_RAMP_RATE = 0.0; - public double CLOSED_LOOP_RAMP_RATE = 0.0; - - public InvertedValue INVERTED = InvertedValue.Clockwise_Positive; - - //public TalonFXFeedbackDevice DEVICE = TalonFXFeedbackDevice.IntegratedSensor; - - public double INPUT_CURRENT_LIMIT = 20; - public double OUTPUT_CURRENT_LIMIT = 20; - - //public MotorCommutation COMMUTATION = MotorCommutation.Trapezoidal; - - //public SensorInitializationStrategy INITIALIZATION_STRATEGY = SensorInitializationStrategy.BootToZero; - public boolean SENSOR_PHASE = false; - public double SENSOR_FEEDBACK_COEFFECIENT = 1; // TODO: Calculate new values for ratio. - //OLD: for gear reduction x (input) -> y (output), coeffecient = 256 * x / Math.PI * y; - - public int CONTROL_FRAME_PERIOD_MS = 5; - public int MOTION_CONTROL_FRAME_PERIOD_MS = 100; - public int GENERAL_STATUS_FRAME_RATE_MS = 5; - public int FEEDBACK_STATUS_FRAME_RATE_MS = 100; - public int QUAD_ENCODER_STATUS_FRAME_RATE_MS = 1000; - public int ANALOG_TEMP_VBAT_STATUS_FRAME_RATE_MS = 1000; - public int PULSE_WIDTH_STATUS_FRAME_RATE_MS = 1000; - - //public VelocityMeasPeriod VELOCITY_MEASUREMENT_PERIOD = VelocityMeasPeriod.Period_100Ms; - public int VELOCITY_MEASUREMENT_ROLLING_WINDOW = 64; - - } - - private static Configuration kDefaultConfiguration = new Configuration(); - private static Configuration kSlaveConfiguration = new Configuration(); - - static { - kSlaveConfiguration.CONTROL_FRAME_PERIOD_MS = 25; - kSlaveConfiguration.MOTION_CONTROL_FRAME_PERIOD_MS = 1000; - kSlaveConfiguration.GENERAL_STATUS_FRAME_RATE_MS = 35; - kSlaveConfiguration.FEEDBACK_STATUS_FRAME_RATE_MS = 1000; - kSlaveConfiguration.QUAD_ENCODER_STATUS_FRAME_RATE_MS = 1000; - kSlaveConfiguration.ANALOG_TEMP_VBAT_STATUS_FRAME_RATE_MS = 5000; - kSlaveConfiguration.PULSE_WIDTH_STATUS_FRAME_RATE_MS = 1000; - // kSlaveConfiguration.DEVICE = TalonFXFeedbackDevice.None; - } - - public static LazyTalonFX createDefaultFalcon(String name, int deviceID) { - return createFalcon(name, deviceID, kDefaultConfiguration); - } - - public static LazyTalonFX createSlaveFalcon(String name, int deviceID, LazyTalonFX leader) { - final LazyTalonFX falcon = createFalcon(name, deviceID, kSlaveConfiguration); - falcon.setLeader(leader); - return falcon; - } - - public static LazyTalonFX createFalcon(String name, int deviceID, Configuration config) { - LazyTalonFX falcon = new LazyTalonFX(name, deviceID); - falcon.setControl(new DutyCycleOut(0.0)); - - TalonFXConfiguration configs = new TalonFXConfiguration(); - - //falcon.changeMotionControlFramePeriod(config.MOTION_CONTROL_FRAME_PERIOD_MS); - //falcon.clearMotionProfileHasUnderrun(); - //falcon.clearMotionProfileTrajectories(); - configs.MotorOutput.withDutyCycleNeutralDeadband(config.NEUTRAL_DEADBAND); - - //PheonixUtil.checkError(falcon.configNeutralDeadband(), name + - // " failed to configure neutral deadband on init", false); - - configs.MotorOutput.withPeakReverseDutyCycle(-1.0); - configs.MotorOutput.withPeakForwardDutyCycle(1.0); - //falcon.configNominalOutputForward(0.0); - //falcon.configNominalOutputReverse(0.0); - - //falcon.configVoltageCompSaturation(0.0); - //falcon.configVoltageMeasurementFilter(32); - //falcon.enableVoltageCompensation(false); - - //falcon.selectProfileSlot(0, 0); - - configs.CurrentLimits.StatorCurrentLimit = config.OUTPUT_CURRENT_LIMIT; - configs.CurrentLimits.StatorCurrentLimitEnable = true; - configs.CurrentLimits.SupplyCurrentLimit = config.OUTPUT_CURRENT_LIMIT; - configs.CurrentLimits.SupplyCurrentLimitEnable = true; - - // PheonixUtil.checkError(falcon.configVelocityMeasurementPeriod(config.VELOCITY_MEASUREMENT_PERIOD, kTimeoutMs), name + - // " failed to set velocity meas. period on init", true); - - // PheonixUtil.checkError(falcon.configVelocityMeasurementWindow(config.VELOCITY_MEASUREMENT_ROLLING_WINDOW, kTimeoutMs), name + - // " failed to set velocity measurement window on init", true); - - falcon.clearStickyFaults(); - - /*PheonixUtil.checkError(falcon.configSelectedFeedbackSensor(config.DEVICE, 0, kTimeoutMs), - name + " failed to set feedback sensor on init", true);*/ - - // - configs.Feedback.SensorToMechanismRatio = config.SENSOR_FEEDBACK_COEFFECIENT; - - // Possibly related to configs.configs.OpenLoopRamps.DutyCycleOpenLoopRampPeriod. - // PheonixUtil.checkError(falcon.configOpenloopRamp(config.OPEN_LOOP_RAMP_RATE, kTimeoutMs), - // name + " failed to set open loop ramp rate on init", true); - - // PheonixUtil.checkError(falcon.configClosedloopRamp(config.CLOSED_LOOP_RAMP_RATE, kTimeoutMs), - // name + " failed to set closed loop ramp rate on init", true); - - configs.SoftwareLimitSwitch.ForwardSoftLimitEnable = false; - configs.SoftwareLimitSwitch.ReverseSoftLimitEnable = false; - - configs.MotorOutput.Inverted = config.INVERTED; - - //falcon.setSensorPhase(config.SENSOR_PHASE); - - return falcon; - } - -} \ No newline at end of file diff --git a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java index 1848de4..736d3f7 100644 --- a/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java +++ b/src/main/java/frc/lib/util/COTSFalconSwerveConstants.java @@ -68,7 +68,7 @@ public static COTSFalconSwerveConstants SDSMK4(double driveGearRatio){ double angleKD = 0.0; double angleKF = 0.0; - InvertedValue driveMotorInvert = InvertedValue.Clockwise_Positive; + InvertedValue driveMotorInvert = InvertedValue.CounterClockwise_Positive; InvertedValue angleMotorInvert = InvertedValue.Clockwise_Positive; SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); @@ -87,7 +87,7 @@ public static COTSFalconSwerveConstants SDSMK4i(double driveGearRatio){ double angleKF = 0.0; InvertedValue driveMotorInvert = InvertedValue.Clockwise_Positive; - InvertedValue angleMotorInvert = InvertedValue.Clockwise_Positive; + InvertedValue angleMotorInvert = InvertedValue.CounterClockwise_Positive; SensorDirectionValue canCoderInvert = SensorDirectionValue.Clockwise_Positive; return new COTSFalconSwerveConstants(wheelDiameter, angleGearRatio, driveGearRatio, angleKP, angleKI, angleKD, angleKF, driveMotorInvert, angleMotorInvert, canCoderInvert); } diff --git a/src/main/java/frc/lib/util/Controller.java b/src/main/java/frc/lib/util/Controller.java deleted file mode 100644 index d26871e..0000000 --- a/src/main/java/frc/lib/util/Controller.java +++ /dev/null @@ -1,52 +0,0 @@ -package frc.lib.util; - -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj2.command.button.Trigger; - -public class Controller { - private XboxController xbox; - // private static final byte DPAD_U_PORT = -1; - // private static final byte DPAD_D_PORT = -3; - // private static final byte DPAD_L_PORT = -4; - // private static final byte DPAD_R_PORT = -2; - private Trigger a, b, x, y, rb, lb, lstick, rstick, back, start; - // private POVButton up, down, left, right; - public Controller(XboxController xbox){ - this.xbox = xbox; - a = new Trigger(xbox::getAButton); - b = new Trigger(xbox::getBButton); - x = new Trigger(xbox::getXButton); - y = new Trigger(xbox::getYButton); - lb = new Trigger(xbox::getLeftBumper); - rb = new Trigger(xbox::getRightBumper); - lstick = new Trigger(xbox::getLeftStickButton); - rstick = new Trigger(xbox::getRightStickButton); - back = new Trigger(xbox::getBackButton); - start = new Trigger(xbox::getStartButton); - } - - public boolean getDpadUp(){ return xbox.getPOV() == 0; } - public boolean getDpadUpRight(){ return xbox.getPOV() > 15 && xbox.getPOV() < 75; } - public boolean getDpadRight(){ return xbox.getPOV() == 90;} - public boolean getDpadDown(){ return xbox.getPOV() == 180;} - public boolean getDpadLeft(){ return xbox.getPOV() == 270;} - - public double getRightTriggerAxis(){ return xbox.getRightTriggerAxis();} - public double getLeftTriggerAxis(){ return xbox.getLeftTriggerAxis();} - - public Trigger getAButton(){ return a;} - public Trigger getBButton(){ return b;} - public Trigger getXButton(){ return x;} - public Trigger getYButton(){ return y;} - public Trigger getLeftBumper(){ return lb;} - public Trigger getRightBumper(){ return rb;} - public Trigger getLeftStickButton(){ return lstick;} - public Trigger getRightStickButton(){ return rstick;} - public Trigger getBackButton(){ return back;} - public Trigger getStartButton(){ return start;} - - public double getLeftX(){ return xbox.getLeftX();} - public double getLeftY(){ return xbox.getLeftY();} - public double getRightX(){ return xbox.getRightX();} - public double getRightY(){ return xbox.getRightY();} -} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index ece316a..3b71f0b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -9,14 +9,16 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; -import com.swervedrivespecialties.swervelib.SdsModuleConfigurations; +import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc.lib.util.COTSFalconSwerveConstants; import frc.lib.util.SwerveModuleConstants; +import frc.lib.util.COTSFalconSwerveConstants; +import frc.lib.util.SwerveModuleConstants; + /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * constants. This class should not be used for any other purpose. All constants should be declared @@ -26,94 +28,29 @@ * constants are needed, to reduce verbosity. */ public final class Constants { + public static final int timeOutMs = 10; + public static final double stickDeadband = 0.15; + public static final double triggerDeadzone = 0.2; + + // hardware ports for all hardware components on the robot + // these include CAN IDs, pneumatic hub ports, etc. + + public static final class HardwarePorts { + // motors (predicted) IDs not fixed + public static final int shooterLeaderMotor = 1; + public static final int shooterFollowerMotor = 2; + public static final int climbLeaderMotor = 3; + public static final int climbFollowerMotor = 4; + + } + + public static final double FIELD_WIDTH_METERS = 8.21055; + public static final double FIELD_LENGTH_METERS = 16.54175; + public static class OperatorConstants { public static final int kDriverControllerPort = 0; } - - //Dummy values, need to find/calculate - public static final List kReferenceTranslations = List.of( - new Translation2d(1, 0), - new Translation2d(3, 3) - ); - - public static final class Ports{ - public static final int MASTER_SHOOTER_MOTOR = 0; - public static final int FOLLOW_SHOOTER_MOTOR = 0; - - public static final int FRONT_LEFT_DRIVE = 2; - public static final int FRONT_LEFT_STEER = 1; - public static final int FRONT_LEFT_STEER_ENCODER = 9; - // public static final double FRONT_LEFT_OFFSET = -Math.toRadians(81.3812255859375); - public static final double FRONT_LEFT_OFFSET = 0; - - public static final int FRONT_RIGHT_DRIVE = 8; - public static final int FRONT_RIGHT_STEER = 7; - public static final int FRONT_RIGHT_STEER_ENCODER = 12; - // public static final double FRONT_RIGHT_OFFSET = -Math.toRadians(303.48358154296875); - public static final double FRONT_RIGHT_OFFSET = 0; - - - public static final int BACK_LEFT_DRIVE = 4; - public static final int BACK_LEFT_STEER = 3; - public static final int BACK_LEFT_STEER_ENCODER = 10; - // public static final double BACK_LEFT_OFFSET = -Math.toRadians(349.26910400390625); - public static final double BACK_LEFT_OFFSET = 0; - - - public static final int BACK_RIGHT_DRIVE = 6; - public static final int BACK_RIGHT_STEER = 5; - public static final int BACK_RIGHT_STEER_ENCODER = 11; - // public static final double BACK_RIGHT_OFFSET = -Math.toRadians(156.5277099609375); - public static final double BACK_RIGHT_OFFSET = 0; - } - public static final double kTimeOutMs = 0.05; // This is a double now in seconds rather than an integer in milliseconds. - - public static final class DriveConstants { - public static final double kTrackWidth = 0.4953; - // Distance between centers of right and left wheels on robot - public static final double kWheelBase = 0.4953; - // Distance between front and back wheels on robot - public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics( - new Translation2d(kWheelBase / 2, kTrackWidth / 2), - new Translation2d(kWheelBase / 2, -kTrackWidth / 2), - new Translation2d(-kWheelBase / 2, kTrackWidth / 2), - new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)); - - public static final boolean kGyroReversed = false; - //Calculated via SysId - public static final double ksVolts = 0.74397; //before 3/1: 70541, 33259, 016433 - public static final double kvVoltSecondsPerMeter = 0.33778; - public static final double kaVoltSecondsSquaredPerMeter = 0.016934; - //Tuned to taste for desired max velocity - public static final double kVelocityGain = 6; - // The maximum voltage that will be delivered to the drive motors. - // This can be reduced to cap the robot's maximum speed. Typically, this is useful during initial testing of the robot. - public static final double kMaxVoltage = 12.0; - // The maximum velocity of the robot in meters per second. - // This is a measure of how fast the robot should be able to drive in a straight line. - public static final double kMaxSpeedMetersPerSecond = - 6380.0 / 60.0 * - SdsModuleConfigurations.MK4_L2.getDriveReduction() * - SdsModuleConfigurations.MK4_L2.getWheelDiameter() * Math.PI; - // need measure on robot - public static final double kMaxAccelerationMetersPerSecondSquared = 10; - //The maximum angular velocity of the robot in radians per second. - //This is a measure of how fast the robot can rotate in place. - // Here we calculate the theoretical maximum angular velocity. You can also replace this with a measured amount. - public static final double kMaxAngularSpeedRadiansPerSecond = kMaxSpeedMetersPerSecond / - Math.hypot(kTrackWidth / 2.0, kWheelBase / 2.0); - - public static final double kMaxAngularSpeedRadiansPerSecondSquared = kMaxAngularSpeedRadiansPerSecond; - - public static final double kpRotation = 0.1; - public static final double kiRotation = 0.0; - public static final double kdRotation = 0; - public static final TrapezoidProfile.Constraints kRotationConstraints = - new TrapezoidProfile.Constraints( - kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared); - } - public static final class SwerveConstants { public static final int pigeonID = 15; @@ -195,11 +132,6 @@ public static final class SwerveConstants { public static final double maxSpeed = 4.5; /** Radians per Second */ public static final double maxAngularVelocity = 7.0; - - /* Neutral Modes */ - public static final NeutralModeValue angleNeutralMode = NeutralModeValue.Brake; - public static final NeutralModeValue driveNeutralMode = NeutralModeValue.Brake; - /* Module Specific Constants - TO BE DONE FOR ARTEMIS*/ /* Front Left Module - Module 0 */ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cc4a1ac..a33249e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,15 +4,10 @@ package frc.robot; -import frc.lib.util.Controller; import frc.robot.Constants.OperatorConstants; import frc.robot.commands.Autos; import frc.robot.commands.ExampleCommand; -import frc.robot.subsystems.ClimbSubsystem; -import frc.robot.subsystems.DrivetrainSubsystem; import frc.robot.subsystems.ExampleSubsystem; -import frc.robot.subsystems.ShooterSubsystem; -import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -31,16 +26,8 @@ public class RobotContainer { private final CommandXboxController m_driverController = new CommandXboxController(OperatorConstants.kDriverControllerPort); - // The robot's subsystems and commands are defined here... - private DrivetrainSubsystem m_drivetrainSubsystem; - private ShooterSubsystem m_shooterSubsystem; - private ClimbSubsystem m_climbSubsystem; - /** The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { - m_drivetrainSubsystem = DrivetrainSubsystem.getInstance(); - m_shooterSubsystem = ShooterSubsystem.getInstance(); - m_climbSubsystem = ClimbSubsystem.getInstance(); // Configure the trigger bindings configureBindings(); } @@ -64,12 +51,6 @@ private void configureBindings() { m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); } - private static final Controller m_controller = new Controller(new XboxController(0)); - - public static Controller getController(){ - return m_controller; - } - /** * Use this to pass the autonomous command to the main {@link Robot} class. * diff --git a/src/main/java/frc/robot/commands/TeleopDriveCommand.java b/src/main/java/frc/robot/commands/TeleopDriveCommand.java deleted file mode 100644 index 1bdef5b..0000000 --- a/src/main/java/frc/robot/commands/TeleopDriveCommand.java +++ /dev/null @@ -1,72 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.math.filter.SlewRateLimiter; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import frc.lib.util.Controller; -import frc.robot.RobotContainer; -import frc.robot.Constants.DriveConstants; -import frc.robot.subsystems.DrivetrainSubsystem; - -public class TeleopDriveCommand extends Command { - protected DrivetrainSubsystem m_drivetrainSubsystem; - - public TeleopDriveCommand(DrivetrainSubsystem m_drivetrainSubsystem) { - this.m_drivetrainSubsystem = m_drivetrainSubsystem; - addRequirements(m_drivetrainSubsystem); - m_controller = RobotContainer.getController(); - } - - @Override - public void execute() { - driveWithJoystick(); - } - - protected final Controller m_controller; - - //limit accel/deccel - protected SlewRateLimiter driveXFilter = new SlewRateLimiter(10); - protected SlewRateLimiter driveYFilter = new SlewRateLimiter(10); - protected SlewRateLimiter rotFilter = new SlewRateLimiter(30); - - public void driveWithJoystick() { - // get joystick input for drive - var xSpeed = -modifyAxis(m_controller.getLeftY()) * DriveConstants.kMaxSpeedMetersPerSecond; - var ySpeed = -modifyAxis(m_controller.getLeftX()) * DriveConstants.kMaxSpeedMetersPerSecond; - var rot = -modifyAxis(m_controller.getRightX()*0.7) * DriveConstants.kMaxAngularSpeedRadiansPerSecond; - - SmartDashboard.putNumber("xSpeed", xSpeed); - SmartDashboard.putNumber("ySpeed", ySpeed); - SmartDashboard.putNumber("rotSpeed", rot/3.14159*180); - - - //rotFilter.calculate - m_drivetrainSubsystem.drive(ChassisSpeeds.fromFieldRelativeSpeeds(driveXFilter.calculate(xSpeed), driveYFilter.calculate(ySpeed), - rotFilter.calculate(rot), m_drivetrainSubsystem.getGyroscopeRotation())); - /*m_drivetrainSubsystem.drive(new ChassisSpeeds(driveXFilter.calculate(xSpeed), driveYFilter.calculate(ySpeed), - rotFilter.calculate(rot)));*/ - } - - public static double applyDeadband(double value, double deadband) { - if (Math.abs(value) > deadband) { - if (value > 0.0) { - return (value - deadband) / (1.0 - deadband); - } else { - return (value + deadband) / (1.0 - deadband); - } - } else { - return 0.0; - } - } - - protected static double modifyAxis(double value) { - // Deadband - value = applyDeadband(value, 0.1); - - // Square the axis - value = Math.copySign(value, value); - - return value; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ClimbSubsystem.java b/src/main/java/frc/robot/subsystems/ClimbSubsystem.java deleted file mode 100644 index 71e2a17..0000000 --- a/src/main/java/frc/robot/subsystems/ClimbSubsystem.java +++ /dev/null @@ -1,19 +0,0 @@ -package frc.robot.subsystems; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class ClimbSubsystem extends SubsystemBase { - - private static ClimbSubsystem instance = null; - - public static ClimbSubsystem getInstance(){ - if(instance == null){ - instance = new ClimbSubsystem(); - } - return instance; - } - @Override - public void periodic(){ - - } -} diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java deleted file mode 100644 index 3f44a58..0000000 --- a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java +++ /dev/null @@ -1,271 +0,0 @@ -package frc.robot.subsystems; - -import com.kauailabs.navx.frc.AHRS; -import com.swervedrivespecialties.swervelib.Mk4ModuleConfiguration; -import com.swervedrivespecialties.swervelib.Mk4SwerveModuleHelper; -import com.swervedrivespecialties.swervelib.SwerveModule; - -import edu.wpi.first.math.controller.SimpleMotorFeedforward; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -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.SwerveDriveOdometry; -import edu.wpi.first.math.kinematics.SwerveModulePosition; -import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.SPI; -import edu.wpi.first.wpilibj.smartdashboard.Field2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.Ports; -import frc.robot.commands.TeleopDriveCommand; -import frc.robot.Constants; -import frc.robot.Constants.DriveConstants; - -public class DrivetrainSubsystem extends SubsystemBase { - - private static DrivetrainSubsystem instance = null; - private static double expectedVelocity; - // TODO: Measure the drivetrain's maximum velocity or calculate the theoretical. - // The formula for calculating the theoretical maximum velocity is: - // / 60 * * * pi - // By default this value is setup for a Mk3 standard module using Falcon500s to drive. - // An example of this constant for a Mk4 L2 module with NEOs to drive is: - // 5880.0 / 60.0 / SdsModuleConfigurations.MK4_L2.getDriveReduction() * SdsModuleConfigurations.MK4_L2.getWheelDiameter() * Math.PI - private final SwerveDriveOdometry m_odometry; - private final SimpleMotorFeedforward m_feedforward; - // These are our modules. We initialize them in the constructor. - private final SwerveModule m_frontLeftModule; - private final SwerveModule m_frontRightModule; - private final SwerveModule m_backLeftModule; - private final SwerveModule m_backRightModule; - - private ChassisSpeeds m_chassisSpeeds = new ChassisSpeeds(0.0, 0.0, 0.0); - private Field2d m_field = new Field2d(); - private Field2d m_hub = new Field2d(); - - private final AHRS m_navx = new AHRS(SPI.Port.kMXP, (byte) 200); // NavX connected over MXP - - public DrivetrainSubsystem() { - setDefaultCommand(new TeleopDriveCommand(this)); - - SmartDashboard.putData(m_field); - //SmartDashboard.putData(m_hub); - //ShuffleboardTab tab = Shuffleboard.getTab("Drivetrain"); - - Mk4ModuleConfiguration driveConfiguration = new Mk4ModuleConfiguration(); - driveConfiguration.setDriveCurrentLimit(40); - m_frontLeftModule = Mk4SwerveModuleHelper.createFalcon500( - // This parameter is optional, but will allow you to see the current state of the module on the dashboard. - // tab.getLayout("Front Left Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(0, 0), - // This can either be STANDARD or FAST depending on your gear configuration - driveConfiguration, - Mk4SwerveModuleHelper.GearRatio.L2, - // Port ID of drive motor, steer motor, steer encoder offset - Ports.FRONT_LEFT_DRIVE, Ports.FRONT_LEFT_STEER, - Ports.FRONT_LEFT_STEER_ENCODER, Ports.FRONT_LEFT_OFFSET); - // Steer Encoder Offset: This is how much the steer encoder is offset from true zero (In our case, zero is facing straight forward) - - - // We will do the same for the other modules - m_frontRightModule = Mk4SwerveModuleHelper.createFalcon500( - //tab.getLayout("Front Right Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(2, 0), - driveConfiguration, - Mk4SwerveModuleHelper.GearRatio.L2, Ports.FRONT_RIGHT_DRIVE, Ports.FRONT_RIGHT_STEER, - Ports.FRONT_RIGHT_STEER_ENCODER, Ports.FRONT_RIGHT_OFFSET); - - m_backLeftModule = Mk4SwerveModuleHelper.createFalcon500( - //tab.getLayout("Back Left Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(4, 0), - driveConfiguration, - Mk4SwerveModuleHelper.GearRatio.L2, Ports.BACK_LEFT_DRIVE, Ports.BACK_LEFT_STEER, - Ports.BACK_LEFT_STEER_ENCODER, Ports.BACK_LEFT_OFFSET); - - m_backRightModule = Mk4SwerveModuleHelper.createFalcon500( - //tab.getLayout("Back Right Module", BuiltInLayouts.kList).withSize(2, 4).withPosition(6, 0), - driveConfiguration, - Mk4SwerveModuleHelper.GearRatio.L2, Ports.BACK_RIGHT_DRIVE, Ports.BACK_RIGHT_STEER, - Ports.BACK_RIGHT_STEER_ENCODER, Ports.BACK_RIGHT_OFFSET); - - m_odometry = new SwerveDriveOdometry(DriveConstants.kDriveKinematics, getGyroscopeRotation(), getModulePositions()); - m_feedforward = new SimpleMotorFeedforward(DriveConstants.ksVolts, DriveConstants.kvVoltSecondsPerMeter, DriveConstants.kaVoltSecondsSquaredPerMeter); - } - - public static double normalize(double deg) { - double angle = deg % 360; - if (angle < -180) { - angle = 180 - (Math.abs(angle) - 180); - } else if (angle > 180) { - angle = -180 + (Math.abs(angle) - 180); - } - return angle; - } - - public Field2d getField() { - return m_field; - } - public void setHubPosition(double hubX, double hubY){ - m_hub.setRobotPose(hubX, hubY, new Rotation2d(0)); - } - - //sets Gyroscope to 0 - public void zeroGyroscope() { - m_navx.zeroYaw(); - } - - public Rotation2d getGyroscopeRotation() { - return Rotation2d.fromDegrees(normalize(-m_navx.getAngle())); - } - - public Pose2d getPose() { - return m_odometry.getPoseMeters(); - } - - //resets to 0,0 - public void resetOdometry() { - m_navx.reset(); - m_navx.setAngleAdjustment(0); - m_odometry.resetPosition(new Rotation2d(0), getModulePositions(), new Pose2d()); - } - - //resets to start position (for blue four/five ball auto) - public void resetFromStart() { - final double startX = 7.82; - final double startY = 2.97; - final double startRot = -111; - resetOdometryFromPosition(startX, startY, startRot); - } - - //resets from offset - public void resetOdometryFromPosition(double x, double y, double rot) { - m_navx.reset(); - m_navx.setAngleAdjustment(-rot); - m_odometry.resetPosition( new Rotation2d(rot), new SwerveModulePosition[] {}, new Pose2d(x, y, new Rotation2d(rot))); - } - - //resets from offset - public void resetOdometryFromPosition(double x, double y) { - m_odometry.resetPosition( getGyroscopeRotation(), new SwerveModulePosition[] {}, new Pose2d(x, y, getGyroscopeRotation())); - } - - public void resetOdometryFromPosition(Pose2d pose) { - m_navx.reset(); - m_navx.setAngleAdjustment(-pose.getRotation().getDegrees()); - m_odometry.resetPosition(pose.getRotation(), new SwerveModulePosition[] {}, pose); - } - - public void resetOdometryFromReference() { - Translation2d current = getPose().getTranslation(); - double minError = 100d; - Translation2d newPos = null; - for (Translation2d ref : Constants.kReferenceTranslations) { - double errorX = Math.abs(ref.getX() - current.getX()); - double errorY = Math.abs(ref.getY() - current.getY()); - double error = Math.sqrt(Math.pow(errorX, 2) + Math.pow(errorY, 2)); - if (error < minError) { - newPos = ref; - minError = error; - } - } - resetOdometryFromPosition(new Pose2d(newPos, getGyroscopeRotation())); - } - - public SwerveModulePosition[] getModulePositions() - { - // TODO: Get module positions - return new SwerveModulePosition[] {}; - } - - public void drive(ChassisSpeeds chassisSpeeds) { - m_chassisSpeeds = chassisSpeeds; - } - - public boolean getNavxConnected() { - return m_navx.isConnected(); - } - - public double getRealVelocity() { - //FIND BETTER WAY TO DO THIS - //averaging module speeds - return (m_frontLeftModule.getDriveVelocity() + m_frontRightModule.getDriveVelocity() + - m_backLeftModule.getDriveVelocity() + m_backRightModule.getDriveVelocity()) / 4; - } - - public double getExpectedVelocity() { - return expectedVelocity; - } - - @Override - public void periodic() { - applyDrive(); - SmartDashboard.putNumber("Rotation", getGyroscopeRotation().getDegrees()); - SmartDashboard.putBoolean("IsCalibrating", m_navx.isCalibrating()); - SmartDashboard.putNumber("front left angle", m_frontLeftModule.getSteerAngle()); - SmartDashboard.putNumber("front right angle", m_frontRightModule.getSteerAngle()); - SmartDashboard.putNumber("back left angle", m_backLeftModule.getSteerAngle()); - SmartDashboard.putNumber("back right angle", m_backRightModule.getSteerAngle()); - - /*SmartDashboard.putNumber("FLSteer", RobotContainer.getPDP().getCurrent(4)); - SmartDashboard.putNumber("FLDrive", RobotContainer.getPDP().getCurrent(6)); - SmartDashboard.putNumber("BLSteer", RobotContainer.getPDP().getCurrent(5)); - SmartDashboard.putNumber("BLDrive", RobotContainer.getPDP().getCurrent(7)); - SmartDashboard.putNumber("FRSteer", RobotContainer.getPDP().getCurrent(15)); - SmartDashboard.putNumber("FRDrive", RobotContainer.getPDP().getCurrent(13)); - SmartDashboard.putNumber("BRDrive", RobotContainer.getPDP().getCurrent(12)); - SmartDashboard.putNumber("BRSteer", RobotContainer.getPDP().getCurrent(14));*/ - - } - - public void applyDrive() { - SwerveModuleState[] states = DriveConstants.kDriveKinematics.toSwerveModuleStates(m_chassisSpeeds); - SwerveDriveKinematics.desaturateWheelSpeeds(states, DriveConstants.kMaxSpeedMetersPerSecond); - - m_frontLeftModule.set(getVoltageByVelocity(states[0].speedMetersPerSecond), states[0].angle.getRadians()); - m_frontRightModule.set(getVoltageByVelocity(states[1].speedMetersPerSecond), states[1].angle.getRadians()); - m_backLeftModule.set(getVoltageByVelocity(states[2].speedMetersPerSecond), states[2].angle.getRadians()); - m_backRightModule.set(getVoltageByVelocity(states[3].speedMetersPerSecond), states[3].angle.getRadians()); - // m_frontLeftModule.set(states[0].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE , states[0].angle.getRadians()); - // m_frontRightModule.set(states[1].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE, states[1].angle.getRadians()); - // m_backLeftModule.set(states[2].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE, states[2].angle.getRadians()); - // m_backRightModule.set(states[3].speedMetersPerSecond / m_driveConstants.kMaxSpeedMetersPerSecond * MAX_VOLTAGE, states[3].angle.getRadians()); - - //if (DriverStation.isAutonomous()) { - m_odometry.update(getGyroscopeRotation(), getModulePositions()); - - Pose2d pose = m_odometry.getPoseMeters(); - - SmartDashboard.putNumber("X Position", pose.getTranslation().getX()); - SmartDashboard.putNumber("Y Position", pose.getTranslation().getY()); - - m_field.setRobotPose(pose); - //} - } - - public double getVoltageByVelocity(double targetVelocity) { - return m_feedforward.calculate(targetVelocity * DriveConstants.kVelocityGain); - } - - - public static double distanceFromHub(double targetX, double targetY){ - return calculateDistance( - DrivetrainSubsystem.getInstance().getPose().getX(), DrivetrainSubsystem.getInstance().getPose().getY(), targetX,targetY); - } - public static double calculateDistance(double x1, double y1, double x2, double y2){ - return Math.sqrt(Math.pow(x1-x2,2) + Math.pow(y1-y2,2)); - } - - public static double findAngle(Pose2d currentPose, double toX, double toY, double offsetDeg){ - double deltaY = (toY - currentPose.getY()); - double deltaX = (toX - currentPose.getX()); - - double absolute = Math.toDegrees(Math.atan2(deltaY, deltaX)); - return normalize(absolute + offsetDeg); - } - - public static DrivetrainSubsystem getInstance(){ - if(instance == null){ - instance = new DrivetrainSubsystem(); - } - return instance; - } -} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java deleted file mode 100644 index 447e713..0000000 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ /dev/null @@ -1,53 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.signals.NeutralModeValue; - -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.lib.drivers.LazyTalonFX; -import frc.lib.drivers.TalonFXFactory; -import frc.robot.Constants; -import frc.robot.Constants.Ports; - -public class ShooterSubsystem extends SubsystemBase { - - private static ShooterSubsystem instance = null; - public static ShooterSubsystem getInstance() { - if(instance == null){ - instance = new ShooterSubsystem(); - } - return instance; - } - - private final LazyTalonFX mMasterMotor, mFollowerMotor; - - private ShooterSubsystem() { - mMasterMotor = TalonFXFactory.createDefaultFalcon("Master Shooter Motor", Ports.MASTER_SHOOTER_MOTOR); - configureMotor(mMasterMotor, true); - mFollowerMotor = TalonFXFactory.createSlaveFalcon("Follower Shooter Motor", Ports.FOLLOW_SHOOTER_MOTOR, mMasterMotor); - mFollowerMotor.setLeader(mMasterMotor); - configureMotor(mFollowerMotor, false); - //setMultipleStatuFramePeriod(); - } - - PIDController shooterController; - - private void configureMotor(LazyTalonFX talon, boolean b){ - talon.setInverted(b); - talon.setControl(new VoltageOut(12.0)); - talon.setNeutralMode(NeutralModeValue.Coast); - //talon.config_kF(0.05, Constants.kTimeOutMs); - talon.config_kP(0.12, Constants.kTimeOutMs); - talon.config_kI(0, Constants.kTimeOutMs); - talon.config_kD(0, Constants.kTimeOutMs); - } - @Override - public void periodic() { - // This method will be called once per scheduler run - } -} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json deleted file mode 100644 index 0f3520e..0000000 --- a/vendordeps/REVLib.json +++ /dev/null @@ -1,74 +0,0 @@ -{ - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2024.2.0", - "frcYear": "2024", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2024.2.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.0", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2024.2.0", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.0", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/vendordeps/SdsSwerveLib.json b/vendordeps/SdsSwerveLib.json deleted file mode 100644 index 70f663f..0000000 --- a/vendordeps/SdsSwerveLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "SdsSwerveLib.json", - "name": "swerve-lib", - "version": "1.1.0", - "frcYear": 2024, - "uuid": "9619F7EA-7F96-4236-9D94-02338DFED592", - "mavenUrls": [ - "https://jitpack.io" - ], - "jsonUrl": "https://raw.githubusercontent.com/SwerveDriveSpecialties/swerve-lib/master/SdsSwerveLib.json", - "javaDependencies": [ - { - "groupId": "com.github.SwerveDriveSpecialties", - "artifactId": "swerve-lib", - "version": "1.1.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json deleted file mode 100644 index db560b5..0000000 --- a/vendordeps/navx_frc.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "fileName": "navx_frc.json", - "name": "KauaiLabs_navX_FRC", - "version": "4.0.447", - "frcYear": 2024, - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://repo1.maven.org/maven2/" - ], - "jsonUrl": "https://www.kauailabs.com/dist/frc/2022/navx_frc.json", - "javaDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-java", - "version": "4.0.447" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-cpp", - "version": "4.0.447", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": false, - "libName": "navx_frc", - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxraspbian", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file From 80476c923feefd7c15cf3ce74ddbb065553c1624 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Sun, 7 Jan 2024 20:24:58 -0800 Subject: [PATCH 08/37] update constants to new phoenix 6 --- src/main/java/frc/robot/Constants.java | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 3b71f0b..9cc2b11 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,20 +4,19 @@ package frc.robot; -import java.util.List; + import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; + import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import frc.lib.util.COTSFalconSwerveConstants; import frc.lib.util.SwerveModuleConstants; -import frc.lib.util.COTSFalconSwerveConstants; -import frc.lib.util.SwerveModuleConstants; + /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean @@ -132,6 +131,10 @@ public static final class SwerveConstants { public static final double maxSpeed = 4.5; /** Radians per Second */ public static final double maxAngularVelocity = 7.0; + + /* Motor Neutral Modes */ + public static final NeutralModeValue driveNeutralMode = NeutralModeValue.Brake; + public static final NeutralModeValue angleNeutralMode = NeutralModeValue.Brake; /* Module Specific Constants - TO BE DONE FOR ARTEMIS*/ /* Front Left Module - Module 0 */ From d718820b6960571120cab8461280ebe397331b6b Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Sun, 7 Jan 2024 20:30:20 -0800 Subject: [PATCH 09/37] test+ perioidic in swerve --- src/main/java/frc/robot/subsystems/Swerve.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java index 4dac037..5e2abad 100644 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -163,4 +163,9 @@ public boolean inPosition() { && (Math.abs(getPose().getRotation().getDegrees() - goalPose.getRotation().getDegrees()) < rotTolerance); } + + @Override + public void periodic() { + + } } From 80facd15cb9e971fb0545a56628b0caf0bb27a48 Mon Sep 17 00:00:00 2001 From: Vincent Shao <75507144+VincentShao32@users.noreply.github.com> Date: Mon, 8 Jan 2024 11:28:18 -0800 Subject: [PATCH 10/37] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index bd2eeb3..14eca78 100644 --- a/README.md +++ b/README.md @@ -1 +1 @@ -The 2024 Spartabots Code for the Artemis. +The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST Robotics Competition. From d0cc9727a2c599c850d3462946d552fe6cb7b92f Mon Sep 17 00:00:00 2001 From: s-aditya-k Date: Mon, 8 Jan 2024 12:25:51 -0800 Subject: [PATCH 11/37] setup github actions to build automatically & make gradlew work on unix --- .github/workflows/gradle.yml | 35 +++++++++++++++++++++++++++++++++++ gradlew | 0 2 files changed, 35 insertions(+) create mode 100644 .github/workflows/gradle.yml mode change 100644 => 100755 gradlew diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml new file mode 100644 index 0000000..828e05e --- /dev/null +++ b/.github/workflows/gradle.yml @@ -0,0 +1,35 @@ +# This workflow uses actions that are not certified by GitHub. +# They are provided by a third-party and are governed by +# separate terms of service, privacy policy, and support +# documentation. +# This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time +# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle + +name: Java CI with Gradle + +on: + push: + branches: [ "main" ] + pull_request: + branches: [ "main" ] + +permissions: + contents: read + +jobs: + build: + + runs-on: ubuntu-latest + + steps: + - uses: actions/checkout@v3 + - name: Set up JDK 17 + uses: actions/setup-java@v3 + with: + java-version: '17' + distribution: 'temurin' + - name: Build with Gradle + uses: gradle/gradle-build-action@bd5760595778326ba7f1441bcf7e88b49de61a25 # v2.6.0 + with: + arguments: build + diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 From 31780f29d3484af44cb8a697bcd98529950b7c2a Mon Sep 17 00:00:00 2001 From: AarushSharma123 <137921094+AarushSharma123@users.noreply.github.com> Date: Mon, 8 Jan 2024 18:34:43 -0800 Subject: [PATCH 12/37] Update README.md - Added contributors - Cleaned up README file --- README.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/README.md b/README.md index 14eca78..fddddaa 100644 --- a/README.md +++ b/README.md @@ -1 +1,13 @@ +# Artemis 2023-2024 Iteration The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST Robotics Competition. + +# Contributers + + VincentShao32 + + + solar138 + + + s-aditya-k + From 441753e6737e38a9e310e6e80a76cec0147a0c2c Mon Sep 17 00:00:00 2001 From: Aarush Sharma <137921094+AarushSharma123@users.noreply.github.com> Date: Mon, 8 Jan 2024 19:24:22 -0800 Subject: [PATCH 13/37] Update README.md - Added Java logo --- README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index fddddaa..186aac5 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,8 @@ # Artemis 2023-2024 Iteration -The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST Robotics Competition. +The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST Robotics Competition. + +# Languages +

Java # Contributers From d07fa830af3f999d2a083be3d018f7eaf8c7af03 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 8 Jan 2024 22:00:09 -0800 Subject: [PATCH 14/37] programming README --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 186aac5..cf6a275 100644 --- a/README.md +++ b/README.md @@ -14,3 +14,6 @@ The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST R s-aditya-k + + Programming + \ No newline at end of file From ff73845188dd8d141ecc073f4ead5eb635576b78 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 8 Jan 2024 22:01:10 -0800 Subject: [PATCH 15/37] Revert "programming README" This reverts commit d07fa830af3f999d2a083be3d018f7eaf8c7af03. --- README.md | 3 --- 1 file changed, 3 deletions(-) diff --git a/README.md b/README.md index cf6a275..186aac5 100644 --- a/README.md +++ b/README.md @@ -14,6 +14,3 @@ The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST R s-aditya-k - - Programming - \ No newline at end of file From d41ad5319768afc8820b227ecc041b99dfaf760a Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 8 Jan 2024 22:03:50 -0800 Subject: [PATCH 16/37] update readme --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 186aac5..21140be 100644 --- a/README.md +++ b/README.md @@ -14,3 +14,6 @@ The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST R s-aditya-k + + Programming + \ No newline at end of file From 7a2cf86370090af8132c36a5e5783c5e9a901479 Mon Sep 17 00:00:00 2001 From: Gam3rr <84348006+Gam3rrXD@users.noreply.github.com> Date: Mon, 8 Jan 2024 22:12:03 -0800 Subject: [PATCH 17/37] Update README.md add contributer --- README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 21140be..f87abb8 100644 --- a/README.md +++ b/README.md @@ -14,6 +14,9 @@ The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST R s-aditya-k + + AarushSharma123 + Programming - \ No newline at end of file + From f8701efd4ae85b7c77ab790208b3bc1192ad4364 Mon Sep 17 00:00:00 2001 From: etanielo <115602580+etanielo@users.noreply.github.com> Date: Mon, 8 Jan 2024 23:09:41 -0800 Subject: [PATCH 18/37] importing --- .../robot/subsystems/ShooterSubsystem.java | 54 +++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java new file mode 100644 index 0000000..cb96472 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -0,0 +1,54 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; +import com.ctre.phoenix6.controls.StrictFollower; +import com.ctre.phoenix6.hardware.TalonFX; + +public class ShooterSubsystem extends SubsystemBase { + + private static ShooterSubsystem instance; + public static ShooterSubsystem getInstance() { + if (instance == null) + instance = new ShooterSubsystem(); + return instance; + } + + private TalonFX shooterLeaderM; + private TalonFX shooterFollowerM; + + private double voltage; + + public ShooterSubsystem() { + shooterLeaderM = new TalonFX(Constants.HardwarePorts.shooterLeaderM); + shooterFollowerM = new TalonFX(Constants.HardwarePorts.shooterFollowerM); + shooterFollowerM.setInverted(true); + shooterFollowerM.setControl(new StrictFollower(Constants.HardwarePorts.shooterLeaderM)); + } + + + public void setVoltage(double voltage) { + this.voltage = voltage; + shooterLeaderM.setVoltage(voltage); + } + + public double getVoltageSetpoint() { + return voltage; + } + + @Override + public void periodic() { + SmartDashboard.putNumber("Motor Voltage Setpoint", getVoltageSetpoint()); + } + + @Override + public void simulationPeriodic() { + // This method will be called once per scheduler run during simulation + } +} From 4d589209e2d81ce751f34a52b768155f5f55abee Mon Sep 17 00:00:00 2001 From: etanielo <115602580+etanielo@users.noreply.github.com> Date: Mon, 8 Jan 2024 23:12:48 -0800 Subject: [PATCH 19/37] copying --- src/main/java/frc/robot/Constants.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 9cc2b11..8edc2f9 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -36,8 +36,9 @@ public final class Constants { public static final class HardwarePorts { // motors (predicted) IDs not fixed - public static final int shooterLeaderMotor = 1; - public static final int shooterFollowerMotor = 2; + // shooter ports should be correct, climb IDs still predicted + public static final int shooterLeaderM = 21; + public static final int shooterFollowerM = 22; public static final int climbLeaderMotor = 3; public static final int climbFollowerMotor = 4; From d1bd227da06ff315afd77b6a3c959851b5e314cd Mon Sep 17 00:00:00 2001 From: etanielo <115602580+etanielo@users.noreply.github.com> Date: Mon, 8 Jan 2024 23:13:55 -0800 Subject: [PATCH 20/37] toss command --- .../java/frc/robot/commands/TossCommand.java | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 src/main/java/frc/robot/commands/TossCommand.java diff --git a/src/main/java/frc/robot/commands/TossCommand.java b/src/main/java/frc/robot/commands/TossCommand.java new file mode 100644 index 0000000..1c91080 --- /dev/null +++ b/src/main/java/frc/robot/commands/TossCommand.java @@ -0,0 +1,34 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import frc.robot.subsystems.ShooterSubsystem; +import edu.wpi.first.wpilibj2.command.Command; + +/** An example command that uses an example subsystem. */ +public class TossCommand extends Command { + private final ShooterSubsystem s_shooter; + + public TossCommand() { + s_shooter = ShooterSubsystem.getInstance(); + addRequirements(s_shooter); + } + + @Override + public void initialize() {} + + @Override + public void execute() { + s_shooter.setVoltage(10); + } + + @Override + public void end(boolean interrupted) {} + + @Override + public boolean isFinished() { + return false; + } +} From 9fe942930ef7b22e20d18a00332e5fbf5933705f Mon Sep 17 00:00:00 2001 From: Dave Yoon <95331774+yoon-dave@users.noreply.github.com> Date: Mon, 8 Jan 2024 23:27:24 -0800 Subject: [PATCH 21/37] ITS DAVE TIME --- src/main/java/frc/robot/RobotContainer.java | 37 ++++++--------------- 1 file changed, 11 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a33249e..d96205b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -8,27 +8,21 @@ import frc.robot.commands.Autos; import frc.robot.commands.ExampleCommand; import frc.robot.subsystems.ExampleSubsystem; +import frc.robot.subsystems.ShooterSubsystem; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; -/** - * This class is where the bulk of the robot should be declared. Since Command-based is a - * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} - * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including - * subsystems, commands, and trigger mappings) should be declared here. - */ public class RobotContainer { - // The robot's subsystems and commands are defined here... - private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); + private final ShooterSubsystem m_shooterSubsystem; - // Replace with CommandPS4Controller or CommandJoystick if needed private final CommandXboxController m_driverController = new CommandXboxController(OperatorConstants.kDriverControllerPort); - - /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { // Configure the trigger bindings + m_shooterSubsystem = ShooterSubsystem.getInstance(); configureBindings(); } @@ -42,22 +36,13 @@ public RobotContainer() { * joysticks}. */ private void configureBindings() { - // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - new Trigger(m_exampleSubsystem::exampleCondition) - .onTrue(new ExampleCommand(m_exampleSubsystem)); - - // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed, - // cancelling on release. - m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); + m_driverController.b().whileTrue(new InstantCommand(() -> m_shooterSubsystem.setVoltage(6.0))); } + public void place() { - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - // An example command will be run in autonomous - return Autos.exampleAuto(m_exampleSubsystem); } + // public Command getAutonomousCommand() { + // // An example command will be run in autonomous + // return Autos.exampleAuto(m_shooterSubsystem); + // } } From a0a35d0ca4c8b242400f51eac508606fd3bfc67f Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Tue, 9 Jan 2024 08:10:53 -0800 Subject: [PATCH 22/37] optimize --- src/main/java/frc/robot/SwerveModule.java | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java index 80f7778..5a0f219 100644 --- a/src/main/java/frc/robot/SwerveModule.java +++ b/src/main/java/frc/robot/SwerveModule.java @@ -12,12 +12,10 @@ swerve module objects, used by the swerve drivetrain library we use (team 364) import frc.lib.util.CTREModuleState; import frc.lib.util.SwerveModuleConstants; -import com.ctre.phoenix6.controls.DutyCycleOut; import com.ctre.phoenix6.controls.PositionDutyCycle; import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.controls.VelocityDutyCycle; import com.ctre.phoenix6.controls.VelocityVoltage; -import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; @@ -26,8 +24,6 @@ public class SwerveModule { // Control requests // Reuse these, don't make more - final DutyCycleOut dutyCycleRequest = new DutyCycleOut(0); - final VoltageOut voltageOutRequest = new VoltageOut(0); // ControlMode.Position without voltage compensation final PositionDutyCycle positionDutyCycleRequest = new PositionDutyCycle(0); // ControlMode.Position with voltage compensation @@ -76,10 +72,10 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop){ private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop){ if(isOpenLoop){ double percentOutput = desiredState.speedMetersPerSecond / Constants.SwerveConstants.maxSpeed; - mDriveMotor.setControl(dutyCycleRequest.withOutput(percentOutput)); + mDriveMotor.set(percentOutput); } else { - double velocity = Conversions.MPSToFalcon(desiredState.speedMetersPerSecond, Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio); + double velocity = Conversions.MPSToFalcon(desiredState.speedMetersPerSecond, Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio); mDriveMotor.setControl(velocityDutyCycle.withVelocity(velocity)); } } From 6c1de9f049f23a80f6ff0ddc19256bdfe70871ff Mon Sep 17 00:00:00 2001 From: etanielo <115602580+etanielo@users.noreply.github.com> Date: Tue, 9 Jan 2024 20:01:35 -0800 Subject: [PATCH 23/37] fix bind and toss command --- src/main/java/frc/robot/RobotContainer.java | 3 ++- src/main/java/frc/robot/commands/TossCommand.java | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d96205b..9a28225 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -7,6 +7,7 @@ import frc.robot.Constants.OperatorConstants; import frc.robot.commands.Autos; import frc.robot.commands.ExampleCommand; +import frc.robot.commands.TossCommand; import frc.robot.subsystems.ExampleSubsystem; import frc.robot.subsystems.ShooterSubsystem; import edu.wpi.first.wpilibj2.command.Command; @@ -36,7 +37,7 @@ public RobotContainer() { * joysticks}. */ private void configureBindings() { - m_driverController.b().whileTrue(new InstantCommand(() -> m_shooterSubsystem.setVoltage(6.0))); + m_driverController.b().whileTrue(new TossCommand()); } public void place() { diff --git a/src/main/java/frc/robot/commands/TossCommand.java b/src/main/java/frc/robot/commands/TossCommand.java index 1c91080..6c506ed 100644 --- a/src/main/java/frc/robot/commands/TossCommand.java +++ b/src/main/java/frc/robot/commands/TossCommand.java @@ -25,7 +25,9 @@ public void execute() { } @Override - public void end(boolean interrupted) {} + public void end(boolean interrupted) { + s_shooter.setVoltage(0); + } @Override public boolean isFinished() { From 4eb023ff8455944f1323e09542c991de83d963e2 Mon Sep 17 00:00:00 2001 From: nat-tri1 Date: Tue, 9 Jan 2024 20:10:41 -0800 Subject: [PATCH 24/37] organizing container --- src/main/java/frc/robot/RobotContainer.java | 41 +++++++++++++++------ 1 file changed, 29 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d96205b..e7b493f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -9,20 +9,39 @@ import frc.robot.commands.ExampleCommand; import frc.robot.subsystems.ExampleSubsystem; import frc.robot.subsystems.ShooterSubsystem; +import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.Trigger; public class RobotContainer { - private final ShooterSubsystem m_shooterSubsystem; + + /* Controllers */ + private final XboxController driver = new XboxController(0); + private final XboxController operator = new XboxController(1); - private final CommandXboxController m_driverController = - new CommandXboxController(OperatorConstants.kDriverControllerPort); + /* Driver Joysticks (drive control) */ + + /* Driver Buttons */ + private final JoystickButton driverA = new JoystickButton(driver, XboxController.Button.kA.value); + + /* Operator Buttons */ + + /* Operator Sticks */ + + /* Subsystems */ + private final ShooterSubsystem s_shooterSubsystem; + private final ExampleSubsystem s_exampleSubsystem = new ExampleSubsystem(); public RobotContainer() { - // Configure the trigger bindings - m_shooterSubsystem = ShooterSubsystem.getInstance(); + + // Initialize subsystems + s_shooterSubsystem = ShooterSubsystem.getInstance(); + + + // Configure the button bindings configureBindings(); } @@ -36,13 +55,11 @@ public RobotContainer() { * joysticks}. */ private void configureBindings() { - m_driverController.b().whileTrue(new InstantCommand(() -> m_shooterSubsystem.setVoltage(6.0))); + } - public void place() { - + + public Command getAutonomousCommand() { + // An example command will be run in autonomous + return Autos.exampleAuto(s_exampleSubsystem); } - // public Command getAutonomousCommand() { - // // An example command will be run in autonomous - // return Autos.exampleAuto(m_shooterSubsystem); - // } } From 22e93e2e1172bf9253e8cb3eba89cab383fcce61 Mon Sep 17 00:00:00 2001 From: nat-tri1 Date: Tue, 9 Jan 2024 21:25:57 -0800 Subject: [PATCH 25/37] binded --- src/main/java/frc/robot/RobotContainer.java | 23 +++++++++------------ 1 file changed, 10 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9ff4d21..e651cc8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -20,13 +20,13 @@ public class RobotContainer { /* Controllers */ - private final XboxController driver = new XboxController(0); - private final XboxController operator = new XboxController(1); + private final CommandXboxController driver = new CommandXboxController(0); + private final CommandXboxController operator = new CommandXboxController(1); /* Driver Joysticks (drive control) */ /* Driver Buttons */ - private final JoystickButton driverA = new JoystickButton(driver, XboxController.Button.kA.value); + /* Operator Buttons */ @@ -46,17 +46,14 @@ public RobotContainer() { configureBindings(); } - /** - * Use this method to define your trigger->command mappings. Triggers can be created via the - * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary - * predicate, or via the named factories in {@link - * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link - * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller - * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight - * joysticks}. - */ + /* Map commands to buttons */ private void configureBindings() { - m_driverController.b().whileTrue(new TossCommand()); + + // driver controls + driver.a().whileTrue(new TossCommand()); + + // operator controls + } public Command getAutonomousCommand() { From 41cda8234a260f6f3f5a747638f02b5cef27581c Mon Sep 17 00:00:00 2001 From: s-aditya-k Date: Fri, 12 Jan 2024 12:30:13 -0800 Subject: [PATCH 26/37] toss useless files --- src/main/java/frc/robot/RobotContainer.java | 17 +------ src/main/java/frc/robot/commands/Autos.java | 20 -------- .../frc/robot/commands/ExampleCommand.java | 43 ----------------- .../robot/subsystems/ExampleSubsystem.java | 47 ------------------- 4 files changed, 2 insertions(+), 125 deletions(-) delete mode 100644 src/main/java/frc/robot/commands/Autos.java delete mode 100644 src/main/java/frc/robot/commands/ExampleCommand.java delete mode 100644 src/main/java/frc/robot/subsystems/ExampleSubsystem.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a33249e..2dad130 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,9 +5,6 @@ package frc.robot; import frc.robot.Constants.OperatorConstants; -import frc.robot.commands.Autos; -import frc.robot.commands.ExampleCommand; -import frc.robot.subsystems.ExampleSubsystem; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -20,7 +17,6 @@ */ public class RobotContainer { // The robot's subsystems and commands are defined here... - private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); // Replace with CommandPS4Controller or CommandJoystick if needed private final CommandXboxController m_driverController = @@ -41,15 +37,7 @@ public RobotContainer() { * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight * joysticks}. */ - private void configureBindings() { - // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - new Trigger(m_exampleSubsystem::exampleCondition) - .onTrue(new ExampleCommand(m_exampleSubsystem)); - - // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed, - // cancelling on release. - m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); - } + private void configureBindings() {} /** * Use this to pass the autonomous command to the main {@link Robot} class. @@ -57,7 +45,6 @@ private void configureBindings() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // An example command will be run in autonomous - return Autos.exampleAuto(m_exampleSubsystem); + return null; } } diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java deleted file mode 100644 index 107aad7..0000000 --- a/src/main/java/frc/robot/commands/Autos.java +++ /dev/null @@ -1,20 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import frc.robot.subsystems.ExampleSubsystem; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; - -public final class Autos { - /** Example static factory for an autonomous command. */ - public static Command exampleAuto(ExampleSubsystem subsystem) { - return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem)); - } - - private Autos() { - throw new UnsupportedOperationException("This is a utility class!"); - } -} diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java deleted file mode 100644 index 7481d3c..0000000 --- a/src/main/java/frc/robot/commands/ExampleCommand.java +++ /dev/null @@ -1,43 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import frc.robot.subsystems.ExampleSubsystem; -import edu.wpi.first.wpilibj2.command.Command; - -/** An example command that uses an example subsystem. */ -public class ExampleCommand extends Command { - @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) - private final ExampleSubsystem m_subsystem; - - /** - * Creates a new ExampleCommand. - * - * @param subsystem The subsystem used by this command. - */ - public ExampleCommand(ExampleSubsystem subsystem) { - m_subsystem = subsystem; - // Use addRequirements() here to declare subsystem dependencies. - addRequirements(subsystem); - } - - // Called when the command is initially scheduled. - @Override - public void initialize() {} - - // Called every time the scheduler runs while the command is scheduled. - @Override - public void execute() {} - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) {} - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java deleted file mode 100644 index 6b375da..0000000 --- a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java +++ /dev/null @@ -1,47 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class ExampleSubsystem extends SubsystemBase { - /** Creates a new ExampleSubsystem. */ - public ExampleSubsystem() {} - - /** - * Example command factory method. - * - * @return a command - */ - public Command exampleMethodCommand() { - // Inline construction of command goes here. - // Subsystem::RunOnce implicitly requires `this` subsystem. - return runOnce( - () -> { - /* one-time action goes here */ - }); - } - - /** - * An example method querying a boolean state of the subsystem (for example, a digital sensor). - * - * @return value of some boolean subsystem state, such as a digital sensor. - */ - public boolean exampleCondition() { - // Query some boolean state, such as a digital sensor. - return false; - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - } - - @Override - public void simulationPeriodic() { - // This method will be called once per scheduler run during simulation - } -} From 274f5a760b4a90f63d4e1e890684d93144dbd447 Mon Sep 17 00:00:00 2001 From: s-aditya-k Date: Fri, 12 Jan 2024 15:44:35 -0800 Subject: [PATCH 27/37] set the toss command to work at some point --- src/main/java/frc/robot/commands/TossCommand.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/TossCommand.java b/src/main/java/frc/robot/commands/TossCommand.java index 6c506ed..3681329 100644 --- a/src/main/java/frc/robot/commands/TossCommand.java +++ b/src/main/java/frc/robot/commands/TossCommand.java @@ -10,10 +10,12 @@ /** An example command that uses an example subsystem. */ public class TossCommand extends Command { private final ShooterSubsystem s_shooter; + private boolean finish; public TossCommand() { s_shooter = ShooterSubsystem.getInstance(); addRequirements(s_shooter); + finish = false; } @Override @@ -22,6 +24,7 @@ public void initialize() {} @Override public void execute() { s_shooter.setVoltage(10); + finish = true; } @Override @@ -31,6 +34,6 @@ public void end(boolean interrupted) { @Override public boolean isFinished() { - return false; + return finish; } } From 675ce325350c83a07447c2d4703b9a52b8992498 Mon Sep 17 00:00:00 2001 From: s-aditya-k Date: Tue, 16 Jan 2024 09:32:24 -0800 Subject: [PATCH 28/37] remove contributors from readme --- README.md | 22 +--------------------- 1 file changed, 1 insertion(+), 21 deletions(-) diff --git a/README.md b/README.md index f87abb8..6e5cd79 100644 --- a/README.md +++ b/README.md @@ -1,22 +1,2 @@ -# Artemis 2023-2024 Iteration +# Artemis - 2024 The repository for Artemis, Team 2976 The Spartabots' robot for the 2024 FIRST Robotics Competition. - -# Languages -

Java - -# Contributers - - VincentShao32 - - - solar138 - - - s-aditya-k - - - AarushSharma123 - - - Programming - From 3649f605ef1ac46cf1699744e8806f501746ccac Mon Sep 17 00:00:00 2001 From: s-aditya-k Date: Tue, 16 Jan 2024 09:36:56 -0800 Subject: [PATCH 29/37] fix CI --- .github/workflows/gradle.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml index 828e05e..d8a1329 100644 --- a/.github/workflows/gradle.yml +++ b/.github/workflows/gradle.yml @@ -9,9 +9,9 @@ name: Java CI with Gradle on: push: - branches: [ "main" ] + branches: [ '*' ] pull_request: - branches: [ "main" ] + branches: [ '*' ] permissions: contents: read From 75dccb6e0e144b5d989de3ad9b8f61c4eeda2e82 Mon Sep 17 00:00:00 2001 From: s-aditya-k Date: Tue, 16 Jan 2024 12:51:23 -0800 Subject: [PATCH 30/37] revlib --- vendordeps/REVLib.json | 74 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 vendordeps/REVLib.json diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..0f3520e --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.0", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.2.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.0", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.0", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file From 8abf9518549db889b30f289d4da90f94aa6dac20 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 29 Jan 2024 17:29:03 -0800 Subject: [PATCH 31/37] pivot commands and stuff --- src/main/java/frc/robot/Constants.java | 5 +- .../java/frc/robot/commands/SetPivot.java | 46 ++++++++++++++++ .../java/frc/robot/commands/TossCommand.java | 39 -------------- src/main/java/frc/robot/subsystems/Pivot.java | 42 +++++++++++++-- .../robot/subsystems/ShooterSubsystem.java | 54 ------------------- 5 files changed, 87 insertions(+), 99 deletions(-) create mode 100644 src/main/java/frc/robot/commands/SetPivot.java delete mode 100644 src/main/java/frc/robot/commands/TossCommand.java delete mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1f8d5ef..595f87a 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -49,6 +49,7 @@ public static final class HardwarePorts { public static final int climbLeaderMotor = 3; public static final int climbFollowerMotor = 4; public static final int pivotMotor = 30; + public static final int pivotCANcoderID = 31; } @@ -78,8 +79,8 @@ public static final class SwerveConstants { .SDSMK4i(COTSFalconSwerveConstants.driveGearRatios.SDSMK4_L2); /* Drivetrain Constants */ - public static final double trackWidth = 0.5715; - public static final double wheelBase = 0.5715; + public static final double trackWidth = 0.47625; + public static final double wheelBase = 0.47625; public static final double wheelCircumference = chosenModule.wheelCircumference; /* * Swerve Kinematics diff --git a/src/main/java/frc/robot/commands/SetPivot.java b/src/main/java/frc/robot/commands/SetPivot.java new file mode 100644 index 0000000..084b14a --- /dev/null +++ b/src/main/java/frc/robot/commands/SetPivot.java @@ -0,0 +1,46 @@ +package frc.robot.commands; + +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.Pivot; +import frc.robot.subsystems.Pivot.PivotState;; + +public class SetPivot extends Command { + Pivot s_Pivot; + PivotState state; + ProfiledPIDController pivotController = new ProfiledPIDController(0.06, 1e-2, 1e-3, new TrapezoidProfile.Constraints(500000, 3000*1e5)); + + public SetPivot(PivotState state) { + s_Pivot = Pivot.getInstance(); + this.state = state; + addRequirements(s_Pivot); + } + + @Override + public void initialize() { + s_Pivot.setState(state); + pivotController.reset(s_Pivot.getCANcoderPosition()); + } + + @Override + public void execute() { + double voltage = pivotController.calculate(s_Pivot.getCANcoderPosition(), s_Pivot.getSetPoint()); + if (Math.abs(s_Pivot.getCANcoderPosition() - s_Pivot.getSetPoint()) < 15) { + voltage = 0.7; + } + s_Pivot.setVoltage(voltage); + } + + @Override + public boolean isFinished() { + return Math.abs(s_Pivot.getSetPoint() - s_Pivot.getCANcoderPosition()) < 45; + } + + @Override + public void end(boolean interrupted) { + s_Pivot.setVoltage(0); + SmartDashboard.putString("eleEnd", "elevator end"); + } +} diff --git a/src/main/java/frc/robot/commands/TossCommand.java b/src/main/java/frc/robot/commands/TossCommand.java deleted file mode 100644 index 3681329..0000000 --- a/src/main/java/frc/robot/commands/TossCommand.java +++ /dev/null @@ -1,39 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import frc.robot.subsystems.ShooterSubsystem; -import edu.wpi.first.wpilibj2.command.Command; - -/** An example command that uses an example subsystem. */ -public class TossCommand extends Command { - private final ShooterSubsystem s_shooter; - private boolean finish; - - public TossCommand() { - s_shooter = ShooterSubsystem.getInstance(); - addRequirements(s_shooter); - finish = false; - } - - @Override - public void initialize() {} - - @Override - public void execute() { - s_shooter.setVoltage(10); - finish = true; - } - - @Override - public void end(boolean interrupted) { - s_shooter.setVoltage(0); - } - - @Override - public boolean isFinished() { - return finish; - } -} diff --git a/src/main/java/frc/robot/subsystems/Pivot.java b/src/main/java/frc/robot/subsystems/Pivot.java index 34e08cc..21a990d 100644 --- a/src/main/java/frc/robot/subsystems/Pivot.java +++ b/src/main/java/frc/robot/subsystems/Pivot.java @@ -1,5 +1,10 @@ package frc.robot.subsystems; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.MagnetSensorConfigs; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkLowLevel.MotorType; @@ -16,7 +21,7 @@ public static Pivot getInstance() { return instance; } - private enum PivotState { + public enum PivotState { GROUND(0); private double pos; @@ -27,14 +32,31 @@ private PivotState(double position) { } private CANSparkFlex mPivotMotor; + private CANcoder pivotCANcoder; + private PivotState curState = PivotState.GROUND; public Pivot() { mPivotMotor = new CANSparkFlex(Constants.HardwarePorts.pivotMotor, MotorType.kBrushless); configMotor(); + + pivotCANcoder = new CANcoder(Constants.HardwarePorts.pivotCANcoderID); + configCANcoder(); } - - public void setPosition(PivotState state) { - mPivotMotor.getEncoder().setPosition(state.pos); + + public void setState(PivotState state) { + curState = state; + } + + public double getCANcoderPosition() { + return pivotCANcoder.getPosition().getValueAsDouble(); + } + + public double getSetPoint() { + return curState.pos; + } + + public void setVoltage(double voltage) { + mPivotMotor.setVoltage(voltage); } private void configMotor() { @@ -46,4 +68,16 @@ private void configMotor() { mPivotMotor.getPIDController().setD(Constants.hardwarePIDs.pivotkD); } + private void configCANcoder(){ + /* Swerve CANCoder Configuration */ + // CANcoder is always initialized to absolute position on boot in Phoenix 6 - https://www.chiefdelphi.com/t/what-kind-of-encoders-are-built-into-the-kraken-motors/447253/7 + + MagnetSensorConfigs magnetSensorConfigs = new MagnetSensorConfigs(); + magnetSensorConfigs.AbsoluteSensorRange = AbsoluteSensorRangeValue.Unsigned_0To1; + magnetSensorConfigs.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; + + CANcoderConfiguration swerveCanCoderConfig = new CANcoderConfiguration(); + swerveCanCoderConfig.MagnetSensor = magnetSensorConfigs; + pivotCANcoder.getConfigurator().apply(swerveCanCoderConfig); + } } diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java deleted file mode 100644 index cb96472..0000000 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants; -import com.ctre.phoenix6.controls.StrictFollower; -import com.ctre.phoenix6.hardware.TalonFX; - -public class ShooterSubsystem extends SubsystemBase { - - private static ShooterSubsystem instance; - public static ShooterSubsystem getInstance() { - if (instance == null) - instance = new ShooterSubsystem(); - return instance; - } - - private TalonFX shooterLeaderM; - private TalonFX shooterFollowerM; - - private double voltage; - - public ShooterSubsystem() { - shooterLeaderM = new TalonFX(Constants.HardwarePorts.shooterLeaderM); - shooterFollowerM = new TalonFX(Constants.HardwarePorts.shooterFollowerM); - shooterFollowerM.setInverted(true); - shooterFollowerM.setControl(new StrictFollower(Constants.HardwarePorts.shooterLeaderM)); - } - - - public void setVoltage(double voltage) { - this.voltage = voltage; - shooterLeaderM.setVoltage(voltage); - } - - public double getVoltageSetpoint() { - return voltage; - } - - @Override - public void periodic() { - SmartDashboard.putNumber("Motor Voltage Setpoint", getVoltageSetpoint()); - } - - @Override - public void simulationPeriodic() { - // This method will be called once per scheduler run during simulation - } -} From 3515b10410ad3932c057bd417a61b983a4138347 Mon Sep 17 00:00:00 2001 From: Yanda Bao Date: Mon, 29 Jan 2024 17:36:59 -0800 Subject: [PATCH 32/37] automatic intaking --- src/main/java/frc/robot/Constants.java | 3 ++ .../java/frc/robot/commands/SmartIntake.java | 39 +++++++++++++++++++ .../robot/commands/TeleopCommandFactory.java | 16 ++++++++ 3 files changed, 58 insertions(+) create mode 100644 src/main/java/frc/robot/commands/SmartIntake.java create mode 100644 src/main/java/frc/robot/commands/TeleopCommandFactory.java diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1f8d5ef..801ea90 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -66,6 +66,7 @@ public static final class HardwarePorts { public static final IdleMode intakeNeutralMode = IdleMode.kCoast; public static final IdleMode shooterNeutralMode = IdleMode.kBrake; + public static final double noteIntakeDistance = 70.0; public static class OperatorConstants { public static final int kDriverControllerPort = 0; } @@ -77,6 +78,8 @@ public static final class SwerveConstants { public static final COTSFalconSwerveConstants chosenModule = COTSFalconSwerveConstants .SDSMK4i(COTSFalconSwerveConstants.driveGearRatios.SDSMK4_L2); + //general constants + /* Drivetrain Constants */ public static final double trackWidth = 0.5715; public static final double wheelBase = 0.5715; diff --git a/src/main/java/frc/robot/commands/SmartIntake.java b/src/main/java/frc/robot/commands/SmartIntake.java new file mode 100644 index 0000000..e1fe4cc --- /dev/null +++ b/src/main/java/frc/robot/commands/SmartIntake.java @@ -0,0 +1,39 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.IntakeShooter; +import frc.robot.subsystems.ShooterSubsystem; + +public class SmartIntake extends Command{ + + private final IntakeShooter s_IntakeShooter; + private boolean finished; + + public SmartIntake(){ + s_IntakeShooter = IntakeShooter.getInstance(); + addRequirements(s_IntakeShooter); + finished = false; + } + + @Override + public void initialize() { + s_IntakeShooter.setIntake(0.7); + } + + @Override + public void execute() { + } + + @Override + public void end(boolean interrupted) { + s_IntakeShooter.setIntake(0); + } + + @Override + public boolean isFinished() { + return s_IntakeShooter.hasNote(); + } + + + +} diff --git a/src/main/java/frc/robot/commands/TeleopCommandFactory.java b/src/main/java/frc/robot/commands/TeleopCommandFactory.java new file mode 100644 index 0000000..aac8cbb --- /dev/null +++ b/src/main/java/frc/robot/commands/TeleopCommandFactory.java @@ -0,0 +1,16 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.IntakeShooter; +import frc.robot.subsystems.Swerve; + +public class TeleopCommandFactory extends Command{ + private static Command selectedTeleopCommand; + + private static IntakeShooter s_IntakeShooter = IntakeShooter.getInstance(); + private static Swerve s_Swerve = Swerve.getInstance(); + + public TeleopCommandFactory(){ + + } +} From c49ad90bcf2b55e6e85a3f72652bb87263031073 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 29 Jan 2024 17:37:37 -0800 Subject: [PATCH 33/37] removed space --- src/main/java/frc/robot/SwerveModule.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java index c4f0ed6..541921b 100644 --- a/src/main/java/frc/robot/SwerveModule.java +++ b/src/main/java/frc/robot/SwerveModule.java @@ -93,7 +93,7 @@ private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop){ } /** * Sets the rotation of the angle motor - * @param desiredState Desired set state for PID Controller + * @param desiredState Desired set state for PID Controller */ private void setAngle(SwerveModuleState desiredState){ Rotation2d angle = (Math.abs(desiredState.speedMetersPerSecond) <= (Constants.SwerveConstants.maxSpeed * 0.01)) ? lastAngle : desiredState.angle; //Prevent rotating module if speed is less then 1%. Prevents Jittering. From 615f0c1e397622a594839f8d316353775b1a1de8 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 29 Jan 2024 17:40:04 -0800 Subject: [PATCH 34/37] wrong improt fix --- src/main/java/frc/robot/commands/SmartIntake.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/SmartIntake.java b/src/main/java/frc/robot/commands/SmartIntake.java index e1fe4cc..723aa85 100644 --- a/src/main/java/frc/robot/commands/SmartIntake.java +++ b/src/main/java/frc/robot/commands/SmartIntake.java @@ -2,7 +2,6 @@ import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.IntakeShooter; -import frc.robot.subsystems.ShooterSubsystem; public class SmartIntake extends Command{ From 349a89236e96e45b4a1004c9aeee5658ac48e4ec Mon Sep 17 00:00:00 2001 From: Yanda Bao Date: Mon, 29 Jan 2024 17:40:24 -0800 Subject: [PATCH 35/37] IntakeShooter subsystem method for autointaking --- .../frc/robot/subsystems/IntakeShooter.java | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/IntakeShooter.java b/src/main/java/frc/robot/subsystems/IntakeShooter.java index 15bc8c0..c166205 100644 --- a/src/main/java/frc/robot/subsystems/IntakeShooter.java +++ b/src/main/java/frc/robot/subsystems/IntakeShooter.java @@ -2,9 +2,14 @@ import javax.sound.midi.MidiEvent; +import com.ctre.phoenix6.signals.ControlModeValue; import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.ColorMatch; +import com.revrobotics.ColorSensorV3; +import edu.wpi.first.wpilibj.I2C; +import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; @@ -16,6 +21,12 @@ public class IntakeShooter extends SubsystemBase { private CANSparkFlex mLeaderShooter; private CANSparkFlex mFollowerShooter; + + private static final I2C.Port onboardI2C = I2C.Port.kOnboard; + private static ColorSensorV3 m_intakeSensor; + + private static final ColorMatch m_colorMatcherIntake = new ColorMatch(); + public static IntakeShooter getInstance(){ if(mIntakeShooter == null){ mIntakeShooter = new IntakeShooter(); @@ -32,6 +43,9 @@ public IntakeShooter(){ mFollowerShooter = new CANSparkFlex(Constants.HardwarePorts.shooterFollowerMotor, MotorType.kBrushless); configFollowerMotor(); + + m_intakeSensor = new ColorSensorV3(onboardI2C); + m_colorMatcherIntake.addColorMatch(new Color(255, 165, 0)); //rgb values for orange, could be inaccurate. YBVS } public void setPercentage(double val){ @@ -39,6 +53,22 @@ public void setPercentage(double val){ mIntakeMotor.set(val); } + public void setIntake(double val, boolean voltageControl){ + if(voltageControl){ + mIntakeMotor.setVoltage(val); + } else { + mIntakeMotor.set(val); + } + } + + /** + * Equivalent to setIntake(val, false) + * @param val is the desired percentage output + */ + public void setIntake(double val){ + setIntake(val, false); + } + public void configIntakeMotor(){ mIntakeMotor.setSmartCurrentLimit(Constants.intakePeakCurrentLimit); mIntakeMotor.setInverted(false); @@ -70,5 +100,9 @@ public void configFollowerMotor(){ // mLeaderShooter.getPIDController().setI(Constants.SwerveConstants.driveKI); // mLeaderShooter.getPIDController().setD(Constants.SwerveConstants.driveKD); } + + public boolean hasNote(){ + return m_intakeSensor.getProximity() >= Constants.noteIntakeDistance; + } } From edcab41c2e6543c1c353e5d4719dc9aca4bd7025 Mon Sep 17 00:00:00 2001 From: VincentShao32 Date: Mon, 29 Jan 2024 17:51:29 -0800 Subject: [PATCH 36/37] documentation updates --- .../java/frc/robot/commands/SetPivot.java | 2 +- .../java/frc/robot/commands/SmartIntake.java | 2 -- .../frc/robot/subsystems/IntakeShooter.java | 2 +- src/main/java/frc/robot/subsystems/Pivot.java | 25 +++++++++++++++++-- 4 files changed, 25 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/commands/SetPivot.java b/src/main/java/frc/robot/commands/SetPivot.java index 084b14a..a109fdc 100644 --- a/src/main/java/frc/robot/commands/SetPivot.java +++ b/src/main/java/frc/robot/commands/SetPivot.java @@ -33,7 +33,7 @@ public void execute() { s_Pivot.setVoltage(voltage); } - @Override + @Override public boolean isFinished() { return Math.abs(s_Pivot.getSetPoint() - s_Pivot.getCANcoderPosition()) < 45; } diff --git a/src/main/java/frc/robot/commands/SmartIntake.java b/src/main/java/frc/robot/commands/SmartIntake.java index 723aa85..4763456 100644 --- a/src/main/java/frc/robot/commands/SmartIntake.java +++ b/src/main/java/frc/robot/commands/SmartIntake.java @@ -6,12 +6,10 @@ public class SmartIntake extends Command{ private final IntakeShooter s_IntakeShooter; - private boolean finished; public SmartIntake(){ s_IntakeShooter = IntakeShooter.getInstance(); addRequirements(s_IntakeShooter); - finished = false; } @Override diff --git a/src/main/java/frc/robot/subsystems/IntakeShooter.java b/src/main/java/frc/robot/subsystems/IntakeShooter.java index c166205..4e973d5 100644 --- a/src/main/java/frc/robot/subsystems/IntakeShooter.java +++ b/src/main/java/frc/robot/subsystems/IntakeShooter.java @@ -100,7 +100,7 @@ public void configFollowerMotor(){ // mLeaderShooter.getPIDController().setI(Constants.SwerveConstants.driveKI); // mLeaderShooter.getPIDController().setD(Constants.SwerveConstants.driveKD); } - + public boolean hasNote(){ return m_intakeSensor.getProximity() >= Constants.noteIntakeDistance; } diff --git a/src/main/java/frc/robot/subsystems/Pivot.java b/src/main/java/frc/robot/subsystems/Pivot.java index 21a990d..cad15b4 100644 --- a/src/main/java/frc/robot/subsystems/Pivot.java +++ b/src/main/java/frc/robot/subsystems/Pivot.java @@ -43,22 +43,40 @@ public Pivot() { configCANcoder(); } + /** + * Sets the desired state for the pivot + * @param state Desired state + */ public void setState(PivotState state) { curState = state; } + /** + * Gets the current position measured by the CANcoder + * @return Current position measured by CANcoder + */ public double getCANcoderPosition() { return pivotCANcoder.getPosition().getValueAsDouble(); } - + /** + * Gets the current set point of the pivot. + * @return Current set point in CANcoder values. + */ public double getSetPoint() { return curState.pos; } + /** + * Sets the voltage of the pivot motor + * @param Desired voltage. + */ public void setVoltage(double voltage) { mPivotMotor.setVoltage(voltage); } + /** + * Configures the pivot motor with current limit, idle mode, and PID values + */ private void configMotor() { mPivotMotor.setSmartCurrentLimit(Constants.pivotPeakCurrentLimit); mPivotMotor.setIdleMode(IdleMode.kBrake); @@ -67,7 +85,10 @@ private void configMotor() { mPivotMotor.getPIDController().setI(Constants.hardwarePIDs.pivotkI); mPivotMotor.getPIDController().setD(Constants.hardwarePIDs.pivotkD); } - + + /** + * Configures the pivot CANcoder with sensor direction and absolute range. + */ private void configCANcoder(){ /* Swerve CANCoder Configuration */ // CANcoder is always initialized to absolute position on boot in Phoenix 6 - https://www.chiefdelphi.com/t/what-kind-of-encoders-are-built-into-the-kraken-motors/447253/7 From 9ad3f16cd23791dc391d925e5cbe5e6b268b65b0 Mon Sep 17 00:00:00 2001 From: Yanda Bao Date: Mon, 29 Jan 2024 17:52:47 -0800 Subject: [PATCH 37/37] java docs for IntakeShooter and Swerve --- .../frc/robot/subsystems/IntakeShooter.java | 13 +++++ .../java/frc/robot/subsystems/Swerve.java | 52 ++++++++++++++++--- 2 files changed, 59 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/IntakeShooter.java b/src/main/java/frc/robot/subsystems/IntakeShooter.java index c166205..5fbff8b 100644 --- a/src/main/java/frc/robot/subsystems/IntakeShooter.java +++ b/src/main/java/frc/robot/subsystems/IntakeShooter.java @@ -48,11 +48,20 @@ public IntakeShooter(){ m_colorMatcherIntake.addColorMatch(new Color(255, 165, 0)); //rgb values for orange, could be inaccurate. YBVS } + /** + * Sets the percentage output of the intake and shooter motors + * @param val a value from [0, 1] + */ public void setPercentage(double val){ mLeaderShooter.set(val); mIntakeMotor.set(val); } + /** + * Sets the output of the intake motor + * @param val either a percentage from [0, 1] or desired voltage + * @param voltageControl is voltage control if true + */ public void setIntake(double val, boolean voltageControl){ if(voltageControl){ mIntakeMotor.setVoltage(val); @@ -101,6 +110,10 @@ public void configFollowerMotor(){ // mLeaderShooter.getPIDController().setD(Constants.SwerveConstants.driveKD); } + /** + * + * @return whether the intake color sensor's proximity value is greater than a set threshold + */ public boolean hasNote(){ return m_intakeSensor.getProximity() >= Constants.noteIntakeDistance; } diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java index 4193bba..13d169a 100644 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -111,19 +111,28 @@ public void autoDrive(ChassisSpeeds chassisSpeeds, boolean isOpenLoop) { } } - // returns pose of the robot + /** + * + * @return pose of the robot + */ @AutoLogOutput(key = "Odometry/Robot") public Pose2d getPose() { return swerveOdometry.getEstimatedPosition(); } - // resets odometry to the provided pose + /** + * + * @param pose resets the on-robot odometry to the given pose + */ public void resetOdometry(Pose2d pose) { swerveOdometry.resetPosition(pose.getRotation(), getModulePositions(), pose); gyro.setYaw(pose.getRotation().getDegrees()); } - // gets the state of the swerve modules + /** + * + * @return gets the state of the swerve modules + */ @AutoLogOutput(key = "SwerveStates/Measured") public SwerveModuleState[] getModuleStates() { SwerveModuleState[] states = new SwerveModuleState[4]; @@ -133,7 +142,10 @@ public SwerveModuleState[] getModuleStates() { return states; } - // gets the voltage and current of the swerve modules + /** + * + * @return gets the voltage and current of the swerve modules for simulation purposes. Doesn't work atm. + */ @AutoLogOutput(key = "SwerveStates/Measured") public Object[] getModulePowers(){ Object[] powers = new Object[4]; @@ -143,14 +155,25 @@ public Object[] getModulePowers(){ return powers; } + /** + * sets gyro's yaw to zero + */ public void zeroGyro() { gyro.setYaw(0); } + /** + * + * @return the yaw from the gyro (Pidgeon 2) + */ public Rotation2d getYaw() { return Rotation2d.fromDegrees(normalize(gyro.getYaw().getValue())); } + /** + * + * @return gets the pitch from the gyro (Pidgeon 2) + */ public double getPitch() { return gyro.getRoll().getValueAsDouble(); } @@ -158,6 +181,13 @@ public double getPitch() { // gyro reports angle cumalitvely not in 360s so this method gets the 360 // rotation and tranforms it to the 180 to -180 rotation that is used by the // pose class in WPIlib + /** + * gyro reports angle cumalitvely not in 360s so this method gets the 360 + * rotation and tranforms it to the 180 to -180 rotation that is used by the + * pose class in WPIlib + * @param deg degree from gyro + * @return normalized degrees for WPIlib use + */ public static double normalize(double deg) { double angle = deg % 360; if (angle < -180) { @@ -168,7 +198,10 @@ public static double normalize(double deg) { return angle; } - // gets the positions of the swerve modules + /** + * + * @return the positions of the swerve modules + */ public SwerveModulePosition[] getModulePositions() { SwerveModulePosition[] positions = new SwerveModulePosition[4]; for (SwerveModule mod : mSwerveMods) { @@ -177,7 +210,10 @@ public SwerveModulePosition[] getModulePositions() { return positions; } - // checks if the swerve is being used for an auto generated path like OTF or auto + /** + * + * @return whether the swerve is being used for an auto generated path like OTF or auto + */ public boolean pathInProgress() { return !getDefaultCommand().isScheduled(); } @@ -190,6 +226,10 @@ public void goalPoseParameters(Pose2d goalPose, double xTolerance, double yToler this.yTolerance = yTolerance; } + /** + * + * @return if the robot is close enough to the desired 2d pose. Used in autonomous + */ public boolean inPosition() { return (Math.abs(getPose().getX() - goalPose.getX()) < xTolerance) && (Math.abs(getPose().getY() - goalPose.getY()) < yTolerance)