diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 9e64ed4d..3b8c04d3 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -13,7 +13,8 @@ jobs: - uses: actions/setup-java@v4 with: distribution: 'zulu' - java-version: 17 + java-version: 25 + cache: 'gradle' - run: ./gradlew spotlessCheck build: # The type of runner that the job will run on @@ -27,5 +28,6 @@ jobs: - uses: actions/setup-java@v4 with: distribution: 'zulu' - java-version: 17 + java-version: 25 + cache: 'gradle' - run: ./gradlew build \ No newline at end of file diff --git a/.gitignore b/.gitignore index 49fd843d..34cbaac1 100644 --- a/.gitignore +++ b/.gitignore @@ -185,4 +185,3 @@ compile_commands.json # Eclipse generated file for annotation processors .factorypath -.gradle/* \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 00000000..6d2cc2fc --- /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 Systemcore Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json index e0f15db2..f6cf31d5 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,3 +1,63 @@ { - "java.configuration.updateBuildConfiguration": "automatic" -} \ No newline at end of file + "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", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "org.wpilib.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "org.wpilib.math.proto.*", + "org.wpilib.math.**.proto.*", + "org.wpilib.math.**.struct.*", + ], + "java.debug.settings.enableRunDebugCodeLens": false, + "java.dependency.enableDependencyCheckup": false, + "java.compile.nullAnalysis.mode": "automatic" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index a05d65e5..2eeada4a 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2026", + "projectYear": "2027_alpha7", "teamNumber": 3501 } \ No newline at end of file diff --git a/CODEOWNERS b/CODEOWNERS index 1310873e..6bafd7da 100644 --- a/CODEOWNERS +++ b/CODEOWNERS @@ -1 +1 @@ -* @firebots-software/software-reviewers +* @firebots-software/software-reviewers \ No newline at end of file diff --git a/build.gradle b/build.gradle index e99bf188..36856b89 100644 --- a/build.gradle +++ b/build.gradle @@ -1,50 +1,46 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2026.2.1" - id 'com.diffplug.spotless' version '6.20.0' + id "application" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-7" + id "com.diffplug.spotless" version "6.25.0" } - java { - sourceCompatibility = JavaVersion.VERSION_17 - targetCompatibility = JavaVersion.VERSION_17 + sourceCompatibility = JavaVersion.VERSION_25 + targetCompatibility = JavaVersion.VERSION_25 } -def ROBOT_MAIN_CLASS = "frc.robot.Main" +def ROBOT_MAIN_CLASS = "first.Main" -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // 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) + team = project.wpilib.getTeamNumber() + // Use the default systemcore host name. This must be called after setting team + // as happens on the line above + useDefaultSystemcoreHostName() + debug = project.wpilib.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')) { - // } - frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - // Enable VisualVM connection - jvmArgs.add("-Dcom.sun.management.jmxremote=true") - jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198") - jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false") - jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false") - jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false") - jvmArgs.add("-Djava.rmi.server.hostname=10.35.1.2") // Replace TE.AM with team number + wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) { + // Set to true to use debug including JNI, which will drastically impact performance. + debugJni = false } // Static files artifact - frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no // longer exist in deploy directory of this project } } @@ -52,13 +48,10 @@ deploy { } } +def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava - -def deployArtifact = deploy.targets.roborio.artifacts.frcJava - -// Set to true to use debug for all targets including JNI, which will drastically impact -// performance. -wpi.java.debugJni = false +// Set to true to use debug for simulation including JNI +wpi.java.runSimWithDebugJni = false // Set this to true to enable desktop support. def includeDesktopSupport = false @@ -70,11 +63,11 @@ 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) + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) @@ -97,27 +90,18 @@ test { 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. +application.mainClass = ROBOT_MAIN_CLASS + +deployArtifact.configureApplication(application) +wpi.java.configureApplication(application) +wpi.java.configureTestTasks(test) + jar { - from { - configurations.runtimeClasspath.collect { - it.isDirectory() ? it : zipTree(it) - } - } from('src') { into 'backup/src' } from('vendordeps') { into 'backup/vendordeps' } from('build.gradle') { into 'backup' } - 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' @@ -134,7 +118,7 @@ spotless { exclude '**/build/**', '**/build-*/**', '**/bin/**' } toggleOffOn() - googleJavaFormat() + googleJavaFormat('1.28.0') removeUnusedImports() trimTrailingWhitespace() endWithNewline() diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index a4b76b95..d997cfc6 100644 Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 8e975a5f..97940dae 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,7 +1,7 @@ -distributionBase=GRADLE_USER_HOME -distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip -networkTimeout=10000 -validateDistributionUrl=true -zipStoreBase=GRADLE_USER_HOME -zipStorePath=permwrapper/dists +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists \ No newline at end of file diff --git a/gradlew b/gradlew index f5feea6d..739907df 100755 --- a/gradlew +++ b/gradlew @@ -1,7 +1,7 @@ #!/bin/sh # -# Copyright © 2015-2021 the original authors. +# Copyright © 2015 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. @@ -57,7 +57,7 @@ # Darwin, MinGW, and NonStop. # # (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt # within the Gradle project. # # You can find Gradle at https://github.com/gradle/gradle/. @@ -86,8 +86,7 @@ done # 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 -P "${APP_HOME:-./}" > /dev/null && printf '%s -' "$PWD" ) || exit +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD=maximum @@ -115,7 +114,6 @@ case "$( uname )" in #( NONSTOP* ) nonstop=true ;; esac -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar # Determine the Java command to use to start the JVM. @@ -173,7 +171,6 @@ fi # For Cygwin or MSYS, switch paths to Windows format before running java if "$cygwin" || "$msys" ; then APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) - CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) JAVACMD=$( cygpath --unix "$JAVACMD" ) @@ -206,15 +203,14 @@ fi 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, +# * DEFAULT_JVM_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 \ + -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \ "$@" # Stop when "xargs" is not available. diff --git a/gradlew.bat b/gradlew.bat index 9b42019c..e509b2dd 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -70,11 +70,10 @@ 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 %* +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %* :end @rem End local scope for the variables with windows NT shell diff --git a/settings.gradle b/settings.gradle index 25f6f6e8..a17bda05 100644 --- a/settings.gradle +++ b/settings.gradle @@ -2,27 +2,35 @@ import org.gradle.internal.os.OperatingSystem pluginManagement { repositories { - mavenLocal() - gradlePluginPortal() - String frcYear = '2026' - File frcHome - if (OperatingSystem.current().isWindows()) { + String wpilibYear = '2027_alpha7' + File wpilibHome + def os = OperatingSystem.current() + if (os.isWindows()) { String publicFolder = System.getenv('PUBLIC') if (publicFolder == null) { publicFolder = "C:\\Users\\Public" } def homeRoot = new File(publicFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) + wpilibHome = new File(homeRoot, wpilibYear) + } else if (os.isLinux()) { + String xdgDataHome = System.getenv('XDG_DATA_HOME') + if (xdgDataHome == null || xdgDataHome.trim().isEmpty() || !new File(xdgDataHome).isAbsolute()) { + xdgDataHome = new File(System.getProperty("user.home"), ".local/share").getPath() + } + def homeRoot = new File(xdgDataHome, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) } else { def userFolder = System.getProperty("user.home") - def homeRoot = new File(userFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) + def homeRoot = new File(userFolder, ".wpilib") + wpilibHome = new File(homeRoot, wpilibYear) } - def frcHomeMaven = new File(frcHome, 'maven') + def wpilibHomeMaven = new File(wpilibHome, 'maven') maven { - name = 'frcHome' - url = frcHomeMaven + name = 'wpilibHome' + url = wpilibHomeMaven } + mavenLocal() + gradlePluginPortal() } } diff --git a/simgui-ds.json b/simgui-ds.json index 5a2c3696..82263491 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -1,109 +1,59 @@ { - "FMS": { - "window": { - "visible": false - } - }, - "Keyboard 0 Settings": { - "window": { - "visible": true - } - }, - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 68, - "incKey": 65 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ], - "robotJoysticks": [ - {}, - {}, - { - "guid": "Keyboard0" - } - ] + "System Joysticks": {"window": {"enabled": false}}, + "keyboardJoysticks": [{ + "axisConfig": [{ + "decKey": 546, + "incKey": 549 + }, { + "decKey": 568, + "incKey": 564 + }, { + "decKey": 550, + "decayRate": 0, + "incKey": 563, + "keyRate": 0.01 + }], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [571, 569, 548, 567], + "povConfig": [{ + "keyDown": 614, + "keyDownLeft": 613, + "keyDownRight": 615, + "keyLeft": 616, + "keyRight": 618, + "keyUp": 620, + "keyUpLeft": 619, + "keyUpRight": 621 + }], + "povCount": 1 + }, { + "axisConfig": [{ + "decKey": 555, + "incKey": 557 + }, { + "decKey": 554, + "incKey": 556 + }], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [558, 597, 599, 600], + "povCount": 0 + }, { + "axisConfig": [{ + "decKey": 513, + "incKey": 514 + }, { + "decKey": 515, + "incKey": 516 + }], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [521, 519, 517, 522, 520, 518], + "povCount": 0 + }, { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + }] } diff --git a/src/main/deploy/choreo/LeftSecondDip.traj b/src/main/deploy/choreo/LeftSecondDip.traj index 26fba0d4..af82ca7c 100644 --- a/src/main/deploy/choreo/LeftSecondDip.traj +++ b/src/main/deploy/choreo/LeftSecondDip.traj @@ -6,7 +6,7 @@ {"x":5.611854076385498, "y":5.705188751220703, "heading":-1.5657181171509245, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.429483413696289, "y":6.459790229797363, "heading":-0.00631101017301983, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.390566825866699, "y":6.004539966583252, "heading":-0.8915152357196665, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.448474407196045, "y":4.726224899291992, "heading":-2.5646739792250837, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.448474407196045, "y":4.726224899291992, "heading":-2.5646739792250837, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.469950199127197, "y":4.578090190887451, "heading":-3.1254652057435086, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.04764461517334, "y":5.082523822784424, "heading":-2.594308272602356, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.611854076385498, "y":5.705188274383545, "heading":-1.564467367692855, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -18,7 +18,7 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":0.8}}, "enabled":true}, {"from":4, "to":6, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], "targetDt":0.05 @@ -28,7 +28,7 @@ {"x":{"exp":"5.611854076385498 m", "val":5.611854076385498}, "y":{"exp":"5.705188751220703 m", "val":5.705188751220703}, "heading":{"exp":"-1.5657181171509245 rad", "val":-1.5657181171509245}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.429483413696289 m", "val":6.429483413696289}, "y":{"exp":"6.459790229797363 m", "val":6.459790229797363}, "heading":{"exp":"-6.31101017301983 mrad", "val":-0.00631101017301983}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.390566825866699 m", "val":7.390566825866699}, "y":{"exp":"6.004539966583252 m", "val":6.004539966583252}, "heading":{"exp":"-0.8915152357196665 rad", "val":-0.8915152357196665}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.448474407196045 m", "val":7.448474407196045}, "y":{"exp":"4.726224899291992 m", "val":4.726224899291992}, "heading":{"exp":"-2.5646739792250837 rad", "val":-2.5646739792250837}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.448474407196045 m", "val":7.448474407196045}, "y":{"exp":"4.726224899291992 m", "val":4.726224899291992}, "heading":{"exp":"-2.5646739792250837 rad", "val":-2.5646739792250837}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.469950199127197 m", "val":6.469950199127197}, "y":{"exp":"4.578090190887451 m", "val":4.578090190887451}, "heading":{"exp":"-3.1254652057435086 rad", "val":-3.1254652057435086}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.04764461517334 m", "val":6.04764461517334}, "y":{"exp":"5.082523822784424 m", "val":5.082523822784424}, "heading":{"exp":"-2.594308272602356 rad", "val":-2.594308272602356}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.611854076385498 m", "val":5.611854076385498}, "y":{"exp":"5.705188274383545 m", "val":5.705188274383545}, "heading":{"exp":"-1.5644673676928553 rad", "val":-1.564467367692855}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], @@ -40,7 +40,7 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxVelocity", 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"enabled":true}, {"from":4, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":3, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true}, - {"from":4, "to":6, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, - {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + {"from":3, "to":4, "data":{"type":"MaxVelocity", "props":{"max":0.8}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":4, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -28,7 +28,7 @@ {"x":{"exp":"5.607864856719971 m", "val":5.607864856719971}, "y":{"exp":"2.2545297145843506 m", "val":2.2545297145843506}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, 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"fy":[-1.2504,-1.02001,1.84022,1.47397]}, + {"t":4.65208, "x":5.64524, "y":2.37169, "heading":1.68694, "vx":-0.66275, "vy":-1.8854, "omega":-2.20025, "ax":0.04515, "ay":-0.01594, "alpha":0.64928, "fx":[-0.65137,2.5041,2.08432,-1.06999], "fy":[-2.28497,-1.76806,1.70507,1.33556]}, + {"t":4.66537, "x":5.63644, "y":2.34664, "heading":1.65771, "vx":-0.66215, "vy":-1.88561, "omega":-2.19162, "ax":-0.01926, "ay":0.00678, "alpha":0.79196, "fx":[-2.04962,1.81836,1.43346,-2.42534], "fy":[-2.16166,-1.97445,2.45192,2.11487]}, + {"t":4.67865, "x":5.62764, "y":2.32159, "heading":1.62859, "vx":-0.66241, "vy":-1.88552, "omega":-2.1811, "ax":-0.00024, "ay":0.00042, "alpha":0.945, "fx":[-2.16037,2.45725,2.1509,-2.4632], "fy":[-2.80694,-2.37527,2.73776,2.47136]}, + {"t":4.69194, "x":5.61883, "y":2.29653, "heading":1.59961, "vx":-0.66241, "vy":-1.88551, "omega":-2.16854, "ax":0.00616, "ay":0.11686, "alpha":1.10865, "fx":[-2.52079,2.89761,2.71114,-2.69652], "fy":[-1.34383,-1.06004,4.98777,4.83697]}, + {"t":4.70523, "x":5.61003, "y":2.27149, "heading":1.5708, "vx":-0.66233, "vy":-1.88396, "omega":-2.15381, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[ {"name":"IntakeDown", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeDown"}}}, - {"name":"IntakeUp", "from":{"target":5, "targetTimestamp":4.04495, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}] + {"name":"IntakeUp", "from":{"target":5, "targetTimestamp":4.38634, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"named", "data":{"name":"IntakeUp"}}}] } diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/first/Main.java similarity index 90% rename from src/main/java/frc/robot/Main.java rename to src/main/java/first/Main.java index 8776e5dd..00838175 100644 --- a/src/main/java/frc/robot/Main.java +++ b/src/main/java/first/Main.java @@ -2,9 +2,10 @@ // 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; +package first; -import edu.wpi.first.wpilibj.RobotBase; +import frc.robot.Robot; +import org.wpilib.framework.RobotBase; /** * Do NOT add any static variables to this class, or any initialization at all. Unless you know what diff --git a/src/main/java/frc/robot/AutoRoutines.java b/src/main/java/frc/robot/AutoRoutines.java index 7e236de3..a553e8fc 100644 --- a/src/main/java/frc/robot/AutoRoutines.java +++ b/src/main/java/frc/robot/AutoRoutines.java @@ -5,10 +5,6 @@ import choreo.auto.AutoRoutine; import choreo.auto.AutoTrajectory; import com.ctre.phoenix6.swerve.utility.WheelForceCalculator.Feedforwards; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.Swerve.Auto.Depot; import frc.robot.Constants.Swerve.Auto.Intake; import frc.robot.Constants.Swerve.Auto.MiscPaths; @@ -22,6 +18,10 @@ import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.ShooterSubsystem; import java.util.function.BooleanSupplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.Commands; +import org.wpilib.command2.button.Trigger; +import org.wpilib.math.kinematics.ChassisVelocities; public class AutoRoutines { private final AutoFactory autoFactory; @@ -150,46 +150,54 @@ public Command returnBasicShootMoreTime(BooleanSupplier isRedSide) { public Command driveForward(double time) { return Commands.run( - () -> swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(3, 0, 0), new Feedforwards(4)), + () -> + swerveSubsystem.applyFieldSpeeds( + new ChassisVelocities(3, 0, 0), new Feedforwards(4)), swerveSubsystem) .withTimeout(time) .andThen( () -> - swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(0, 0, 0), new Feedforwards(4))); + swerveSubsystem.applyFieldSpeeds( + new ChassisVelocities(0, 0, 0), new Feedforwards(4))); } public Command driveBackward(double time) { return Commands.run( () -> - swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(-3, 0, 0), new Feedforwards(4)), + swerveSubsystem.applyFieldSpeeds( + new ChassisVelocities(-3, 0, 0), new Feedforwards(4)), swerveSubsystem) .withTimeout(time) .andThen( () -> - swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(0, 0, 0), new Feedforwards(4))); + swerveSubsystem.applyFieldSpeeds( + new ChassisVelocities(0, 0, 0), new Feedforwards(4))); } public Command driveForwardSlower(double time) { return Commands.run( () -> - swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(2.7, 0, 0), new Feedforwards(4)), + swerveSubsystem.applyFieldSpeeds( + new ChassisVelocities(2.7, 0, 0), new Feedforwards(4)), swerveSubsystem) .withTimeout(time); // .andThen( // () -> - // swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(0, 0, 0), new Feedforwards(4))); + // swerveSubsystem.applyFieldSpeeds(new ChassisVelocities(0, 0, 0), new + // Feedforwards(4))); } public Command driveBackwardSlower(double time) { return Commands.run( () -> swerveSubsystem.applyFieldSpeeds( - new ChassisSpeeds(-2.7, 0, 0), new Feedforwards(4)), + new ChassisVelocities(-2.7, 0, 0), new Feedforwards(4)), swerveSubsystem) .withTimeout(time); // .andThen( // () -> - // swerveSubsystem.applyFieldSpeeds(new ChassisSpeeds(0, 0, 0), new Feedforwards(4))); + // swerveSubsystem.applyFieldSpeeds(new ChassisVelocities(0, 0, 0), new + // Feedforwards(4))); } public Command driveToBumpAfterIntake(BooleanSupplier isRedSide, BooleanSupplier isLeftSide) { diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 55781d58..714c9905 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,23 +1,23 @@ package frc.robot; -import static edu.wpi.first.units.Units.*; +import static org.wpilib.units.Units.*; import com.ctre.phoenix6.CANBus; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.numbers.N8; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.units.measure.Distance; import frc.robot.util.VisionCameraConstants; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Rotation3d; +import org.wpilib.math.geometry.Transform3d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.geometry.Translation3d; +import org.wpilib.math.interpolation.InterpolatingDoubleTreeMap; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; +import org.wpilib.math.numbers.N8; +import org.wpilib.math.util.Units; +import org.wpilib.units.measure.Angle; +import org.wpilib.units.measure.Distance; public final class Constants { public static final boolean hopperOnRobot = true; @@ -26,6 +26,7 @@ public final class Constants { public static final boolean fuelGaugeOnRobot = false; public static final boolean intakeVisionOnRobot = false; public static final boolean shooterOnRobot = true; + public static final boolean secondControllerConnected = true; public static class OperatorConstants { public static final int kDriverControllerPort = 0; @@ -110,11 +111,13 @@ public static final class Rollers { } public static class Swerve { + public static final double GLOBAL_SWERVE_MULT = 1.0; + public static final double FF_RADIUS_M2 = 0.1; public static final double MAX_TRANSLATIONAL_MOVEMENT_SQUARED = 0.0625; public static final SwerveType WHICH_SWERVE_ROBOT = SwerveType.COBRA; - public static final CANBus CAN_BUS = - new CANBus(WHICH_SWERVE_ROBOT.CANBUS_NAME, "./logs/example.hoot"); + public static final CANBus CAN_BUS = new CANBus(WHICH_SWERVE_ROBOT.CANBUS_NAME); + // new CANBus(WHICH_SWERVE_ROBOT.CANBUS_NAME, "./logs/example.hoot"); // the distance over the bump in meters public static final double TARGET_POS_ERROR = 0.07; @@ -455,6 +458,30 @@ public static enum MiscPaths { Nike, anthony } + + public static enum AutoList { + RIGHT("Right"), + LEFT("Left"), + RIGHT_WAIT("Right Wait"), + LEFT_WAIT("Left Wait"), + RIGHT_HUB_SWEEP_WAIT("Hub Sweep Right Wait"), + LEFT_HUB_SWEEP_WAIT("Hub Sweep Left Wait"), + OUTPOST("Just Outpost"), + DEPOT("Just Depot"), + OUTPOST_TO_DEPOT("Outpost to Depot"), + DEPOT_TO_OUTPOST("Depot to Outpost"), + CENTER("We are genuinely the worst robot on the field"); + + private String internalName; + + AutoList(String internalName) { + this.internalName = internalName; + } + + public String getInternalName() { + return this.internalName; + } + } } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fc589f9c..ad97de04 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,144 +1,33 @@ -// 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 dev.doglog.DogLog; import dev.doglog.DogLogOptions; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.util.LoggedTalonFX; -import frc.robot.util.MiscUtils; -import frc.robot.util.VisionUtils; - -/** - * The methods in this class are called automatically 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 Main.java file in the project. - */ -public class Robot extends TimedRobot { - private Command m_autonomousCommand; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.framework.OpModeRobot; // The correct 2027 OpMode entry point +import org.wpilib.system.RobotController; +public class Robot extends OpModeRobot { // private final RobotContainer m_robotContainer; - private static double simulatedTime = 160; - - /** - * This function is run when the robot is first started up and should be used for any - * initialization code. - */ public Robot() { - // Instantiate our RobotContainer. This will perform all our button bindings, and put our - // autonomous chooser on the dashboard. - m_robotContainer = new RobotContainer(); - } - - @Override - public void robotInit() { - RobotContainer.isRedAlliance(); + // Global setup inside the constructor DogLog.setOptions( - new DogLogOptions() - .withNtPublish(false) - .withCaptureDs(true) - .withLogExtras(false) - .withNtTunables(false)); - DogLog.log("Elastic/FieldPose", m_robotContainer.drivetrain.getCurrentState().Pose); - DogLog.log("Elastic/RedSide", RobotContainer.isRedAlliance()); - RobotController.setBrownoutVoltage(6.0); + new DogLogOptions().withCaptureDs(true).withLogExtras(false).withNtTunables(false)); + RobotController.setBrownoutVoltages(6.0, 6.75); + + 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. - + m_robotContainer.visionPeriodic(); + m_robotContainer.elasticLogging(); CommandScheduler.getInstance().run(); LoggedTalonFX.periodic_static(); - m_robotContainer.visionPeriodic(); - elasticLogging(); - MiscUtils.shiftSwitchIndicator(simulatedTime); - m_robotContainer.doTelemetry(); } - private void elasticLogging() { - simulatedTime -= 0.02; - if (simulatedTime < 0) simulatedTime = 160; - DogLog.log("Elastic/FieldPose", m_robotContainer.drivetrain.getCurrentState().Pose); - DogLog.log("Elastic/BatteryVoltage", RobotController.getBatteryVoltage()); - DogLog.log("Elastic/AreWeActive", MiscUtils.areWeActive()); - SmartDashboard.putString("Elastic/ActiveFirst", MiscUtils.activeFirst()); - DogLog.log("Elastic/TimeUntilNextShift", MiscUtils.countdownTillNextShift(simulatedTime)); - SmartDashboard.putNumber( - "Elastic/timeUntilNextShift", MiscUtils.countdownTillNextShift(simulatedTime)); - DogLog.log("Elastic/CurrentShiftName", MiscUtils.currentShiftName(simulatedTime)); + public RobotContainer getContainer() { + return m_robotContainer; } - - /** 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(); - VisionUtils.setHeadingThreshold(Constants.Vision.MAX_HEADING_DIFF_AUTO); - - // schedule the autonomous command (example) - if (m_autonomousCommand != null) CommandScheduler.getInstance().schedule(m_autonomousCommand); - } - - /** This function is called periodically during autonomous. */ - @Override - public void autonomousPeriodic() {} - - @Override - public void teleopInit() { - m_robotContainer.intakeSubsystem.applyBrakeConfigArm(); - VisionUtils.setHeadingThreshold(Constants.Vision.MAX_HEADING_DIFF); - - // 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(); - DogLog.log("Elastic/FlashDriveConnected", MiscUtils.isFlashDriveConnected()); - } - - /** 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 index 14cf8270..dc97be40 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,15 +5,12 @@ package frc.robot; import choreo.auto.AutoChooser; +import dev.doglog.DogLog; // * KEEP FOR WIN COMMAND TESTING -// 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.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +// import org.wpilib.math.geometry.Pose2d; +// import org.wpilib.math.geometry.Rotation2d; +// import org.wpilib.math.geometry.Translation2d; +import frc.robot.Constants.Swerve.Auto.AutoList; // * KEEP FOR WIN COMMAND TESTING import frc.robot.commandGroups.ShootCommandGroups.ShootPassing; import frc.robot.commandGroups.ShootCommandGroups.ShootWithAim; @@ -30,19 +27,23 @@ import frc.robot.util.CustomController; import frc.robot.util.MiscUtils; import frc.robot.util.Targeting; +import frc.robot.util.TelemetryUtils; import frc.robot.util.VisionUtils; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.button.CommandGamepad; +import org.wpilib.driverstation.Alliance; +import org.wpilib.driverstation.MatchState; +import org.wpilib.system.RobotController; public class RobotContainer { private BooleanSupplier redside = RobotContainer::isRedAlliance; // private Field2d field = new Field2d(); - private final Telemetry logger = - new Telemetry(Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND); - - private final CommandXboxController joystick = new CommandXboxController(0); - private final CustomController secondController = new CustomController(4); + private final CommandGamepad joystick = new CommandGamepad(0); + private final CustomController secondController = + Constants.secondControllerConnected ? new CustomController(4) : null; public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); @@ -84,7 +85,7 @@ public class RobotContainer { public final LEDSubsystem leds = new LEDSubsystem( - () -> MiscUtils.areWeActive(2.0), + () -> MiscUtils.areWeActive(), () -> Targeting.distMeters(drivetrain, Targeting.getHub(redside)) < 4.47 && inAllianceSide()); @@ -96,8 +97,7 @@ public class RobotContainer { public RobotContainer() { autoRoutines = new AutoRoutines(intakeSubsystem, lebron, hopperSubsystem, drivetrain, redside); autoChooser = autoRoutines.getAutoChooser(); - SmartDashboard.putData("Auto Chooser", autoChooser); - // SmartDashboard.putData("Elastic/Field2d", field); + // Tunables.publish("Auto", autoChooser); configureBindings(); } @@ -137,7 +137,7 @@ private void configureBindings() { () -> false, () -> false); - joystick.x().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric)); + joystick.faceLeft().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric)); drivetrain.setDefaultCommand(swerveJoystickDefaultCommand); // Intake @@ -145,7 +145,7 @@ private void configureBindings() { joystick.leftBumper().whileTrue(intakeSubsystem.intakeUntilInterruptedCommand()); joystick - .b() + .faceRight() .whileTrue( intakeSubsystem .outtakeUntilInterruptedCommand() @@ -185,7 +185,9 @@ private void configureBindings() { // // (hopperSubsystem.runHopperUntilInterruptedCommand().alongWith(Commands.waitSeconds(0.4).andThen(intakeSubsystem.powerRetractRollersCommand()))))); - secondController.intakeOverride().whileTrue(intakeSubsystem.retractIntakeCommand()); + if (Constants.secondControllerConnected) { + secondController.intakeOverride().whileTrue(intakeSubsystem.retractIntakeCommand()); + } // Hopper hopperSubsystem.setDefaultCommand(hopperSubsystem.run(hopperSubsystem::stop)); @@ -203,7 +205,9 @@ private void configureBindings() { hopperSubsystem, drivetrain, redside, - secondController.visionShootingLockout())); + Constants.secondControllerConnected + ? secondController.visionShootingLockout() + : () -> false)); joystick .rightBumper() @@ -216,7 +220,10 @@ private void configureBindings() { hopperSubsystem, drivetrain, redside)); - secondController.reverseShoot().whileTrue(lebron.shootAtSpeedCommand(-45.0)); + + if (Constants.secondControllerConnected) { + secondController.reverseShoot().whileTrue(lebron.shootAtSpeedCommand(-45.0)); + } // * KEEP FOR INTERMAP TESTING // joystick.x().onTrue(new InstantCommand(() -> hoodAngle+=0.2)); @@ -226,9 +233,9 @@ private void configureBindings() { } public static boolean isRedAlliance() { - return DriverStation.getAlliance().isEmpty() + return MatchState.getAlliance().isEmpty() ? false - : DriverStation.getAlliance().get() == Alliance.Red; + : MatchState.getAlliance().get() == Alliance.RED; } public void visionPeriodic() { @@ -237,16 +244,6 @@ public void visionPeriodic() { leds.visionStatusIndicators(visionFrontLeft, visionFrontRight, visionRearLeft, visionRearRight); } - public void doTelemetry() { - logger.telemeterize(drivetrain.getCurrentState()); - - String commandName = "nah"; - - if (drivetrain.getCurrentCommand() != null) { - commandName = drivetrain.getCurrentCommand().getName(); - } - } - public boolean inAllianceSide() { return redside.getAsBoolean() ? drivetrain.getPose().getX() > Constants.Landmarks.RED_HUB.getX() @@ -254,6 +251,31 @@ public boolean inAllianceSide() { } public Command getAutonomousCommand() { + DogLog.log("Robot/selectedAuto", autoChooser.selectedCommand().toString()); return autoChooser.selectedCommand(); } + + public Command getAutonomousCommand(AutoList auto) { + String selected = autoChooser.select(auto.getInternalName()); + DogLog.log("Robot/selectedAuto", selected); + // if (!selected.equals(auto.getInternalName())) return null; + return autoChooser.selectedCommand(); + } + + public void elasticLogging() { + double matchTime = MatchState.getMatchTime(); + MiscUtils.shiftSwitchIndicator(matchTime); + + DogLog.log("Elastic/RawMatchTime", matchTime); + DogLog.log("Elastic/FieldPose", drivetrain.getCurrentState().Pose); + DogLog.log("Elastic/BatteryVoltage", RobotController.getBatteryVoltage()); + DogLog.log("Elastic/AreWeActive", MiscUtils.areWeActive(matchTime)); + DogLog.log("Elastic/TimeUntilNextShift", MiscUtils.countdownTillNextShift(matchTime)); + DogLog.log("Elastic/CurrentShiftName", MiscUtils.currentShiftName(matchTime)); + + TelemetryUtils.elasticTelemetry.log("CurrentShiftName", MiscUtils.currentShiftName(matchTime)); + TelemetryUtils.elasticTelemetry.log("ActiveFirst", MiscUtils.activeFirst()); + TelemetryUtils.elasticTelemetry.log( + "timeUntilNextShift", MiscUtils.countdownTillNextShift(matchTime)); + } } diff --git a/src/main/java/frc/robot/Telemetry.java b/src/main/java/frc/robot/Telemetry.java deleted file mode 100644 index d58991f4..00000000 --- a/src/main/java/frc/robot/Telemetry.java +++ /dev/null @@ -1,142 +0,0 @@ -package frc.robot; - -import com.ctre.phoenix6.SignalLogger; -import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.kinematics.SwerveModulePosition; -import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.networktables.DoubleArrayPublisher; -import edu.wpi.first.networktables.DoublePublisher; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.networktables.StringPublisher; -import edu.wpi.first.networktables.StructArrayPublisher; -import edu.wpi.first.networktables.StructPublisher; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj.util.Color; -import edu.wpi.first.wpilibj.util.Color8Bit; - -public class Telemetry { - private final double MaxSpeed; - - /** - * Construct a telemetry object, with the specified max speed of the robot - * - * @param maxSpeed Maximum speed in meters per second - */ - public Telemetry(double maxSpeed) { - MaxSpeed = maxSpeed; - SignalLogger.start(); - } - - /* What to publish over networktables for telemetry */ - private final NetworkTableInstance inst = NetworkTableInstance.getDefault(); - - /* Robot swerve drive state */ - private final NetworkTable driveStateTable = inst.getTable("DriveState"); - private final StructPublisher drivePose = - driveStateTable.getStructTopic("Pose", Pose2d.struct).publish(); - private final StructPublisher driveSpeeds = - driveStateTable.getStructTopic("Speeds", ChassisSpeeds.struct).publish(); - private final StructArrayPublisher driveModuleStates = - driveStateTable.getStructArrayTopic("ModuleStates", SwerveModuleState.struct).publish(); - private final StructArrayPublisher driveModuleTargets = - driveStateTable.getStructArrayTopic("ModuleTargets", SwerveModuleState.struct).publish(); - private final StructArrayPublisher driveModulePositions = - driveStateTable.getStructArrayTopic("ModulePositions", SwerveModulePosition.struct).publish(); - private final DoublePublisher driveTimestamp = - driveStateTable.getDoubleTopic("Timestamp").publish(); - private final DoublePublisher driveOdometryFrequency = - driveStateTable.getDoubleTopic("OdometryFrequency").publish(); - - /* Robot pose for field positioning */ - private final NetworkTable table = inst.getTable("Pose"); - private final DoubleArrayPublisher fieldPub = table.getDoubleArrayTopic("robotPose").publish(); - private final StringPublisher fieldTypePub = table.getStringTopic(".type").publish(); - - /* Mechanisms to represent the swerve module states */ - private final Mechanism2d[] m_moduleMechanisms = - new Mechanism2d[] { - new Mechanism2d(1, 1), new Mechanism2d(1, 1), new Mechanism2d(1, 1), new Mechanism2d(1, 1), - }; - /* A direction and length changing ligament for speed representation */ - private final MechanismLigament2d[] m_moduleSpeeds = - new MechanismLigament2d[] { - m_moduleMechanisms[0] - .getRoot("RootSpeed", 0.5, 0.5) - .append(new MechanismLigament2d("Speed", 0.5, 0)), - m_moduleMechanisms[1] - .getRoot("RootSpeed", 0.5, 0.5) - .append(new MechanismLigament2d("Speed", 0.5, 0)), - m_moduleMechanisms[2] - .getRoot("RootSpeed", 0.5, 0.5) - .append(new MechanismLigament2d("Speed", 0.5, 0)), - m_moduleMechanisms[3] - .getRoot("RootSpeed", 0.5, 0.5) - .append(new MechanismLigament2d("Speed", 0.5, 0)), - }; - /* A direction changing and length constant ligament for module direction */ - private final MechanismLigament2d[] m_moduleDirections = - new MechanismLigament2d[] { - m_moduleMechanisms[0] - .getRoot("RootDirection", 0.5, 0.5) - .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))), - m_moduleMechanisms[1] - .getRoot("RootDirection", 0.5, 0.5) - .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))), - m_moduleMechanisms[2] - .getRoot("RootDirection", 0.5, 0.5) - .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))), - m_moduleMechanisms[3] - .getRoot("RootDirection", 0.5, 0.5) - .append(new MechanismLigament2d("Direction", 0.1, 0, 0, new Color8Bit(Color.kWhite))), - }; - - private final double[] m_poseArray = new double[3]; - private final double[] m_moduleStatesArray = new double[8]; - private final double[] m_moduleTargetsArray = new double[8]; - - /** Accept the swerve drive state and telemeterize it to SmartDashboard and SignalLogger. */ - public void telemeterize(SwerveDriveState state) { - /* Telemeterize the swerve drive state */ - drivePose.set(state.Pose); - driveSpeeds.set(state.Speeds); - driveModuleStates.set(state.ModuleStates); - driveModuleTargets.set(state.ModuleTargets); - driveModulePositions.set(state.ModulePositions); - driveTimestamp.set(state.Timestamp); - driveOdometryFrequency.set(1.0 / state.OdometryPeriod); - - /* Also write to log file */ - m_poseArray[0] = state.Pose.getX(); - m_poseArray[1] = state.Pose.getY(); - m_poseArray[2] = state.Pose.getRotation().getDegrees(); - for (int i = 0; i < 4; ++i) { - m_moduleStatesArray[i * 2 + 0] = state.ModuleStates[i].angle.getRadians(); - m_moduleStatesArray[i * 2 + 1] = state.ModuleStates[i].speedMetersPerSecond; - m_moduleTargetsArray[i * 2 + 0] = state.ModuleTargets[i].angle.getRadians(); - m_moduleTargetsArray[i * 2 + 1] = state.ModuleTargets[i].speedMetersPerSecond; - } - - SignalLogger.writeDoubleArray("DriveState/Pose", m_poseArray); - SignalLogger.writeDoubleArray("DriveState/ModuleStates", m_moduleStatesArray); - SignalLogger.writeDoubleArray("DriveState/ModuleTargets", m_moduleTargetsArray); - SignalLogger.writeDouble("DriveState/OdometryPeriod", state.OdometryPeriod, "seconds"); - - /* Telemeterize the pose to a Field2d */ - fieldTypePub.set("Field2d"); - fieldPub.set(m_poseArray); - - /* Telemeterize the module states to a Mechanism2d */ - for (int i = 0; i < 4; ++i) { - m_moduleSpeeds[i].setAngle(state.ModuleStates[i].angle); - m_moduleDirections[i].setAngle(state.ModuleStates[i].angle); - m_moduleSpeeds[i].setLength(state.ModuleStates[i].speedMetersPerSecond / (2 * MaxSpeed)); - - SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]); - } - } -} diff --git a/src/main/java/frc/robot/commandGroups/IntakeToBumpDTP.java b/src/main/java/frc/robot/commandGroups/IntakeToBumpDTP.java index 77e6c96c..255d366a 100644 --- a/src/main/java/frc/robot/commandGroups/IntakeToBumpDTP.java +++ b/src/main/java/frc/robot/commandGroups/IntakeToBumpDTP.java @@ -1,11 +1,11 @@ package frc.robot.commandGroups; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.Constants; import frc.robot.commands.DriveToPose; import frc.robot.subsystems.CommandSwerveDrivetrain; import java.util.function.BooleanSupplier; +import org.wpilib.command2.SequentialCommandGroup; +import org.wpilib.math.geometry.Pose2d; public class IntakeToBumpDTP extends SequentialCommandGroup { public IntakeToBumpDTP( diff --git a/src/main/java/frc/robot/commandGroups/ReverseIntakeAndHopper.java b/src/main/java/frc/robot/commandGroups/ReverseIntakeAndHopper.java index ced930b7..decf1d3e 100644 --- a/src/main/java/frc/robot/commandGroups/ReverseIntakeAndHopper.java +++ b/src/main/java/frc/robot/commandGroups/ReverseIntakeAndHopper.java @@ -1,9 +1,9 @@ package frc.robot.commandGroups; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.Constants; import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.IntakeSubsystem; +import org.wpilib.command2.ParallelCommandGroup; public class ReverseIntakeAndHopper extends ParallelCommandGroup { public ReverseIntakeAndHopper(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem) { diff --git a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/DriveToAndShoot.java b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/DriveToAndShoot.java index 314e8314..ce33df6e 100644 --- a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/DriveToAndShoot.java +++ b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/DriveToAndShoot.java @@ -3,14 +3,6 @@ import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.swerve.utility.LinearPath; import dev.doglog.DogLog; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.HopperSubsystem; @@ -20,6 +12,14 @@ import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.Commands; +import org.wpilib.command2.ParallelCommandGroup; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.kinematics.ChassisVelocities; +import org.wpilib.math.trajectory.TrapezoidProfile; public class DriveToAndShoot extends ParallelCommandGroup { @@ -112,7 +112,7 @@ public void initialize() { targetPose = targetPoseSupplier.get(); pathState = - new LinearPath.State(swerve.getCurrentState().Pose, swerve.getCurrentState().Speeds); + new LinearPath.State(swerve.getCurrentState().Pose, swerve.getCurrentState().Velocity); DogLog.log("Subsystems/Swerve/DriveToAndShoot/InitTargetPoseX", targetPose.getX()); DogLog.log("Subsystems/Swerve/DriveToAndShoot/InitTargetPoseY", targetPose.getY()); @@ -127,17 +127,17 @@ public void execute() { pathState = path.calculate(currTime, pathState, targetPose); double vx = - pathState.speeds.vxMetersPerSecond + pathState.velocity.vx + xController.calculate(swerve.getCurrentState().Pose.getX(), pathState.pose.getX()); double vy = - pathState.speeds.vyMetersPerSecond + pathState.velocity.vy + yController.calculate(swerve.getCurrentState().Pose.getY(), pathState.pose.getY()); double omega = swerve.calculateRequiredRotationalRateWithFF( swerve.getVirtualTarget(redside, () -> false)); - swerve.applyOneFieldSpeeds(new ChassisSpeeds(vx, vy, omega)); + swerve.applyOneFieldSpeeds(new ChassisVelocities(vx, vy, omega)); } @Override diff --git a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasic.java b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasic.java index 618b5d31..671eb633 100644 --- a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasic.java +++ b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasic.java @@ -1,11 +1,11 @@ package frc.robot.commandGroups.ShootCommandGroups; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.ShooterSubsystem; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Commands; +import org.wpilib.command2.ParallelCommandGroup; public class ShootBasic extends ParallelCommandGroup { public ShootBasic( diff --git a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicRetract.java b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicRetract.java index 94d4de0d..93866f7b 100644 --- a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicRetract.java +++ b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicRetract.java @@ -1,11 +1,11 @@ package frc.robot.commandGroups.ShootCommandGroups; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.ShooterSubsystem; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Commands; +import org.wpilib.command2.ParallelCommandGroup; public class ShootBasicRetract extends ParallelCommandGroup { public ShootBasicRetract( diff --git a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootPassing.java b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootPassing.java index 41cd6e34..d6bb36b3 100644 --- a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootPassing.java +++ b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootPassing.java @@ -1,10 +1,5 @@ package frc.robot.commandGroups.ShootCommandGroups; -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.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.Constants; import frc.robot.commands.SwerveCommands.SwerveJoystickCommandWithPointing; import frc.robot.subsystems.CommandSwerveDrivetrain; @@ -15,6 +10,11 @@ import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import java.util.function.Supplier; +import org.wpilib.command2.Commands; +import org.wpilib.command2.ParallelCommandGroup; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; public class ShootPassing extends ParallelCommandGroup { public ShootPassing( diff --git a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootWithAim.java b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootWithAim.java index 0a8a7d97..7407f69b 100644 --- a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootWithAim.java +++ b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootWithAim.java @@ -1,9 +1,5 @@ package frc.robot.commandGroups.ShootCommandGroups; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.Constants; import frc.robot.commands.SwerveCommands.SwerveJoystickCommand; import frc.robot.subsystems.CommandSwerveDrivetrain; @@ -13,6 +9,10 @@ import frc.robot.util.Targeting; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Commands; +import org.wpilib.command2.ParallelCommandGroup; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; public class ShootWithAim extends ParallelCommandGroup { public ShootWithAim( @@ -34,7 +34,7 @@ public ShootWithAim( Commands.either( Commands.parallel( // shoot without aim shooterSubsystem.shootAtSpeedHoodCommand( - 44.2, Constants.Shooter.Hood.MAX_HOOD_POSITION), + 44.2, Constants.Shooter.Hood.MIN_HOOD_POSITION), Commands.waitUntil(shooterSubsystem::isShooterReady) .andThen( Commands.parallel( diff --git a/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java b/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java index 4a85d5ae..16819e55 100644 --- a/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java +++ b/src/main/java/frc/robot/commandGroups/ShootToBumpDTP.java @@ -1,11 +1,11 @@ package frc.robot.commandGroups; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.Constants; import frc.robot.commands.DriveToPose; import frc.robot.subsystems.CommandSwerveDrivetrain; import java.util.function.BooleanSupplier; +import org.wpilib.command2.SequentialCommandGroup; +import org.wpilib.math.geometry.Pose2d; public class ShootToBumpDTP extends SequentialCommandGroup { public ShootToBumpDTP( diff --git a/src/main/java/frc/robot/commands/DriveToPose.java b/src/main/java/frc/robot/commands/DriveToPose.java index d61d3307..4c4f46a0 100644 --- a/src/main/java/frc/robot/commands/DriveToPose.java +++ b/src/main/java/frc/robot/commands/DriveToPose.java @@ -3,14 +3,14 @@ import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.swerve.utility.LinearPath; import dev.doglog.DogLog; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.kinematics.ChassisVelocities; +import org.wpilib.math.trajectory.TrapezoidProfile; /** This Command drives the robot in a linear path to a specific pose. */ public class DriveToPose extends Command { @@ -82,7 +82,7 @@ public void initialize() { } pathState = - new LinearPath.State(swerve.getCurrentState().Pose, swerve.getCurrentState().Speeds); + new LinearPath.State(swerve.getCurrentState().Pose, swerve.getCurrentState().Velocity); DogLog.log("Subsystems/Swerve/DTP/InitTargetPoseX", targetPose.getX()); DogLog.log("Subsystems/Swerve/DTP/InitTargetPoseY", targetPose.getY()); @@ -99,15 +99,15 @@ public void execute() { pathState = path.calculate(currTime, pathState, targetPose); // Generate the next speeds for the robot - ChassisSpeeds speeds = - new ChassisSpeeds( - pathState.speeds.vxMetersPerSecond + ChassisVelocities speeds = + new ChassisVelocities( + pathState.velocity.vx + xController.calculate( swerve.getCurrentState().Pose.getX(), pathState.pose.getX()), - pathState.speeds.vyMetersPerSecond + pathState.velocity.vy + yController.calculate( swerve.getCurrentState().Pose.getY(), pathState.pose.getY()), - pathState.speeds.omegaRadiansPerSecond + pathState.velocity.omega + headingController.calculate( swerve.getCurrentState().Pose.getRotation().getRadians(), pathState.pose.getRotation().getRadians())); diff --git a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java index e83da5a6..d3044130 100644 --- a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java +++ b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommand.java @@ -3,14 +3,14 @@ import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest; import dev.doglog.DogLog; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.util.Targeting; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; public class SwerveJoystickCommand extends Command { protected final DoubleSupplier xSpdFunction, @@ -57,7 +57,6 @@ public SwerveJoystickCommand( this.capper = capper; this.braking = braking; - // Adds the subsystem as a requirement (prevents two commands from acting on subsystem at once) addRequirements(swerveDrivetrain); } @@ -66,34 +65,38 @@ public void initialize() {} @Override public void execute() { - // 1. Get real-time joystick inputs + // x+ front, x- back; y+ left, y- right; turn+ ccw, turn- cw double xSpeed = xSpdFunction.getAsDouble(); // xSpeed is actually front back (front +, back -) double ySpeed = ySpdFunction.getAsDouble(); // ySpeed is actually left right (left +, right -) - double turningSpeed = - turningSpdFunction.getAsDouble(); // turning speed is (anti-clockwise +, clockwise -) - - // 2. Normalize inputs - double length = xSpeed * xSpeed + ySpeed * ySpeed; // acutally length squared - if (length > 1d) { - length = Math.sqrt(length); - xSpeed /= length; - ySpeed /= length; + double turningSpeed = turningSpdFunction.getAsDouble(); + + double magnitude = Math.hypot(xSpeed, ySpeed); + + if (magnitude < Constants.OI.LEFT_JOYSTICK_DEADBAND) { + xSpeed = 0.0; + ySpeed = 0.0; + } else { + double xDir = xSpeed / magnitude; + double yDir = ySpeed / magnitude; + + magnitude = + (magnitude - Constants.OI.LEFT_JOYSTICK_DEADBAND) + / (1.0 - Constants.OI.LEFT_JOYSTICK_DEADBAND); + + double magnitudeSquared = magnitude * magnitude; + magnitudeSquared *= Constants.Swerve.GLOBAL_SWERVE_MULT; + + xSpeed = xDir * magnitudeSquared; + ySpeed = yDir * magnitudeSquared; } - // Apply Square (will be [0,1] since `speed` is [0,1]) - xSpeed = xSpeed * xSpeed * Math.signum(xSpeed); - ySpeed = ySpeed * ySpeed * Math.signum(ySpeed); - if (squaredTurn) { - turningSpeed = - Math.abs(turningSpeed * turningSpeed * turningSpeed) * Math.signum(turningSpeed); + if (Math.abs(turningSpeed) < Constants.OI.RIGHT_JOYSTICK_DEADBAND) { + turningSpeed = 0.0; + } else if (squaredTurn) { + turningSpeed = turningSpeed * turningSpeed * turningSpeed; } - // 3. Apply deadband - xSpeed = Math.abs(xSpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? xSpeed : 0.0; - ySpeed = Math.abs(ySpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? ySpeed : 0.0; - turningSpeed = - Math.abs(turningSpeed) > Constants.OI.RIGHT_JOYSTICK_DEADBAND ? turningSpeed : 0.0; - // Applies slew rate limiter + // slew rate xSpeed = xSpeed * Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND; ySpeed = ySpeed * Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND; turningSpeed = turningSpeed * Constants.Swerve.PHYSICAL_MAX_ANGLUAR_SPEED_RADIANS_PER_SECOND; diff --git a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandInArc.java b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandInArc.java index a7bb3db5..92479d10 100644 --- a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandInArc.java +++ b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandInArc.java @@ -3,15 +3,15 @@ import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest; import dev.doglog.DogLog; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.util.MathUtils.Vector3; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Translation2d; public class SwerveJoystickCommandInArc extends Command { protected final DoubleSupplier tangentSpdFunction, speedControlFunction; @@ -67,24 +67,25 @@ public void execute() { double xSpeed = tangentialSpeed * Math.cos(thetaFromCenter + Math.PI / 2f); double ySpeed = tangentialSpeed * Math.sin(thetaFromCenter + Math.PI / 2f); - // 2. Normalize inputs - double length = xSpeed * xSpeed + ySpeed * ySpeed; // actually length squared - if (length > 1d) { - length = Math.sqrt(length); - xSpeed /= length; - ySpeed /= length; - } + double magnitude = Math.hypot(xSpeed, ySpeed); + + if (magnitude < Constants.OI.LEFT_JOYSTICK_DEADBAND) { + xSpeed = 0.0; + ySpeed = 0.0; + } else { + double xDir = xSpeed / magnitude; + double yDir = ySpeed / magnitude; - // Apply Square (will be [0,1] since `speed` is [0,1]) - xSpeed = xSpeed * xSpeed * Math.signum(xSpeed); - ySpeed = ySpeed * ySpeed * Math.signum(ySpeed); - // 3. Apply deadband - xSpeed = Math.abs(xSpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? xSpeed : 0.0; - ySpeed = Math.abs(ySpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? ySpeed : 0.0; + magnitude = + (magnitude - Constants.OI.LEFT_JOYSTICK_DEADBAND) + / (1.0 - Constants.OI.LEFT_JOYSTICK_DEADBAND); - // 4. Make the driving smoother - // This is a double between TELE_DRIVE_SLOW_MODE_SPEED_PERCENT and - // TELE_DRIVE_FAST_MODE_SPEED_PERCENT + double magnitudeSquared = magnitude * magnitude; + magnitudeSquared *= Constants.Swerve.GLOBAL_SWERVE_MULT; + + xSpeed = xDir * magnitudeSquared; + ySpeed = yDir * magnitudeSquared; + } xSpeed = xSpeed * driveSpeed * Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND; ySpeed = ySpeed * driveSpeed * Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND; diff --git a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithCorrection.java b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithCorrection.java index 32fcfc25..5cced3e6 100644 --- a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithCorrection.java +++ b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithCorrection.java @@ -3,10 +3,6 @@ import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest; import dev.doglog.DogLog; -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.IntakeVisionDetection; @@ -15,6 +11,9 @@ import frc.robot.util.VisionUtils.IntakeVisionTarget; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; public class SwerveJoystickCommandWithCorrection extends Command { protected final DoubleSupplier xSpdFunction, @@ -95,33 +94,38 @@ public void initialize() {} @Override public void execute() { - // 1. Get real-time joystick inputs + // x+ front, x- back; y+ left, y- right; turn+ ccw, turn- cw double xSpeed = xSpdFunction.getAsDouble(); // xSpeed is actually front back (front +, back -) double ySpeed = ySpdFunction.getAsDouble(); // ySpeed is actually left right (left +, right -) - double turningSpeed = - turningSpdFunction.getAsDouble(); // turning speed is (anti-clockwise +, clockwise -) - - // 2. Normalize inputs - double length = xSpeed * xSpeed + ySpeed * ySpeed; // acutally length squared - if (length > 1d) { - length = Math.sqrt(length); - xSpeed /= length; - ySpeed /= length; + double turningSpeed = turningSpdFunction.getAsDouble(); + + double magnitude = Math.hypot(xSpeed, ySpeed); + + if (magnitude < Constants.OI.LEFT_JOYSTICK_DEADBAND) { + xSpeed = 0.0; + ySpeed = 0.0; + } else { + double xDir = xSpeed / magnitude; + double yDir = ySpeed / magnitude; + + magnitude = + (magnitude - Constants.OI.LEFT_JOYSTICK_DEADBAND) + / (1.0 - Constants.OI.LEFT_JOYSTICK_DEADBAND); + + double magnitudeSquared = magnitude * magnitude; + magnitudeSquared *= Constants.Swerve.GLOBAL_SWERVE_MULT; + + xSpeed = xDir * magnitudeSquared; + ySpeed = yDir * magnitudeSquared; } - // Apply Square (will be [0,1] since `speed` is [0,1]) - xSpeed = xSpeed * xSpeed * Math.signum(xSpeed); - ySpeed = ySpeed * ySpeed * Math.signum(ySpeed); - if (squaredTurn) { - turningSpeed = turningSpeed * turningSpeed * Math.signum(turningSpeed); + if (Math.abs(turningSpeed) < Constants.OI.RIGHT_JOYSTICK_DEADBAND) { + turningSpeed = 0.0; + } else if (squaredTurn) { + turningSpeed = turningSpeed * turningSpeed * turningSpeed; } - // 3. Apply deadband - xSpeed = Math.abs(xSpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? xSpeed : 0.0; - ySpeed = Math.abs(ySpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? ySpeed : 0.0; - turningSpeed = - Math.abs(turningSpeed) > Constants.OI.RIGHT_JOYSTICK_DEADBAND ? turningSpeed : 0.0; - // Applies slew rate limiter + // slew rate xSpeed = xSpeed * Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND; ySpeed = ySpeed * Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND; turningSpeed = turningSpeed * Constants.Swerve.PHYSICAL_MAX_ANGLUAR_SPEED_RADIANS_PER_SECOND; @@ -167,12 +171,12 @@ public void execute() { Vector2 translationAssist = translationAssist(targetPose); if (doDriveAssist.getAsBoolean()) { velocityX = - MathUtil.clamp( + Math.clamp( x + translationAssist.x, -Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND, Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND); velocityY = - MathUtil.clamp( + Math.clamp( y + translationAssist.y, -Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND, Constants.Swerve.PHYSICAL_MAX_SPEED_METERS_PER_SECOND); diff --git a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithPointing.java b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithPointing.java index 2b6d8bad..9a9abba2 100644 --- a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithPointing.java +++ b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickCommandWithPointing.java @@ -3,13 +3,13 @@ import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest; import dev.doglog.DogLog; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.math.geometry.Translation2d; public class SwerveJoystickCommandWithPointing extends Command { protected final DoubleSupplier xSpdFunction, ySpdFunction; @@ -48,29 +48,30 @@ public void initialize() {} @Override public void execute() { - // 1. Get real-time joystick inputs + // x+ front, x- back; y+ left, y- right; turn+ ccw, turn- cw double xSpeed = xSpdFunction.getAsDouble(); // xSpeed is actually front back (front +, back -) double ySpeed = ySpdFunction.getAsDouble(); // ySpeed is actually left right (left +, right -) - // 2. Normalize inputs - double length = xSpeed * xSpeed + ySpeed * ySpeed; // actually length squared - if (length > 1d) { - length = Math.sqrt(length); - xSpeed /= length; - ySpeed /= length; - } + double magnitude = Math.hypot(xSpeed, ySpeed); + + if (magnitude < Constants.OI.LEFT_JOYSTICK_DEADBAND) { + xSpeed = 0.0; + ySpeed = 0.0; + } else { + double xDir = xSpeed / magnitude; + double yDir = ySpeed / magnitude; - // Apply Square (will be [0,1] since `speed` is [0,1]) - xSpeed = xSpeed * xSpeed * Math.signum(xSpeed); - ySpeed = ySpeed * ySpeed * Math.signum(ySpeed); + magnitude = + (magnitude - Constants.OI.LEFT_JOYSTICK_DEADBAND) + / (1.0 - Constants.OI.LEFT_JOYSTICK_DEADBAND); - // 3. Apply deadband - xSpeed = Math.abs(xSpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? xSpeed : 0.0; - ySpeed = Math.abs(ySpeed) > Constants.OI.LEFT_JOYSTICK_DEADBAND ? ySpeed : 0.0; + double magnitudeSquared = magnitude * magnitude; + magnitudeSquared *= Constants.Swerve.GLOBAL_SWERVE_MULT; + + xSpeed = xDir * magnitudeSquared; + ySpeed = yDir * magnitudeSquared; + } - // 4. Make the driving smoother - // This is a double between TELE_DRIVE_SLOW_MODE_SPEED_PERCENT and - // TELE_DRIVE_FAST_MODE_SPEED_PERCENT double driveSpeed = (Constants.Swerve.TELE_DRIVE_PERCENT_SPEED_RANGE * (speedControlFunction.getAsDouble())) + Constants.Swerve.TELE_DRIVE_SLOW_MODE_SPEED_PERCENT; diff --git a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickDefaultCommand.java b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickDefaultCommand.java index 93da52ac..54fd24f2 100644 --- a/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickDefaultCommand.java +++ b/src/main/java/frc/robot/commands/SwerveCommands/SwerveJoystickDefaultCommand.java @@ -1,11 +1,11 @@ package frc.robot.commands.SwerveCommands; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.IntakeVisionDetection; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Commands; +import org.wpilib.command2.SequentialCommandGroup; public class SwerveJoystickDefaultCommand extends SequentialCommandGroup { public SwerveJoystickDefaultCommand( diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java index 4d5b9dff..94f0b62d 100644 --- a/src/main/java/frc/robot/generated/TunerConstants.java +++ b/src/main/java/frc/robot/generated/TunerConstants.java @@ -1,6 +1,6 @@ package frc.robot.generated; -import static edu.wpi.first.units.Units.*; +import static org.wpilib.units.Units.*; import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.configs.*; @@ -8,12 +8,13 @@ import com.ctre.phoenix6.signals.*; import com.ctre.phoenix6.swerve.*; import com.ctre.phoenix6.swerve.SwerveModuleConstants.*; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.units.measure.*; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; +import frc.robot.util.LoggedTalonFX; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; +import org.wpilib.units.measure.*; // Generated by the Tuner X Swerve Project Generator // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html @@ -122,7 +123,7 @@ public class TunerConstants { public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants() - .withCANBusName(kCANBus.getName()) + .withNetwork(kCANBus) .withPigeon2Id(kPigeonId) .withPigeon2Configs(pigeonConfigs); @@ -306,14 +307,36 @@ public TunerSwerveDrivetrain( double odometryUpdateFrequency, SwerveModuleConstants... modules) { super( - TalonFX::new, - TalonFX::new, + (deviceId, canBus) -> + new LoggedTalonFX("SwerveDrive-" + driveName(deviceId), deviceId, canBus), + (deviceId, canBus) -> + new LoggedTalonFX("SwerveSteer-" + steerName(deviceId), deviceId, canBus), CANcoder::new, drivetrainConstants, odometryUpdateFrequency, modules); } + private static String driveName(int deviceId) { + return switch (deviceId) { + case 4 -> "FL"; + case 6 -> "FR"; + case 8 -> "RL"; + case 10 -> "RR"; + default -> "Unknown-" + deviceId; + }; + } + + private static String steerName(int deviceId) { + return switch (deviceId) { + case 3 -> "FL"; + case 5 -> "FR"; + case 7 -> "RL"; + case 9 -> "RR"; + default -> "Unknown-" + deviceId; + }; + } + /** * Constructs a CTRE SwerveDrivetrain using the specified constants. * diff --git a/src/main/java/frc/robot/opModes/BaseOpMode.java b/src/main/java/frc/robot/opModes/BaseOpMode.java new file mode 100644 index 00000000..636653a7 --- /dev/null +++ b/src/main/java/frc/robot/opModes/BaseOpMode.java @@ -0,0 +1,23 @@ +package frc.robot.opModes; + +import dev.doglog.DogLog; +import frc.robot.Robot; +import frc.robot.RobotContainer; +import org.wpilib.opmode.PeriodicOpMode; + +public abstract class BaseOpMode extends PeriodicOpMode { + protected final RobotContainer m_robotContainer; + + public BaseOpMode(Robot robot) { + this.m_robotContainer = robot.getContainer(); + } + + @Override + public void start() { + DogLog.log("Elastic/FieldPose", m_robotContainer.drivetrain.getCurrentState().Pose); + DogLog.log("Elastic/RedSide", RobotContainer.isRedAlliance()); + } + + @Override + public void periodic() {} +} diff --git a/src/main/java/frc/robot/opModes/MatchTeleop.java b/src/main/java/frc/robot/opModes/MatchTeleop.java new file mode 100644 index 00000000..d24f1c07 --- /dev/null +++ b/src/main/java/frc/robot/opModes/MatchTeleop.java @@ -0,0 +1,23 @@ +package frc.robot.opModes; + +import dev.doglog.DogLog; +import frc.robot.Robot; +import frc.robot.util.MiscUtils; +import org.wpilib.opmode.Teleop; // 2027 package namespace + +@Teleop +public class MatchTeleop extends BaseOpMode { + + public MatchTeleop(Robot robot) { + super(robot); + } + + @Override + public void start() { + super.start(); + + m_robotContainer.intakeSubsystem.applyBrakeConfigArm(); + + DogLog.log("Elastic/FlashDriveConnected", MiscUtils.isFlashDriveConnected()); + } +} diff --git a/src/main/java/frc/robot/opModes/PrimaryAutonomous.java b/src/main/java/frc/robot/opModes/PrimaryAutonomous.java new file mode 100644 index 00000000..0cca44cb --- /dev/null +++ b/src/main/java/frc/robot/opModes/PrimaryAutonomous.java @@ -0,0 +1,33 @@ +package frc.robot.opModes; + +import frc.robot.Robot; +import org.wpilib.command2.Command; // 2027 Commands v2 package +import org.wpilib.command2.CommandScheduler; + +// 2027 OpMode namespace + +// @Autonomous +public class PrimaryAutonomous extends BaseOpMode { + private Command m_autoCommand; + + public PrimaryAutonomous(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(); + } + + @Override + public void start() { + super.start(); + + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/DrakeDepotLong.java b/src/main/java/frc/robot/opModes/autos/DrakeDepotLong.java new file mode 100644 index 00000000..d82a4673 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/DrakeDepotLong.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Depot to Outpost", group = "Depot") +public class DrakeDepotLong extends BaseOpMode { + private Command m_autoCommand; + + public DrakeDepotLong(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.DEPOT_TO_OUTPOST); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/DrakeDepotShort.java b/src/main/java/frc/robot/opModes/autos/DrakeDepotShort.java new file mode 100644 index 00000000..ace94546 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/DrakeDepotShort.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Just Depot", group = "Depot") +public class DrakeDepotShort extends BaseOpMode { + private Command m_autoCommand; + + public DrakeDepotShort(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.DEPOT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/DrakeOutpostLong.java b/src/main/java/frc/robot/opModes/autos/DrakeOutpostLong.java new file mode 100644 index 00000000..94715622 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/DrakeOutpostLong.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Outpost to Depot", group = "Outpost") +public class DrakeOutpostLong extends BaseOpMode { + private Command m_autoCommand; + + public DrakeOutpostLong(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.OUTPOST_TO_DEPOT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/DrakeOutpostShort.java b/src/main/java/frc/robot/opModes/autos/DrakeOutpostShort.java new file mode 100644 index 00000000..7c2159d7 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/DrakeOutpostShort.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Just Outpost", group = "Outpost") +public class DrakeOutpostShort extends BaseOpMode { + private Command m_autoCommand; + + public DrakeOutpostShort(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.OUTPOST); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/HubSweepLeft.java b/src/main/java/frc/robot/opModes/autos/HubSweepLeft.java new file mode 100644 index 00000000..0c60ac58 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/HubSweepLeft.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Hub Sweep Left Wait", group = "Hub Sweep") +public class HubSweepLeft extends BaseOpMode { + private Command m_autoCommand; + + public HubSweepLeft(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.LEFT_HUB_SWEEP_WAIT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/HubSweepRight.java b/src/main/java/frc/robot/opModes/autos/HubSweepRight.java new file mode 100644 index 00000000..f744ace4 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/HubSweepRight.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Hub Sweep Right Wait", group = "Hub Sweep") +public class HubSweepRight extends BaseOpMode { + private Command m_autoCommand; + + public HubSweepRight(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.RIGHT_HUB_SWEEP_WAIT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/Nike.java b/src/main/java/frc/robot/opModes/autos/Nike.java new file mode 100644 index 00000000..05c20b4a --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/Nike.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Genuinely the worst on the field", group = "Center") +public class Nike extends BaseOpMode { + private Command m_autoCommand; + + public Nike(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.CENTER); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/PedriShortLeft.java b/src/main/java/frc/robot/opModes/autos/PedriShortLeft.java new file mode 100644 index 00000000..59e7af97 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/PedriShortLeft.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Left", group = "Normal") +public class PedriShortLeft extends BaseOpMode { + private Command m_autoCommand; + + public PedriShortLeft(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.LEFT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/PedriShortLeftWait.java b/src/main/java/frc/robot/opModes/autos/PedriShortLeftWait.java new file mode 100644 index 00000000..c3a8b383 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/PedriShortLeftWait.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Left Wait", group = "Wait Normal") +public class PedriShortLeftWait extends BaseOpMode { + private Command m_autoCommand; + + public PedriShortLeftWait(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.LEFT_WAIT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/PedriShortRight.java b/src/main/java/frc/robot/opModes/autos/PedriShortRight.java new file mode 100644 index 00000000..6533dfdc --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/PedriShortRight.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Right", group = "Normal") +public class PedriShortRight extends BaseOpMode { + private Command m_autoCommand; + + public PedriShortRight(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.RIGHT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/opModes/autos/PedriShortRightWait.java b/src/main/java/frc/robot/opModes/autos/PedriShortRightWait.java new file mode 100644 index 00000000..1af8aa34 --- /dev/null +++ b/src/main/java/frc/robot/opModes/autos/PedriShortRightWait.java @@ -0,0 +1,33 @@ +package frc.robot.opModes.autos; + +import frc.robot.Constants.Swerve.Auto.AutoList; +import frc.robot.Robot; +import frc.robot.opModes.BaseOpMode; +import org.wpilib.command2.Command; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.Autonomous; + +@Autonomous(name = "Right Wait", group = "Wait Normal") +public class PedriShortRightWait extends BaseOpMode { + private Command m_autoCommand; + + public PedriShortRightWait(Robot robot) { + super(robot); + m_autoCommand = m_robotContainer.getAutonomousCommand(AutoList.RIGHT_WAIT); + } + + @Override + public void start() { + super.start(); + if (m_autoCommand != null) { + CommandScheduler.getInstance().schedule(m_autoCommand); + } + } + + @Override + public void end() { + if (m_autoCommand != null) { + CommandScheduler.getInstance().cancel(m_autoCommand); + } + } +} diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index dd5f0a82..01d6eb9b 100644 --- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -3,26 +3,12 @@ import choreo.Choreo.TrajectoryLogger; import choreo.auto.AutoFactory; import choreo.trajectory.SwerveSample; -import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.utility.WheelForceCalculator; import dev.doglog.DogLog; -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.controller.PIDController; -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.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Subsystem; import frc.robot.Constants; import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain; import frc.robot.util.MathUtils.MiscMath; @@ -30,6 +16,20 @@ import java.util.Arrays; import java.util.function.BooleanSupplier; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.Subsystem; +import org.wpilib.driverstation.Alliance; +import org.wpilib.driverstation.MatchState; +import org.wpilib.driverstation.RobotState; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.kinematics.ChassisVelocities; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; +import org.wpilib.system.Timer; /** * Class that extends the Phoenix 6 SwerveDrivetrain class and implements Subsystem so it can easily @@ -39,7 +39,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su private Translation2d virtualTarget = null; private boolean virtualTargetComputedThisLoop = false; /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */ - private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero; + private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.ZERO; /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */ private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg; /* Keep track if we've ever applied the operator perspective before or not */ @@ -67,8 +67,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su // private final SwerveRequest m_better_brake = new SwerveRequest().apply(new // SwerveControlParameters(), getModules()) // * Front Left, Front Right, Back Left, Back Right. This means if you need - private final SwerveRequest.ApplyFieldSpeeds m_pathApplyFieldSpeeds = - new SwerveRequest.ApplyFieldSpeeds(); + private final SwerveRequest.ApplyFieldVelocity m_pathApplyFieldSpeeds = + new SwerveRequest.ApplyFieldVelocity(); // private final Field2d field = new Field2d(); @@ -100,8 +100,6 @@ public CommandSwerveDrivetrain( headingPIDController.setIntegratorRange(0.0, Math.PI / 4); // 0.3 before headingPIDController.enableContinuousInput(-Math.PI, Math.PI); // 0.3 before m_pathThetaController.enableContinuousInput(-Math.PI, Math.PI); - - // SmartDashboard.putData(field); } /** @@ -120,7 +118,6 @@ public CommandSwerveDrivetrain( double odometryUpdateFrequency, SwerveModuleConstants... modules) { super(drivetrainConstants, odometryUpdateFrequency, modules); - // SmartDashboard.putData(field); } /** @@ -150,7 +147,6 @@ public CommandSwerveDrivetrain( odometryStandardDeviation, visionStandardDeviation, modules); - // SmartDashboard.putData(field); } public AutoFactory createAutoFactory() { @@ -172,15 +168,15 @@ public void followPath(SwerveSample sample) { Pose2d pose = getState().Pose; - ChassisSpeeds targetSpeeds = sample.getChassisSpeeds(); - targetSpeeds.vxMetersPerSecond += m_pathXController.calculate(pose.getX(), sample.x); - targetSpeeds.vyMetersPerSecond += m_pathYController.calculate(pose.getY(), sample.y); - targetSpeeds.omegaRadiansPerSecond += + ChassisVelocities targetSpeeds = sample.getChassisSpeeds(); + targetSpeeds.vx += m_pathXController.calculate(pose.getX(), sample.x); + targetSpeeds.vy += m_pathYController.calculate(pose.getY(), sample.y); + targetSpeeds.omega += m_pathThetaController.calculate(pose.getRotation().getRadians(), sample.heading); setControl( m_pathApplyFieldSpeeds - .withSpeeds(targetSpeeds) + .withVelocity(targetSpeeds) .withWheelForceFeedforwardsX(sample.moduleForcesX()) .withWheelForceFeedforwardsY(sample.moduleForcesY())); @@ -239,27 +235,29 @@ public SwerveDriveState getCurrentState() { return currentState; } - public ChassisSpeeds getRobotSpeeds() { - return currentState.Speeds; + public ChassisVelocities getRobotSpeeds() { + return currentState.Velocity; } public void applyFieldSpeeds( - ChassisSpeeds speeds, WheelForceCalculator.Feedforwards feedforwards) { + ChassisVelocities speeds, WheelForceCalculator.Feedforwards feedforwards) { setControl( m_pathApplyFieldSpeeds - .withSpeeds(speeds) + .withVelocity(speeds) .withWheelForceFeedforwardsX(feedforwards.x_newtons) .withWheelForceFeedforwardsY(feedforwards.y_newtons)); } - public void applyOneFieldSpeeds(ChassisSpeeds speeds) { + public void applyOneFieldSpeeds(ChassisVelocities speeds) { setControl( - m_pathApplyFieldSpeeds.withSpeeds(speeds).withDriveRequestType(DriveRequestType.Velocity)); + m_pathApplyFieldSpeeds + .withVelocity(speeds) + .withDriveRequestType(DriveRequestType.Velocity)); } public double getSpeedMagnitude() { - double xSpeed = getFieldSpeeds().vxMetersPerSecond; - double ySpeed = getFieldSpeeds().vyMetersPerSecond; + double xSpeed = getFieldSpeeds().vx; + double ySpeed = getFieldSpeeds().vy; return Math.sqrt((xSpeed * xSpeed) + (ySpeed * ySpeed)); } @@ -299,12 +297,12 @@ public void periodic() { currentState = getState(); DogLog.log("Subsystems/Swerve/AccumulatedError", headingPIDController.getAccumulatedError()); - if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { - DriverStation.getAlliance() + if (!m_hasAppliedOperatorPerspective || RobotState.isDisabled()) { + MatchState.getAlliance() .ifPresent( allianceColor -> { - setOperatorPerspectiveForward( - allianceColor == Alliance.Red + setOperatorForwardDirection( + allianceColor == Alliance.RED ? kRedAlliancePerspectiveRotation : kBlueAlliancePerspectiveRotation); m_hasAppliedOperatorPerspective = true; @@ -325,24 +323,22 @@ public void periodic() { // DogLog.log( // "Subsystems/Swerve/DistanceToHub", // MiscUtils.getDistanceToHub(RobotContainer::isRedAlliance, this)); - DogLog.log("Subsystems/Swerve/TurningSpeedActual", getFieldSpeeds().omegaRadiansPerSecond); + DogLog.log("Subsystems/Swerve/TurningSpeedActual", getFieldSpeeds().omega); } @Override public void addVisionMeasurement(Pose2d visionRobotPose, double timestampSeconds) { - super.addVisionMeasurement(visionRobotPose, Utils.fpgaToCurrentTime(timestampSeconds)); + super.addVisionMeasurement(visionRobotPose, Timer.getTimestamp()); } @Override public void addVisionMeasurement( Pose2d visionRobotPose, double timestampSeconds, Matrix visionMeasurementStdDevs) { - super.addVisionMeasurement( - visionRobotPose, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs); + super.addVisionMeasurement(visionRobotPose, Timer.getTimestamp(), visionMeasurementStdDevs); } - public ChassisSpeeds getFieldSpeeds() { - return ChassisSpeeds.fromRobotRelativeSpeeds( - currentState.Speeds, currentState.Pose.getRotation()); + public ChassisVelocities getFieldSpeeds() { + return currentState.Velocity.toFieldRelative(currentState.Pose.getRotation()); } public double calculateRequiredRotationalRate(Rotation2d targetRotation) { @@ -353,7 +349,7 @@ public double calculateRequiredRotationalRate(Rotation2d targetRotation) { double max = Constants.Swerve.MAX_HEADING_TRACKING_ROT_RATE_RADS_PER_SECOND; boolean clamp = Math.abs(omega) > max; if (clamp) { - omega = MathUtil.clamp(omega, -max, max); + omega = Math.clamp(omega, -max, max); } DogLog.log("Subsystems/Swerve/RotationController/clamped", clamp); DogLog.log("Subsystems/Swerve/TargetRotationsDegrees", targetRotation.getDegrees()); @@ -366,10 +362,10 @@ public double calculateRequiredRotationalRateWithFF(Translation2d targetPoint) { double dy = targetPoint.getY() - robotPos.getY(); double r2 = dx * dx + dy * dy; - ChassisSpeeds fieldSpeeds = - ChassisSpeeds.fromRobotRelativeSpeeds(currentState.Speeds, currentState.Pose.getRotation()); - double vx = fieldSpeeds.vxMetersPerSecond; - double vy = fieldSpeeds.vyMetersPerSecond; + ChassisVelocities fieldSpeeds = + currentState.Velocity.toFieldRelative(currentState.Pose.getRotation()); + double vx = fieldSpeeds.vx; + double vy = fieldSpeeds.vy; double omegaFF = 0.0; if (r2 > Constants.Swerve.FF_RADIUS_M2) { diff --git a/src/main/java/frc/robot/subsystems/FuelGaugeDetection.java b/src/main/java/frc/robot/subsystems/FuelGaugeDetection.java index 606ffe7c..a31bec9a 100644 --- a/src/main/java/frc/robot/subsystems/FuelGaugeDetection.java +++ b/src/main/java/frc/robot/subsystems/FuelGaugeDetection.java @@ -1,7 +1,6 @@ package frc.robot.subsystems; import dev.doglog.DogLog; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.Constants.FuelGaugeDetection.FuelGauge; import frc.robot.Constants.FuelGaugeDetection.GaugeCalculationType; @@ -11,6 +10,7 @@ import org.photonvision.PhotonCamera; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; +import org.wpilib.command2.SubsystemBase; public class FuelGaugeDetection extends SubsystemBase { private static ArrayList latestRawMeasurements = new ArrayList<>(); diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java index 8594d711..f698f57f 100644 --- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java +++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java @@ -12,14 +12,14 @@ import com.ctre.phoenix6.signals.MotorAlignmentValue; import com.ctre.phoenix6.signals.NeutralModeValue; import dev.doglog.DogLog; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.Constants.FuelGaugeDetection.FuelGauge; import frc.robot.Constants.FuelGaugeDetection.GaugeCalculationType; import frc.robot.util.LoggedTalonFX; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.SubsystemBase; // spotless is clapping out public class HopperSubsystem extends SubsystemBase { diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 2a68c43e..a0c5c70f 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -1,7 +1,8 @@ package frc.robot.subsystems; -import static edu.wpi.first.units.Units.Rotations; +import static org.wpilib.units.Units.Rotations; +import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; @@ -24,15 +25,14 @@ import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; import dev.doglog.DogLog; -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.util.LoggedTalonFX; +import org.wpilib.command2.Command; +import org.wpilib.command2.Commands; +import org.wpilib.command2.SubsystemBase; +import org.wpilib.hardware.bus.CANPort; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.util.Units; public class IntakeSubsystem extends SubsystemBase { private LoggedTalonFX armMotor, rollersMotor; @@ -48,7 +48,9 @@ public class IntakeSubsystem extends SubsystemBase { private final TorqueCurrentFOC m_torqueCurrentRequest = new TorqueCurrentFOC(0); public IntakeSubsystem() { - rollersMotor = new LoggedTalonFX("IntakeRollers", Constants.Intake.Rollers.CAN_ID); + rollersMotor = + new LoggedTalonFX( + "IntakeRollers", Constants.Intake.Rollers.CAN_ID, new CANBus(CANPort.CAN_S0)); armMotor = new LoggedTalonFX("IntakeArm", Constants.Intake.Arm.CAN_ID, Constants.Swerve.CAN_BUS); targetAngleDeg = 0; @@ -186,7 +188,7 @@ public void stopArm() { public void setArmDegrees(double angleDeg) { targetAngleDeg = - MathUtil.clamp( + Math.clamp( angleDeg, Constants.Intake.Arm.ARM_POS_MIN, Constants.Intake.Arm.ARM_POS_RETRACTED); double targetArmRotations = targetAngleDeg / 360.0; armMotor.setControl(m_motionMagicRequest.withPosition(targetArmRotations)); @@ -216,11 +218,11 @@ public Rotation2d getArmPosition() { } public void applyCoastConfigArm() { - armMotor.setNeutralMode(NeutralModeValue.Coast); + armMotor.configNeutralMode(NeutralModeValue.Coast); } public void applyBrakeConfigArm() { - armMotor.setNeutralMode(NeutralModeValue.Brake); + armMotor.configNeutralMode(NeutralModeValue.Brake); } public double getCancoderPositionRaw() { @@ -334,7 +336,5 @@ public void periodic() { // "Subsystems/Intake/Arm/AbsoluteCurrentPosition (degs)", // getArmUnfusedPosition().getDegrees()); DogLog.log("Subsystems/Intake/Arm/TargetPosition (degs)", targetAngleDeg); - - SmartDashboard.putNumber("Arm Angle", getArmPosition().getDegrees()); } } diff --git a/src/main/java/frc/robot/subsystems/IntakeVisionDetection.java b/src/main/java/frc/robot/subsystems/IntakeVisionDetection.java index 30328cfb..f7c21732 100644 --- a/src/main/java/frc/robot/subsystems/IntakeVisionDetection.java +++ b/src/main/java/frc/robot/subsystems/IntakeVisionDetection.java @@ -1,13 +1,13 @@ package frc.robot.subsystems; import dev.doglog.DogLog; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import java.util.List; import java.util.Optional; import org.photonvision.PhotonCamera; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; +import org.wpilib.command2.SubsystemBase; public class IntakeVisionDetection extends SubsystemBase { private final PhotonCamera photonCamera; diff --git a/src/main/java/frc/robot/subsystems/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/LEDSubsystem.java index 3252e71c..ab6f13f5 100644 --- a/src/main/java/frc/robot/subsystems/LEDSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LEDSubsystem.java @@ -1,5 +1,6 @@ package frc.robot.subsystems; +import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.controls.EmptyAnimation; import com.ctre.phoenix6.controls.FireAnimation; import com.ctre.phoenix6.controls.RainbowAnimation; @@ -10,19 +11,21 @@ import com.ctre.phoenix6.signals.AnimationDirectionValue; import com.ctre.phoenix6.signals.RGBWColor; import dev.doglog.DogLog; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.util.Color; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import java.util.function.BooleanSupplier; +import org.wpilib.command2.SubsystemBase; +import org.wpilib.driverstation.RobotState; +import org.wpilib.hardware.bus.CANPort; +import org.wpilib.system.Timer; +import org.wpilib.util.Color; public class LEDSubsystem extends SubsystemBase { // left strip is [8, 23] // middle strip is [24, 53] (center of middle is 38) // right strip is [51, 76] - private static final int END_OF_STRIP = 76; + private static final int START_OF_STRIP = 8; + private static final int END_OF_STRIP = 53; - private static CANdle candle = new CANdle(5); + private static CANdle candle = new CANdle(5, new CANBus(CANPort.CAN_S0)); private LEDState currentState = LEDState.NONE; private BooleanSupplier active, inRange; private boolean seesTagCached; @@ -54,13 +57,11 @@ public void periodic() { } public LEDState computeState() { - if (DriverStation.isDisabled()) return LEDState.FLAME; - if (DriverStation.isAutonomousEnabled()) return LEDState.RAINBOW; + if (RobotState.isDisabled()) return LEDState.FLAME; + if (RobotState.isAutonomousEnabled()) return LEDState.RAINBOW; if (active.getAsBoolean() && inRange.getAsBoolean()) return LEDState.ACTIVE_IN_RANGE; else if (active.getAsBoolean() && !inRange.getAsBoolean()) return LEDState.ACTIVE; - else if (!active.getAsBoolean()) return LEDState.NONE; - return LEDState.NONE; } @@ -70,11 +71,11 @@ public void applyState(LEDState state) { switch (state) { case ACTIVE -> candle.setControl(activeAnimation()); case FLAME -> { - candle.setControl(flame(8, 38, 0, false)); + candle.setControl(flame(START_OF_STRIP, 38, 0, false)); candle.setControl(flame(39, END_OF_STRIP, 1, true)); } - case RAINBOW -> candle.setControl(new RainbowAnimation(8, END_OF_STRIP)); - case NONE -> setColor(8, END_OF_STRIP, Color.kBlack); + case RAINBOW -> candle.setControl(new RainbowAnimation(START_OF_STRIP, END_OF_STRIP)); + case NONE -> setColor(START_OF_STRIP, END_OF_STRIP, Color.BLACK); default -> clearAll(); } } @@ -85,12 +86,12 @@ public void visionStatusIndicators( VisionSubsystem rearLeft, VisionSubsystem rearRight) { - if (DriverStation.isDisabled()) { + if (RobotState.isDisabled()) { DogLog.log("Subsystems/LEDs/VisionIndicatorsEnabled", true); - candle.setControl(solidColor(frontLeft.getCameraConnected() ? Color.kGreen : Color.kRed, 3)); - candle.setControl(solidColor(frontRight.getCameraConnected() ? Color.kGreen : Color.kRed, 4)); - candle.setControl(solidColor(rearLeft.getCameraConnected() ? Color.kGreen : Color.kRed, 2)); - candle.setControl(solidColor(rearRight.getCameraConnected() ? Color.kGreen : Color.kRed, 5)); + candle.setControl(solidColor(frontLeft.getCameraConnected() ? Color.GREEN : Color.RED, 3)); + candle.setControl(solidColor(frontRight.getCameraConnected() ? Color.GREEN : Color.RED, 4)); + candle.setControl(solidColor(rearLeft.getCameraConnected() ? Color.GREEN : Color.RED, 2)); + candle.setControl(solidColor(rearRight.getCameraConnected() ? Color.GREEN : Color.RED, 5)); boolean seesTag = frontLeft.seesTags() @@ -103,19 +104,19 @@ public void visionStatusIndicators( } if (seesTag) { - candle.setControl(solidColor(Color.kGreen, 7)); - candle.setControl(solidColor(Color.kGreen, 0)); - candle.setControl(solidColor(Color.kGreen, 6)); - candle.setControl(solidColor(Color.kGreen, 1)); + candle.setControl(solidColor(Color.GREEN, 7)); + candle.setControl(solidColor(Color.GREEN, 0)); + candle.setControl(solidColor(Color.GREEN, 6)); + candle.setControl(solidColor(Color.GREEN, 1)); } else { - candle.setControl(strobe(Color.kRed, 6, 7, 2)); - candle.setControl(strobe(Color.kRed, 6, 0, 3)); - candle.setControl(strobe(Color.kRed, 6, 6, 4)); - candle.setControl(strobe(Color.kRed, 6, 1, 5)); + candle.setControl(strobe(Color.RED, 6, 7, 2)); + candle.setControl(strobe(Color.RED, 6, 0, 3)); + candle.setControl(strobe(Color.RED, 6, 6, 4)); + candle.setControl(strobe(Color.RED, 6, 1, 5)); } } else { DogLog.log("Subsystems/LEDs/VisionIndicatorsEnabled", false); - setColor(0, 7, Color.kBlack); + setColor(0, 7, Color.BLACK); seesTagCached = false; } } @@ -134,11 +135,12 @@ public void clearAll() { } private SingleFadeAnimation activeAnimation() { - return new SingleFadeAnimation(8, END_OF_STRIP).withColor(new RGBWColor(Color.kRed)); + return new SingleFadeAnimation(START_OF_STRIP, END_OF_STRIP) + .withColor(new RGBWColor(Color.RED)); } private SolidColor solidColor(Color color) { - return new SolidColor(8, END_OF_STRIP).withColor(new RGBWColor(color)); + return new SolidColor(START_OF_STRIP, END_OF_STRIP).withColor(new RGBWColor(color)); } private SolidColor solidColor(Color color, int ledIndex) { @@ -153,8 +155,8 @@ private StrobeAnimation strobe(Color color, int frameRate, int ledIndex, int slo } private void activeInRangeAnimation() { - boolean red = ((int) (Timer.getFPGATimestamp() * 10)) % 2 == 0; - candle.setControl(solidColor(red ? Color.kRed : Color.kWhite)); + boolean red = ((int) (Timer.getTimestamp() * 10)) % 2 == 0; + candle.setControl(solidColor(red ? Color.RED : Color.WHITE)); } private FireAnimation flame(int startIndex, int endIndex, int slot, boolean backward) { diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 672eadc3..3f0024fa 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -1,6 +1,6 @@ package frc.robot.subsystems; -import static edu.wpi.first.units.Units.Rotations; +import static org.wpilib.units.Units.Rotations; import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.configs.CANcoderConfiguration; @@ -22,19 +22,18 @@ import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; import dev.doglog.DogLog; -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -// import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.Constants.Landmarks; import frc.robot.util.LoggedTalonFX; import frc.robot.util.Targeting; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.SubsystemBase; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +// import org.wpilib.math.geometry.Pose3d; +import org.wpilib.math.util.Units; public class ShooterSubsystem extends SubsystemBase { @@ -157,7 +156,7 @@ public void setHoodPosition(double degrees) { hoodTargetDeg = degrees; hood.setControl( m_positionRequest.withPosition( - MathUtil.clamp( + Math.clamp( degrees, Constants.Shooter.Hood.MIN_HOOD_POSITION, Constants.Shooter.Hood.MAX_HOOD_POSITION) diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java index 5fe46556..76f4c97e 100644 --- a/src/main/java/frc/robot/subsystems/VisionSubsystem.java +++ b/src/main/java/frc/robot/subsystems/VisionSubsystem.java @@ -1,20 +1,6 @@ package frc.robot.subsystems; import dev.doglog.DogLog; -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.numbers.N8; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.Constants.Vision.VisionCamera; import frc.robot.util.VisionUtils; @@ -25,11 +11,25 @@ import org.photonvision.PhotonPoseEstimator; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; +import org.wpilib.command2.SubsystemBase; +import org.wpilib.fields.Field; +import org.wpilib.fields.Fields; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Pose3d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Rotation3d; +import org.wpilib.math.geometry.Transform3d; +import org.wpilib.math.kinematics.ChassisVelocities; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; +import org.wpilib.math.numbers.N8; +import org.wpilib.system.Timer; public class VisionSubsystem extends SubsystemBase { private final Constants.Vision.VisionCamera cameraID; private final PhotonCamera photonCamera; - private final AprilTagFieldLayout fieldLayout; + private final Field fieldLayout; private final PhotonPoseEstimator poseEstimator; private PhotonPipelineResult latestVisionResult; private double lastTagSeenTimestamp = -1.0; @@ -37,7 +37,7 @@ public class VisionSubsystem extends SubsystemBase { private final String cameraTitle; private final String loggingPath; - private Optional visionEstimate; + private Optional visionEstimate = Optional.empty(); private boolean cameraConnectedStatus = false; @@ -62,7 +62,7 @@ public VisionSubsystem( Transform3d robotToCamera = cameraID.getCameraTransform(); camHeight = new Transform3d(0.0, 0.0, robotToCamera.getZ(), new Rotation3d(0.0, 0.0, 0.0)); - fieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded); + fieldLayout = Fields.FRC_2026_REBUILT_WELDED.loadField(); poseEstimator = new PhotonPoseEstimator(fieldLayout, robotToCamera); latestVisionResult = null; @@ -106,7 +106,7 @@ private void updateEstimate(List results) { latestVisionResult = results.get(results.size() - 1); if (!latestVisionResult.getTargets().isEmpty()) { - lastTagSeenTimestamp = Timer.getFPGATimestamp(); + lastTagSeenTimestamp = Timer.getTimestamp(); } visionEstimate = poseEstimator.estimateCoprocMultiTagPose(latestVisionResult); @@ -145,11 +145,10 @@ public void calculateFilteredPose() { throwOutHeadingChange(latestMeasuredPose); - ChassisSpeeds fieldSpeeds = - ChassisSpeeds.fromRobotRelativeSpeeds( - swerve.getState().Speeds, swerve.getState().Pose.getRotation()); + ChassisVelocities fieldSpeeds = + swerve.getState().Velocity.toFieldRelative(swerve.getState().Pose.getRotation()); - double currentSpeed = Math.hypot(fieldSpeeds.vxMetersPerSecond, fieldSpeeds.vyMetersPerSecond); + double currentSpeed = Math.hypot(fieldSpeeds.vx, fieldSpeeds.vy); latestNoiseVector = VisionUtils.computeNoiseVector(latestAvgDistance, currentSpeed, latestTagCount); @@ -210,7 +209,7 @@ public boolean getCameraConnected() { public boolean seesTags() { if (!cameraConnectedStatus) return false; - return (Timer.getFPGATimestamp() - lastTagSeenTimestamp) + return (Timer.getTimestamp() - lastTagSeenTimestamp) <= Constants.Vision.TAG_VISIBLE_THRESHOLD_SEC; } @@ -271,7 +270,7 @@ public boolean hasValidMeasurement() { } private double calculateTimestamp(double timestamp) { - double fpgaTimestamp = Timer.getFPGATimestamp(); + double fpgaTimestamp = Timer.getTimestamp(); double timestampDiff = Math.abs(timestamp - fpgaTimestamp); double finalTimestamp = timestampDiff > Constants.Vision.TIMESTAMP_THRESHOLD diff --git a/src/main/java/frc/robot/util/CustomController.java b/src/main/java/frc/robot/util/CustomController.java index d7049dfd..96170d0c 100644 --- a/src/main/java/frc/robot/util/CustomController.java +++ b/src/main/java/frc/robot/util/CustomController.java @@ -1,18 +1,20 @@ package frc.robot.util; -import edu.wpi.first.wpilibj.GenericHID; -import edu.wpi.first.wpilibj2.command.button.Trigger; +import org.wpilib.command2.button.CommandGenericHID; +import org.wpilib.command2.button.Trigger; -public class CustomController extends GenericHID { +public class CustomController { private Trigger visionShootingLockout, intakeVisionLockout; private Trigger reverseShoot, intakeOverride; + private final CommandGenericHID hid; public CustomController(int port) { - super(port); - visionShootingLockout = new Trigger(() -> this.getRawButton(10)); - intakeVisionLockout = new Trigger(() -> this.getRawButton(11)); - reverseShoot = new Trigger(() -> this.getRawButton(1)); - intakeOverride = new Trigger(() -> this.getRawButton(2)); + hid = new CommandGenericHID(port); + // super(port); + visionShootingLockout = hid.button(10); + intakeVisionLockout = hid.button(11); + reverseShoot = hid.button(1); + intakeOverride = hid.button(2); } public Trigger visionShootingLockout() { diff --git a/src/main/java/frc/robot/util/Elastic.java b/src/main/java/frc/robot/util/Elastic.java index 74d122cc..6d28fb16 100644 --- a/src/main/java/frc/robot/util/Elastic.java +++ b/src/main/java/frc/robot/util/Elastic.java @@ -1,28 +1,28 @@ -// Copyright (c) 2023-2026 Gold87 and other Elastic contributors -// This software can be modified and/or shared under the terms -// defined by the Elastic license: -// https://github.com/Gold872/elastic_dashboard/blob/main/LICENSE - package frc.robot.util; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.core.JsonProcessingException; -import com.fasterxml.jackson.databind.ObjectMapper; -import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.networktables.PubSubOption; -import edu.wpi.first.networktables.StringPublisher; -import edu.wpi.first.networktables.StringTopic; +import io.avaje.jsonb.Json; +import io.avaje.jsonb.JsonType; +import io.avaje.jsonb.Jsonb; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.networktables.PubSubOption; +import org.wpilib.networktables.StringPublisher; +import org.wpilib.networktables.StringTopic; public final class Elastic { private static final StringTopic notificationTopic = NetworkTableInstance.getDefault().getStringTopic("/Elastic/RobotNotifications"); private static final StringPublisher notificationPublisher = - notificationTopic.publish(PubSubOption.sendAll(true), PubSubOption.keepDuplicates(true)); + notificationTopic.publish( + new PubSubOption.SendAll(true), new PubSubOption.KeepDuplicates(true)); private static final StringTopic selectedTabTopic = NetworkTableInstance.getDefault().getStringTopic("/Elastic/SelectedTab"); private static final StringPublisher selectedTabPublisher = - selectedTabTopic.publish(PubSubOption.keepDuplicates(true)); - private static final ObjectMapper objectMapper = new ObjectMapper(); + selectedTabTopic.publish(new PubSubOption.KeepDuplicates(true)); + + // Build the lightweight Avaje context and generate a fast type pipeline for the Notification + // class + private static final Jsonb jsonb = Jsonb.builder().build(); + private static final JsonType notificationType = jsonb.type(Notification.class); /** * Represents the possible levels of notifications for the Elastic dashboard. These levels are @@ -45,8 +45,9 @@ public enum NotificationLevel { */ public static void sendNotification(Notification notification) { try { - notificationPublisher.set(objectMapper.writeValueAsString(notification)); - } catch (JsonProcessingException e) { + // Replaced Jackson writeValueAsString with Avaje compilation-safe toJson translation + notificationPublisher.set(notificationType.toJson(notification)); + } catch (Exception e) { e.printStackTrace(); } } @@ -79,23 +80,21 @@ public static void selectTab(int tabIndex) { * properties such as level, title, description, display time, and dimensions to control how the * notification is displayed on the dashboard. */ + @Json // 👈 Required: Informs the Avaje processor to generate a companion serializer class at + // build time public static class Notification { - @JsonProperty("level") - private NotificationLevel level; - @JsonProperty("title") + // Jackson's @JsonProperty annotations are replaced with Avaje's standard alias rules or + // auto-matched field mappings + private NotificationLevel level; private String title; - - @JsonProperty("description") private String description; - @JsonProperty("displayTime") + @Json.Property( + "displayTime") // Explicitly map JSON camelCase key to this specific internal variable private int displayTimeMillis; - @JsonProperty("width") private double width; - - @JsonProperty("height") private double height; /** @@ -246,145 +245,20 @@ public int getDisplayTimeMillis() { return displayTimeMillis; } - /** - * Updates the width of the notification - * - * @param width the width to set the notification to - */ - public void setWidth(double width) { - this.width = width; - } - - /** - * Gets the width of the notification - * - * @return the width of the notification - */ public double getWidth() { return width; } - /** - * Updates the height of the notification - * - *

If the height is set to -1, the height will be determined automatically by the dashboard - * - * @param height the height to set the notification to - */ - public void setHeight(double height) { - this.height = height; + public void setWidth(double width) { + this.width = width; } - /** - * Gets the height of the notification - * - * @return the height of the notification - */ public double getHeight() { return height; } - /** - * Modifies the notification's level and returns itself to allow for method chaining - * - * @param level the level to set the notification to - * @return the current notification - */ - public Notification withLevel(NotificationLevel level) { - this.level = level; - return this; - } - - /** - * Modifies the notification's title and returns itself to allow for method chaining - * - * @param title the title to set the notification to - * @return the current notification - */ - public Notification withTitle(String title) { - setTitle(title); - return this; - } - - /** - * Modifies the notification's description and returns itself to allow for method chaining - * - * @param description the description to set the notification to - * @return the current notification - */ - public Notification withDescription(String description) { - setDescription(description); - return this; - } - - /** - * Modifies the notification's display time and returns itself to allow for method chaining - * - * @param seconds the number of seconds to display the notification for - * @return the current notification - */ - public Notification withDisplaySeconds(double seconds) { - return withDisplayMilliseconds((int) Math.round(seconds * 1000)); - } - - /** - * Modifies the notification's display time and returns itself to allow for method chaining - * - * @param displayTimeMillis the number of milliseconds to display the notification for - * @return the current notification - */ - public Notification withDisplayMilliseconds(int displayTimeMillis) { - setDisplayTimeMillis(displayTimeMillis); - return this; - } - - /** - * Modifies the notification's width and returns itself to allow for method chaining - * - * @param width the width to set the notification to - * @return the current notification - */ - public Notification withWidth(double width) { - setWidth(width); - return this; - } - - /** - * Modifies the notification's height and returns itself to allow for method chaining - * - * @param height the height to set the notification to - * @return the current notification - */ - public Notification withHeight(double height) { - setHeight(height); - return this; - } - - /** - * Modifies the notification's height and returns itself to allow for method chaining - * - *

This will set the height to -1 to have it automatically determined by the dashboard - * - * @return the current notification - */ - public Notification withAutomaticHeight() { - setHeight(-1); - return this; - } - - /** - * Modifies the notification to disable the auto dismiss behavior - * - *

This sets the display time to 0 milliseconds - * - *

The auto dismiss behavior can be re-enabled by setting the display time to a number - * greater than 0 - * - * @return the current notification - */ - public Notification withNoAutoDismiss() { - setDisplayTimeMillis(0); - return this; + public void setHeight(double height) { + this.height = height; } } } diff --git a/src/main/java/frc/robot/util/LoggedTalonFX.java b/src/main/java/frc/robot/util/LoggedTalonFX.java index f3fd2e92..b5102cf8 100644 --- a/src/main/java/frc/robot/util/LoggedTalonFX.java +++ b/src/main/java/frc/robot/util/LoggedTalonFX.java @@ -3,13 +3,12 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.StatusSignalCollection; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.hardware.TalonFX; import dev.doglog.DogLog; +import frc.robot.Constants; import java.util.ArrayList; -import java.util.Arrays; /** * Team 3501 Version of TalonFX class that automatically sets Current Limits and logs motor @@ -17,13 +16,8 @@ */ public class LoggedTalonFX extends TalonFX { - /** List of all LoggedTalonFX motors on our robot, defined. */ - private static ArrayList motorsOnCanivore = new ArrayList<>(); - - private static ArrayList motorsOnRio = new ArrayList<>(); - - private static StatusSignalCollection signalsOnCanivore = new StatusSignalCollection(); - private static StatusSignalCollection signalsOnRio = new StatusSignalCollection(); + /** List of all LoggedTalonFX motors on our robot. */ + private static final ArrayList allMotors = new ArrayList<>(); /** Name of motor instance. */ private String name; @@ -148,71 +142,49 @@ private void cacheSignals() { motorVoltageSignal, supplyVoltageSignal }; + + // CRITICAL: Phoenix 6 defaults acceleration, torqueCurrent, and closedLoopError to 0 Hz. + // We must explicitly set their update frequencies, or refreshAll() will timeout and freeze. + BaseStatusSignal.setUpdateFrequencyForAll( + 50.0, + positionSignal, + velocitySignal, + motorVoltageSignal, + supplyCurrentSignal, + statorCurrentSignal, + rotorPositionSignal); + + BaseStatusSignal.setUpdateFrequencyForAll( + 20.0, + accelerationSignal, + torqueCurrentSignal, + closedLoopErrorSignal, + closedLoopReferenceSignal); + + BaseStatusSignal.setUpdateFrequencyForAll(4.0, deviceTempSignal, supplyVoltageSignal); } - /** - * @param deviceName Designated name of this LoggedTalonFX - * @param deviceId Motor ID of this LoggedTalonFX - * @param canbus CAN Bus object Associated with this LoggedTalonFX. - */ public LoggedTalonFX(String deviceName, int deviceId, CANBus canbus) { super(deviceId, canbus); name = "Motors/" + deviceName; init(); } - /** - * @param deviceName Designated name of this LoggedTalonFX - * @param deviceId Motor ID of this LoggedTalonFX - */ public LoggedTalonFX(String deviceName, int deviceId) { - super(deviceId); + super(deviceId, Constants.Swerve.CAN_BUS); name = "Motors/" + deviceName; init(); } - /** - * @param deviceId Motor ID of this LoggedTalonFX - * @param canbus CAN Bus object Associated with this LoggedTalonFX. - */ public LoggedTalonFX(int deviceId, CANBus canbus) { super(deviceId, canbus); name = "Motors/Motor " + deviceId; init(); } - /** - * @param deviceId Motor ID of this LoggedTalonFX - */ - public LoggedTalonFX(int deviceId) { - super(deviceId); - name = "Motors/Motor " + deviceId; - init(); - } - - private static void rebuildSignalCollection() { - signalsOnCanivore = - new StatusSignalCollection( - motorsOnCanivore.stream() - .flatMap(m -> Arrays.stream(m.cachedSignals)) - .toArray(BaseStatusSignal[]::new)); - - signalsOnRio = - new StatusSignalCollection( - motorsOnRio.stream() - .flatMap(m -> Arrays.stream(m.cachedSignals)) - .toArray(BaseStatusSignal[]::new)); - } - - /** Initializes strings that will be outputted through the LoggedTalonFX class. */ public void init() { - if ("Viper".equals(this.getNetwork().getName())) { - motorsOnCanivore.add(this); - } else { - motorsOnRio.add(this); - } + allMotors.add(this); - this.getConfigurator().apply(new TalonFXConfiguration()); this.temperature = name + "/temperature(degC)"; this.closedLoopError = name + "/closedLoopError"; this.closedLoopReference = name + "/closedLoopReference"; @@ -226,19 +198,16 @@ public void init() { this.supplyVoltage = name + "/voltage/supply(V)"; this.rotorPosition = name + "/closedloop/rotorPosition"; - // Applying current limits CurrentLimitsConfigs clc = new CurrentLimitsConfigs() .withStatorCurrentLimitEnable(true) .withStatorCurrentLimit(80) .withSupplyCurrentLimitEnable(true) .withSupplyCurrentLimit(40); - // WITH A HIGH POWER MECHANISM, MAKE SURE TO INCREASE THE CURRENT LIMITS motorConfiguration.CurrentLimits = clc; this.getConfigurator().apply(motorConfiguration); cacheSignals(); - rebuildSignalCollection(); } public void updateCurrentLimits(double statorCurrentLimit, double supplyCurrentLimit) { @@ -283,14 +252,9 @@ public void logValues() { } public static void periodic_static() { - signalsOnCanivore.refreshAll(); - for (LoggedTalonFX motor : motorsOnCanivore) { - motor.updateCachedValues(); - motor.logValues(); - } - - signalsOnRio.refreshAll(); - for (LoggedTalonFX motor : motorsOnRio) { + for (LoggedTalonFX motor : allMotors) { + // Refresh per motor so an offline motor never blocks other motors + BaseStatusSignal.refreshAll(motor.cachedSignals); motor.updateCachedValues(); motor.logValues(); } diff --git a/src/main/java/frc/robot/util/MathUtils/MiscMath.java b/src/main/java/frc/robot/util/MathUtils/MiscMath.java index daf887fb..d9995b4f 100644 --- a/src/main/java/frc/robot/util/MathUtils/MiscMath.java +++ b/src/main/java/frc/robot/util/MathUtils/MiscMath.java @@ -1,7 +1,7 @@ package frc.robot.util.MathUtils; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Pose3d; +import org.wpilib.math.geometry.Rotation2d; public class MiscMath { public static double clamp(double value, double min, double max) { diff --git a/src/main/java/frc/robot/util/MathUtils/Vector2.java b/src/main/java/frc/robot/util/MathUtils/Vector2.java index 01022466..80d189df 100644 --- a/src/main/java/frc/robot/util/MathUtils/Vector2.java +++ b/src/main/java/frc/robot/util/MathUtils/Vector2.java @@ -1,7 +1,7 @@ package frc.robot.util.MathUtils; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; public class Vector2 { public float x; diff --git a/src/main/java/frc/robot/util/MathUtils/Vector3.java b/src/main/java/frc/robot/util/MathUtils/Vector3.java index d3c88ee6..e9ba2bb6 100644 --- a/src/main/java/frc/robot/util/MathUtils/Vector3.java +++ b/src/main/java/frc/robot/util/MathUtils/Vector3.java @@ -1,9 +1,9 @@ package frc.robot.util.MathUtils; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Pose3d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; public class Vector3 { public float x; diff --git a/src/main/java/frc/robot/util/MiscUtils.java b/src/main/java/frc/robot/util/MiscUtils.java index cd272de2..2fc1c246 100644 --- a/src/main/java/frc/robot/util/MiscUtils.java +++ b/src/main/java/frc/robot/util/MiscUtils.java @@ -1,172 +1,131 @@ package frc.robot.util; import dev.doglog.DogLog; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Constants; import frc.robot.subsystems.CommandSwerveDrivetrain; import java.io.File; import java.util.Optional; import java.util.function.BooleanSupplier; +import org.wpilib.driverstation.Alliance; +import org.wpilib.driverstation.MatchState; +import org.wpilib.driverstation.RobotState; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Transform3d; +import org.wpilib.math.geometry.Translation2d; public class MiscUtils { - public static int shiftIndicatorSum = 0; - - public static Pose2d plus(Pose2d a, Translation2d b) { - return new Pose2d( - a.getX() + b.getX(), a.getY() + b.getY(), new Rotation2d(a.getRotation().getRadians())); - } - - public static Pose2d plusWithRotation(Pose2d a, Pose2d b) { // Transform2d used to be Pose2d - return new Pose2d( - a.getX() + b.getX(), - a.getY() + b.getY(), - new Rotation2d(a.getRotation().getRadians() + b.getRotation().getRadians())); - } + private static int shiftIndicatorCounter = 0; public static Alliance getSecondAlliance() { - String allianceChar = DriverStation.getGameSpecificMessage(); - if (allianceChar == null || allianceChar.isEmpty()) return null; + Optional allianceOpt = MatchState.getGameData(); + String allianceChar = allianceOpt.orElse(""); + if (allianceChar.isEmpty()) return null; return switch (allianceChar.charAt(0)) { - case 'B' -> Alliance.Blue; - case 'R' -> Alliance.Red; + case 'B' -> Alliance.BLUE; + case 'R' -> Alliance.RED; default -> null; }; } public static String activeFirst() { - Optional alliance = DriverStation.getAlliance(); - if (alliance.isEmpty() || DriverStation.getMatchTime() < 105) return ""; - DogLog.log("Subsystems/LEDs/allianceNotEmpty", true); + Optional alliance = MatchState.getAlliance(); + if (alliance.isEmpty() || MatchState.getMatchTime() < 105) return ""; Alliance ourAlliance = alliance.get(); Alliance secondAlliance = getSecondAlliance(); if (secondAlliance == null) return ""; - DogLog.log("Subsystems/LEDs/ourAlliance", ourAlliance.toString()); - DogLog.log("Subsystems/LEDs/secondAlliance", secondAlliance.toString()); - if (secondAlliance.equals(ourAlliance)) return "LATER"; - else return "NOW"; - } - - public static boolean areWeActive() { - return areWeActive(0.0); + return secondAlliance.equals(ourAlliance) ? "LATER" : "NOW"; } - public static boolean areWeActive(double howEarly) { - Optional alliance = DriverStation.getAlliance(); - + public static boolean areWeActive(double currentMatchTime) { + Optional alliance = MatchState.getAlliance(); if (alliance.isEmpty()) return false; - if (DriverStation.isAutonomousEnabled()) return true; - if (!DriverStation.isTeleopEnabled()) return false; - - // teleop is enabled - double currentMatchTime = DriverStation.getMatchTime(); - double earlyMatchTime = currentMatchTime - howEarly; - - String allianceChar = DriverStation.getGameSpecificMessage(); + if (RobotState.isAutonomous()) return true; + if (!RobotState.isTeleop()) return false; - DogLog.log( - "Elastic/AllianceChar", - allianceChar == null || allianceChar.isEmpty() ? "Empty" : allianceChar); + // transition + endgame + if (currentMatchTime > 130.0 || currentMatchTime <= 30.0) return true; - if (allianceChar == null || allianceChar.isEmpty()) return true; Alliance secondAlliance = getSecondAlliance(); - if (secondAlliance == null) return true; - boolean redInactiveFirst = getSecondAlliance() == Alliance.Red; - - boolean weAreActiveFirst = - switch (alliance.get()) { - case Red -> !redInactiveFirst; - case Blue -> redInactiveFirst; - }; - - DogLog.log("Subsystems/LEDs/matchTime", currentMatchTime); - - double earlyActiveFirst = weAreActiveFirst ? earlyMatchTime : currentMatchTime; - DogLog.log("Subsystems/LEDs/earlyActiveFirst", earlyActiveFirst); - double earlyActiveSecond = !weAreActiveFirst ? earlyMatchTime : currentMatchTime; - DogLog.log("Subsystems/LEDs/earlyActiveSecond", earlyActiveFirst); - - if (currentMatchTime > 130) return true; - else if (earlyActiveSecond > 105) return weAreActiveFirst; - else if (earlyActiveFirst > 80) return !weAreActiveFirst; - else if (earlyActiveSecond > 55) return weAreActiveFirst; - else if (earlyActiveFirst > 30) return !weAreActiveFirst; - else return true; - } - - public static double countdownTillNextShift(double currentTime) { - // double currentMatchTime = currentTime; - double currentMatchTime = DriverStation.getMatchTime(); - if (DriverStation.isAutonomous()) { - return currentMatchTime; + // falls back to red + if (secondAlliance == null) secondAlliance = Alliance.RED; + + boolean weAreActiveFirst = (alliance.get() != secondAlliance); + if (currentMatchTime > 105.0) { + return weAreActiveFirst; + } else if (currentMatchTime > 80.0) { + return !weAreActiveFirst; + } else if (currentMatchTime > 55.0) { + return weAreActiveFirst; } else { - if (currentMatchTime > 140) return currentMatchTime - 140; - else if (currentMatchTime > 130) return currentMatchTime - 130; - else if (currentMatchTime > 105) return currentMatchTime - 105; - else if (currentMatchTime > 80) return currentMatchTime - 80; - else if (currentMatchTime > 55) return currentMatchTime - 55; - else if (currentMatchTime > 30) return currentMatchTime - 30; - else return currentMatchTime; + return !weAreActiveFirst; } } - public static String currentShiftName(double currentTime) { - // double currentMatchTime = currentTime; - double currentMatchTime = DriverStation.getMatchTime(); - if (DriverStation.isAutonomous()) return "Auto"; + public static boolean areWeActive() { + return areWeActive(MatchState.getMatchTime()); + } - if (currentMatchTime > 130) return "Transition"; - else if (currentMatchTime > 105) return "ALS 1"; - else if (currentMatchTime > 80) return "ALS 2"; - else if (currentMatchTime > 55) return "ALS 3"; - else if (currentMatchTime > 30) return "ALS 4"; + public static double countdownTillNextShift(double currentMatchTime) { + if (RobotState.isAutonomous()) { + return Math.max(0.0, currentMatchTime); + } + if (currentMatchTime > 130.0) return currentMatchTime - 130.0; + else if (currentMatchTime > 105.0) return currentMatchTime - 105.0; + else if (currentMatchTime > 80.0) return currentMatchTime - 80.0; + else if (currentMatchTime > 55.0) return currentMatchTime - 55.0; + else if (currentMatchTime > 30.0) return currentMatchTime - 30.0; + else return Math.max(0.0, currentMatchTime); + } + + public static String currentShiftName(double currentMatchTime) { + if (RobotState.isAutonomous()) return "Auto"; + if (currentMatchTime > 130.0) return "Transition"; + else if (currentMatchTime > 105.0) return "ALS 1"; + else if (currentMatchTime > 80.0) return "ALS 2"; + else if (currentMatchTime > 55.0) return "ALS 3"; + else if (currentMatchTime > 30.0) return "ALS 4"; else return "Endgame"; } - public static void shiftSwitchIndicator(double currentTime) { - // double currentTimes = currentTime; - double currentTimes = DriverStation.getMatchTime(); - double timeUntilNextShift = countdownTillNextShift(currentTimes); - boolean isEndgame = currentShiftName(currentTimes).equals("Endgame"); - boolean isActive = areWeActive(); - boolean isTransition = currentShiftName(currentTimes).equals("Transition"); + public static void shiftSwitchIndicator(double currentMatchTime) { + double timeUntilNextShift = countdownTillNextShift(currentMatchTime); + String shiftName = currentShiftName(currentMatchTime); + boolean isTransition = shiftName.equals("Transition"); + boolean isEndgame = shiftName.equals("Endgame"); + boolean isActive = areWeActive(currentMatchTime); if (isTransition || isEndgame) { - shiftIndicatorSum = 0; - SmartDashboard.putString("Elastic/ShiftSwitchIndicator", "#00FF00"); + shiftIndicatorCounter = 0; + TelemetryUtils.elasticTelemetry.log("ShiftSwitchIndicator", "#00FF00"); return; } - String color = ""; + shiftIndicatorCounter++; + String color; + if (isActive) { - shiftIndicatorSum = timeUntilNextShift >= 8 ? 0 : shiftIndicatorSum + 1; - if (timeUntilNextShift >= 8) color = "#00FF00"; - else if (timeUntilNextShift < 2) color = "#000000"; - // fast blink - else if (timeUntilNextShift < 5) - color = (shiftIndicatorSum / 8) % 2 == 0 ? "#FF0000" : "#000000"; - // slow blink - else if (timeUntilNextShift < 8) - color = (shiftIndicatorSum / 20) % 2 == 0 ? "#FF0000" : "#000000"; + if (timeUntilNextShift >= 8.0) { + color = "#00FF00"; + } else if (timeUntilNextShift < 2.0) { + color = "#000000"; + } else if (timeUntilNextShift < 5.0) { + color = ((shiftIndicatorCounter / 8) % 2 == 0) ? "#00FF00" : "#000000"; + } else { + color = ((shiftIndicatorCounter / 20) % 2 == 0) ? "#00FF00" : "#000000"; + } } else { - // alliance hub inactive - shiftIndicatorSum = - timeUntilNextShift < 2 || timeUntilNextShift >= 8 ? 0 : shiftIndicatorSum + 1; - if (timeUntilNextShift < 2) color = "#00FF00"; - // fast blink - else if (timeUntilNextShift < 5) - color = (shiftIndicatorSum / 8) % 2 == 0 ? "#FFFF00" : "#000000"; - // slow blink - else if (timeUntilNextShift < 8) - color = (shiftIndicatorSum / 20) % 2 == 0 ? "#FFFF00" : "#000000"; - else color = "#000000"; + if (timeUntilNextShift >= 8.0) { + color = "#000000"; + } else if (timeUntilNextShift < 2.0) { + color = "#00FF00"; + } else if (timeUntilNextShift < 5.0) { + color = ((shiftIndicatorCounter / 8) % 2 == 0) ? "#FFFF00" : "#000000"; + } else { + color = ((shiftIndicatorCounter / 20) % 2 == 0) ? "#FFFF00" : "#000000"; + } } - SmartDashboard.putString("Elastic/ShiftSwitchIndicator", color); + + TelemetryUtils.elasticTelemetry.log("ShiftSwitchIndicator", color); } public static double get3dDistance(Transform3d transform) { diff --git a/src/main/java/frc/robot/util/Targeting.java b/src/main/java/frc/robot/util/Targeting.java index 6271b461..b0cfd1fe 100644 --- a/src/main/java/frc/robot/util/Targeting.java +++ b/src/main/java/frc/robot/util/Targeting.java @@ -1,16 +1,17 @@ package frc.robot.util; import dev.doglog.DogLog; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.util.Units; import frc.robot.Constants; import frc.robot.Constants.Landmarks; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.util.MathUtils.Vector3; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.kinematics.ChassisVelocities; +import org.wpilib.math.util.Units; public class Targeting { public static class TargetingInfo { @@ -39,14 +40,14 @@ public Pose2d getPosition() { public static Translation2d computeVirtualTarget( Pose2d target, CommandSwerveDrivetrain drivetrain) { - ChassisSpeeds fieldSpeeds = drivetrain.getFieldSpeeds(); + ChassisVelocities fieldSpeeds = drivetrain.getFieldSpeeds(); Pose2d currPose = drivetrain.getPose(); // Twist2d twist = // new Twist2d( - // fieldSpeeds.vxMetersPerSecond * 0.03, - // fieldSpeeds.vyMetersPerSecond * 0.03, - // fieldSpeeds.omegaRadiansPerSecond * 0.03); + // fieldSpeeds.vx * 0.03, + // fieldSpeeds.vy * 0.03, + // fieldSpeeds.omega * 0.03); // Pose2d lookaheadPose = currPose.exp(twist); double initDX = target.getX() - currPose.getX(); @@ -56,7 +57,7 @@ public static Translation2d computeVirtualTarget( if (initialDistance < 1e-6) return target.getTranslation(); // double radialVelocity = - // (initDX * fieldSpeeds.vxMetersPerSecond + initDY * fieldSpeeds.vyMetersPerSecond) + // (initDX * fieldSpeeds.vx + initDY * fieldSpeeds.vy) // / initialDistance; double tof = Constants.Shooter.TIME_OF_FLIGHT_MAP.get(initialDistance); @@ -65,8 +66,8 @@ public static Translation2d computeVirtualTarget( // - radialVelocity); for (int i = 0; i < Constants.Shooter.TARGETING_CALCULATION_PRECISION; i++) { - double distX = initDX - fieldSpeeds.vxMetersPerSecond * tof; - double distY = initDY - fieldSpeeds.vyMetersPerSecond * tof; + double distX = initDX - fieldSpeeds.vx * tof; + double distY = initDY - fieldSpeeds.vy * tof; double distance = Math.sqrt(distX * distX + distY * distY); if (distance < 1e-6) break; @@ -78,9 +79,7 @@ public static Translation2d computeVirtualTarget( double horizontalVel = distance / tofTable; double errorDerivative = - 1.0 - + ((distX * fieldSpeeds.vxMetersPerSecond + distY * fieldSpeeds.vyMetersPerSecond) - / (distance * horizontalVel)); + 1.0 + ((distX * fieldSpeeds.vx + distY * fieldSpeeds.vy) / (distance * horizontalVel)); if (tof < 1e-3) tof = 1e-3; @@ -91,39 +90,34 @@ public static Translation2d computeVirtualTarget( } return new Translation2d( - target.getX() - fieldSpeeds.vxMetersPerSecond * tof, - target.getY() - fieldSpeeds.vyMetersPerSecond * tof); + target.getX() - fieldSpeeds.vx * tof, target.getY() - fieldSpeeds.vy * tof); } public static boolean pointingAtTarget( Pose2d targetNoOffset, CommandSwerveDrivetrain drivetrain) { - double desiredRobotHullAngle = - targetAngle(targetNoOffset, drivetrain) + (2 * Math.PI) % (2 * Math.PI); - double robotHullAngle = - drivetrain.getCurrentState().Pose.getRotation().getRadians() - + (2 * Math.PI) % (2 * Math.PI); + Rotation2d desiredAngle = targetAngle(targetNoOffset, drivetrain); + Rotation2d currentAngle = drivetrain.getCurrentState().Pose.getRotation(); + + double diff = Math.abs(desiredAngle.minus(currentAngle).getRadians()); - double diff = Math.abs(desiredRobotHullAngle - robotHullAngle) % (2 * Math.PI); - if (diff > Math.PI) diff = 2 * Math.PI - diff; DogLog.log("Subsystems/Shooter/Shoot/RotationalErrorRadians", diff); boolean hullAimed = diff <= Constants.Shooter.ANGULAR_TOLERANCE_FOR_AUTO_AIM_RAD; DogLog.log("Subsystems/Shooter/Shoot/Pointing", hullAimed); + return hullAimed; } public static boolean pointingAtTarget(double angle, CommandSwerveDrivetrain drivetrain) { - double desiredRobotHullAngle = angle; - - double robotHullAngle = - drivetrain.getCurrentState().Pose.getRotation().getRadians() - + (2 * Math.PI) % (2 * Math.PI); - DogLog.log("PointingAtTarget/DesiredAngle", desiredRobotHullAngle); - DogLog.log("PointingAtTarget/RobotAngle", robotHullAngle); - double diff = Math.abs(desiredRobotHullAngle - robotHullAngle) % (2 * Math.PI); - if (diff > Math.PI) diff = 2 * Math.PI - diff; - boolean hullAimed = diff <= Constants.Shooter.ANGULAR_TOLERANCE_FOR_AUTO_AIM_RAD; - return hullAimed; + Rotation2d desiredAngle = new Rotation2d(angle); + Rotation2d currentAngle = drivetrain.getCurrentState().Pose.getRotation(); + + DogLog.log("PointingAtTarget/DesiredAngle", desiredAngle.getRadians()); + DogLog.log("PointingAtTarget/RobotAngle", currentAngle.getRadians()); + + double diff = Math.abs(desiredAngle.minus(currentAngle).getRadians()); + + return diff <= Constants.Shooter.ANGULAR_TOLERANCE_FOR_AUTO_AIM_RAD; } // public static TargetingInfo targetingInfo( @@ -131,8 +125,8 @@ public static boolean pointingAtTarget(double angle, CommandSwerveDrivetrain dri // Vector3 relativeVel = // Vector3.mult( // new Vector3( - // drivetrain.getFieldSpeeds().vxMetersPerSecond, - // drivetrain.getFieldSpeeds().vyMetersPerSecond, + // drivetrain.getFieldSpeeds().vx, + // drivetrain.getFieldSpeeds().vy, // 0), // -1); @@ -160,7 +154,7 @@ public static boolean pointingAtTarget(double angle, CommandSwerveDrivetrain dri public static double newtonTargetingDistance(Pose2d target, CommandSwerveDrivetrain swerve) { // Load basic stuff in - ChassisSpeeds currSpeeds = swerve.getFieldSpeeds(); + ChassisVelocities currSpeeds = swerve.getFieldSpeeds(); Pose2d currState = swerve.getPose(); // initial guess @@ -170,9 +164,7 @@ public static double newtonTargetingDistance(Pose2d target, CommandSwerveDrivetr if (initialDistance < 1e-6) return 0; - double radialVelocity = - (initDX * currSpeeds.vxMetersPerSecond + initDY * currSpeeds.vyMetersPerSecond) - / initialDistance; + double radialVelocity = (initDX * currSpeeds.vx + initDY * currSpeeds.vy) / initialDistance; // shit we need double tof = @@ -183,8 +175,8 @@ public static double newtonTargetingDistance(Pose2d target, CommandSwerveDrivetr double distance = initialDistance; for (int i = 0; i < Constants.Shooter.TARGETING_CALCULATION_PRECISION; i++) { - double distX = (initDX) - currSpeeds.vxMetersPerSecond * tof; - double distY = (initDY) - currSpeeds.vyMetersPerSecond * tof; + double distX = (initDX) - currSpeeds.vx * tof; + double distY = (initDY) - currSpeeds.vy * tof; distance = Math.pow(distX * distX + distY * distY, 0.5); if (distance < 1e-6) break; @@ -194,9 +186,7 @@ public static double newtonTargetingDistance(Pose2d target, CommandSwerveDrivetr double horizontalVel = distance / tofTable; double errorDerivative = - 1.0 - - ((distX * currSpeeds.vxMetersPerSecond + distY * currSpeeds.vyMetersPerSecond) - / (distance * horizontalVel)); + 1.0 - ((distX * currSpeeds.vx + distY * currSpeeds.vy) / (distance * horizontalVel)); if (Math.abs(error) < 1e-3) break; @@ -217,11 +207,7 @@ public static TargetingInfo newtonTargetingInfo( Vector3 relativeVel = Vector3.mult( - new Vector3( - drivetrain.getFieldSpeeds().vxMetersPerSecond, - drivetrain.getFieldSpeeds().vyMetersPerSecond, - 0), - -1); + new Vector3(drivetrain.getFieldSpeeds().vx, drivetrain.getFieldSpeeds().vy, 0), -1); Vector3 targetPlusOffset = Vector3.add(new Vector3(target), Vector3.mult(relativeVel, timeOfFlight)); @@ -243,12 +229,21 @@ public static double speedForDist(double d) { return Constants.Shooter.TIME_OF_FLIGHT_MAP.get(d); } - public static double targetAngle(Pose2d targetNoOffset, CommandSwerveDrivetrain drivetrain) { + public static Rotation2d targetAngle(Pose2d targetNoOffset, CommandSwerveDrivetrain drivetrain) { Pose2d target = positionToTarget(targetNoOffset, drivetrain); - return Math.atan2( - Vector3.subtract(new Vector3(target), new Vector3(drivetrain.getCurrentState().Pose)).y, - Vector3.subtract(new Vector3(target), new Vector3(drivetrain.getCurrentState().Pose)).x) - + (Constants.Shooter.SHOOTS_BACKWARDS ? Math.PI : 0); + Translation2d robotToTarget = + target.getTranslation().minus(drivetrain.getCurrentState().Pose.getTranslation()); + + Rotation2d angle = + robotToTarget.getAngle().isPresent() + ? robotToTarget.getAngle().get() + : drivetrain.getCurrentState().Pose.getRotation(); + + if (Constants.Shooter.SHOOTS_BACKWARDS) { + return angle.rotateBy(Rotation2d.fromRadians(Math.PI)); + } + + return angle; } public static double distMeters(CommandSwerveDrivetrain drivetrain, Pose2d target) { diff --git a/src/main/java/frc/robot/util/TelemetryUtils.java b/src/main/java/frc/robot/util/TelemetryUtils.java new file mode 100644 index 00000000..557e5508 --- /dev/null +++ b/src/main/java/frc/robot/util/TelemetryUtils.java @@ -0,0 +1,8 @@ +package frc.robot.util; + +import org.wpilib.telemetry.TelemetryTable; + +public class TelemetryUtils { + public static final TelemetryTable elasticTelemetry = + org.wpilib.telemetry.Telemetry.getTable("Elastic"); +} diff --git a/src/main/java/frc/robot/util/VisionCameraConstants.java b/src/main/java/frc/robot/util/VisionCameraConstants.java index cb909fc4..9a85b3a2 100644 --- a/src/main/java/frc/robot/util/VisionCameraConstants.java +++ b/src/main/java/frc/robot/util/VisionCameraConstants.java @@ -1,15 +1,15 @@ package frc.robot.util; -import edu.wpi.first.math.MatBuilder; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.numbers.N8; -import edu.wpi.first.math.util.Units; +import org.wpilib.math.geometry.Rotation3d; +import org.wpilib.math.geometry.Transform3d; +import org.wpilib.math.geometry.Translation3d; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; +import org.wpilib.math.numbers.N8; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Units; public final class VisionCameraConstants { private static final class FrontRightVals { diff --git a/src/main/java/frc/robot/util/VisionUtils.java b/src/main/java/frc/robot/util/VisionUtils.java index ccd62309..e7b535fe 100644 --- a/src/main/java/frc/robot/util/VisionUtils.java +++ b/src/main/java/frc/robot/util/VisionUtils.java @@ -1,24 +1,22 @@ package frc.robot.util; import dev.doglog.DogLog; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.VecBuilder; -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.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Constants; import frc.robot.Constants.FuelGaugeDetection.FuelGauge; import frc.robot.Constants.IntakeVision.TargetingMode; import frc.robot.Constants.Vision.CameraSelectionMethod; import frc.robot.subsystems.CommandSwerveDrivetrain; -import frc.robot.subsystems.FuelGaugeDetection; import frc.robot.subsystems.IntakeVisionDetection; import frc.robot.subsystems.VisionSubsystem; import org.photonvision.targeting.PhotonPipelineResult; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; +import org.wpilib.math.util.Units; public class VisionUtils { private static VisionSubsystem visionFrontRight, visionFrontLeft, visionRearRight, visionRearLeft; @@ -137,19 +135,21 @@ private static void preferredVisionLogs() { DogLog.log("Subsystems/Vision/RawPoseEstimate", preferredVision.getFilteredPose()); } - public static void fuelGaugeLogs(FuelGaugeDetection visionFuelGauge) { - if (Constants.fuelGaugeOnRobot && visionFuelGauge != null) { - FuelGauge gaugeState = visionFuelGauge.getGaugeDefault(); - String gaugeStateHex = getColorOrDefault(gaugeState); - DogLog.log("Elastic/FuelGauge", gaugeState.toString()); - SmartDashboard.putString("Elastic/FuelGaugeHex", gaugeStateHex); - DogLog.log("Elastic/FuelGauge/CameraConnected", true); - } else { - DogLog.log("Elastic/FuelGauge", "N/A"); - SmartDashboard.putString("Elastic/FuelGaugeHex", "#00FFFF"); - DogLog.log("Elastic/FuelGauge/CameraConnected", false); - } - } + // note: fuel gauge disabled + // + // public static void fuelGaugeLogs(FuelGaugeDetection visionFuelGauge) { + // if (Constants.fuelGaugeOnRobot && visionFuelGauge != null) { + // FuelGauge gaugeState = visionFuelGauge.getGaugeDefault(); + // String gaugeStateHex = getColorOrDefault(gaugeState); + // DogLog.log("Elastic/FuelGauge", gaugeState.toString()); + // TelemetryUtils.elasticTelemetry.log("Elastic/FuelGaugeHex", gaugeStateHex); + // DogLog.log("Elastic/FuelGauge/CameraConnected", true); + // } else { + // DogLog.log("Elastic/FuelGauge", "N/A"); + // TelemetryUtils.elasticTelemetry.log("Elastic/FuelGaugeHex", "#00FFFF"); + // DogLog.log("Elastic/FuelGauge/CameraConnected", false); + // } + // } private static String getColorOrDefault(FuelGauge gauge) { return gauge == null ? "#FFFFFF" : gauge.getColor(); diff --git a/vendordeps/AprilTag.json b/vendordeps/AprilTag.json new file mode 100644 index 00000000..3e5a68c5 --- /dev/null +++ b/vendordeps/AprilTag.json @@ -0,0 +1,91 @@ +{ + "fileName": "AprilTag.json", + "name": "AprilTag", + "version": "1.0.0", + "uuid": "3ac3403d-7f6b-4b5a-a09c-a49a2c32e5a3", + "wpilibYear": "2027_alpha7", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "org.wpilib.thirdparty.opencv", + "artifactId": "opencv-java", + "version": "2027-4.13.0-3" + }, + { + "groupId": "org.wpilib.apriltag", + "artifactId": "apriltag-java", + "version": "wpilib" + } + ], + "jniDependencies": [ + { + "groupId": "org.wpilib.thirdparty.opencv", + "artifactId": "opencv-cpp", + "version": "2027-4.13.0-3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "linuxsystemcore", + "linuxarm64", + "windowsx86-64", + "windowsarm64", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.wpilib.apriltag", + "artifactId": "apriltag-cpp", + "version": "wpilib", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "linuxsystemcore", + "linuxarm64", + "windowsx86-64", + "windowsarm64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "org.wpilib.thirdparty.opencv", + "artifactId": "opencv-cpp", + "version": "2027-4.13.0-3", + "libName": "opencv", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxsystemcore", + "linuxarm64", + "windowsx86-64", + "windowsarm64", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.wpilib.apriltag", + "artifactId": "apriltag-cpp", + "version": "wpilib", + "libName": "apriltag", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxsystemcore", + "linuxarm64", + "windowsx86-64", + "windowsarm64", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2027Alpha.json similarity index 74% rename from vendordeps/ChoreoLib2026.json rename to vendordeps/ChoreoLib2027Alpha.json index 9a106abd..8c6e976f 100644 --- a/vendordeps/ChoreoLib2026.json +++ b/vendordeps/ChoreoLib2027Alpha.json @@ -1,19 +1,19 @@ { - "fileName": "ChoreoLib2026.json", + "fileName": "ChoreoLib2027Alpha.json", "name": "ChoreoLib", - "version": "2026.0.3", + "version": "2027.0.0-alpha-3", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", - "frcYear": "2026", + "wpilibYear": "2027_alpha7", "mavenUrls": [ "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/", "https://repo1.maven.org/maven2" ], - "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json", + "jsonUrl": "https://choreo.autos/lib/ChoreoLib2027Alpha.json", "javaDependencies": [ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2026.0.3" + "version": "2027.0.0-alpha-3" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2026.0.3", + "version": "2027.0.0-alpha-3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -35,9 +35,8 @@ "windowsx86-64", "linuxx86-64", "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" + "linuxarm64", + "linuxsystemcore" ] } ] diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/CommandsV2.json similarity index 50% rename from vendordeps/WPILibNewCommands.json rename to vendordeps/CommandsV2.json index d90630e9..ae2b96b4 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/CommandsV2.json @@ -1,36 +1,41 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", + "fileName": "CommandsV2.json", + "name": "Commands V2", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026", + "wpilibYear": "2027_alpha7", "mavenUrls": [], "jsonUrl": "", + "conflictsWith": [ + { + "uuid": "4decdc05-a056-46cf-9561-39449bbb01306", + "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.", + "offlineFileName": "CommandsV3.json" + } + ], "javaDependencies": [ { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", + "groupId": "org.wpilib.commandsv2", + "artifactId": "commandsv2-java", "version": "wpilib" } ], "jniDependencies": [], "cppDependencies": [ { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", + "groupId": "org.wpilib.commandsv2", + "artifactId": "commandsv2-cpp", "version": "wpilib", - "libName": "wpilibNewCommands", + "libName": "commandsv2", "headerClassifier": "headers", "sourcesClassifier": "sources", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "linuxsystemcore", - "linuxathena", - "linuxarm32", "linuxarm64", "windowsx86-64", - "windowsx86", + "windowsarm64", "linuxx86-64", "osxuniversal" ] diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json index 7201ed05..1d328907 100644 --- a/vendordeps/DogLog.json +++ b/vendordeps/DogLog.json @@ -3,11 +3,11 @@ { "groupId": "com.github.jonahsnider", "artifactId": "doglog", - "version": "2026.5.0" + "version": "2027.2.0" } ], "fileName": "DogLog.json", - "frcYear": "2026", + "wpilibYear": "2027_alpha7", "jsonUrl": "https://doglog.dev/vendordep.json", "name": "DogLog", "jniDependencies": [], @@ -15,6 +15,6 @@ "https://jitpack.io" ], "cppDependencies": [], - "version": "2026.5.0", + "version": "2027.2.0", "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4" } \ No newline at end of file diff --git a/vendordeps/Phoenix6-26.1.3.json b/vendordeps/Phoenix6-26.70.0-alpha-2.json similarity index 87% rename from vendordeps/Phoenix6-26.1.3.json rename to vendordeps/Phoenix6-26.70.0-alpha-2.json index d5bc4a24..af2ed5f8 100644 --- a/vendordeps/Phoenix6-26.1.3.json +++ b/vendordeps/Phoenix6-26.70.0-alpha-2.json @@ -1,60 +1,60 @@ { - "fileName": "Phoenix6-26.1.3.json", + "fileName": "Phoenix6-26.70.0-alpha-2.json", "name": "CTRE-Phoenix (v6)", - "version": "26.1.3", - "frcYear": "2026", + "version": "26.70.0-alpha-2", + "wpilibYear": "2027_alpha7", "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-frc2026-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2027-latest.json", "conflictsWith": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2026-latest.json" + "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2027-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.3" + "version": "26.70.0-alpha-2" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", "linuxarm64", - "linuxathena" + "linuxsystemcore" ], "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", "linuxarm64", - "linuxathena" + "linuxsystemcore" ], "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -233,14 +233,14 @@ "windowsx86-64", "linuxx86-64", "linuxarm64", - "linuxathena" + "linuxsystemcore" ], "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -249,14 +249,14 @@ "windowsx86-64", "linuxx86-64", "linuxarm64", - "linuxathena" + "linuxsystemcore" ], "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.3", + "version": "26.70.0-alpha-2", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 6d1e8174..1dfe469b 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,9 +1,9 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2026.3.4", + "version": "dev-v2027.0.0-alpha-2-69-g71416112", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2026", + "wpilibYear": "2027_alpha7", "mavenUrls": [ "https://maven.photonvision.org/repository/internal", "https://maven.photonvision.org/repository/snapshots" @@ -13,12 +13,25 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.3.4", + "version": "dev-v2027.0.0-alpha-2-69-g71416112", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ "windowsx86-64", - "linuxathena", + "linuxsystemcore", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.wpilib.fields", + "artifactId": "fields-cpp", + "version": "wpilib", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxsystemcore", "linuxx86-64", "osxuniversal" ] @@ -28,14 +41,14 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2026.3.4", + "version": "dev-v2027.0.0-alpha-2-69-g71416112", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "linuxathena", + "linuxsystemcore", "linuxx86-64", "osxuniversal" ] @@ -43,14 +56,14 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.3.4", + "version": "dev-v2027.0.0-alpha-2-69-g71416112", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "linuxathena", + "linuxsystemcore", "linuxx86-64", "osxuniversal" ] @@ -60,12 +73,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2026.3.4" + "version": "dev-v2027.0.0-alpha-2-69-g71416112" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2026.3.4" + "version": "dev-v2027.0.0-alpha-2-69-g71416112" } ] } \ No newline at end of file