From fc052ec018589a5c9bbc33e7a8f3a557fce38703 Mon Sep 17 00:00:00 2001 From: Andrew Haselton Date: Mon, 3 Aug 2026 19:12:09 -0500 Subject: [PATCH 1/2] Initial Stage 2 ctre code, unfinished --- .gitignore | 2 + examples/stage2/templates/ctre/.gitignore | 187 ++++++++ .../ctre/.wpilib/wpilib_preferences.json | 6 + .../stage2/templates/ctre/WPILib-License.md | 26 + examples/stage2/templates/ctre/build.gradle | 111 +++++ .../ctre/gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 48966 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + examples/stage2/templates/ctre/gradlew | 248 ++++++++++ examples/stage2/templates/ctre/gradlew.bat | 93 ++++ .../stage2/templates/ctre/settings.gradle | 30 ++ examples/stage2/templates/ctre/simgui-ds.json | 62 +++ .../ctre/src/main/deploy/example.txt | 3 + .../ctre/src/main/java/first/Main.java | 25 + .../main/java/first/robot/FieldConstants.java | 46 ++ .../ctre/src/main/java/first/robot/Poses.java | 47 ++ .../ctre/src/main/java/first/robot/Robot.java | 35 ++ .../main/java/first/robot/mechanisms/Arm.java | 160 +++++++ .../java/first/robot/mechanisms/Claw.java | 61 +++ .../java/first/robot/mechanisms/Drive.java | 357 ++++++++++++++ .../java/first/robot/mechanisms/Elevator.java | 172 +++++++ .../robot/mechanisms/Superstructure.java | 22 + .../main/java/first/robot/opmode/ArmTest.java | 27 ++ .../robot/opmode/BasicScoringTeleop.java | 47 ++ .../java/first/robot/opmode/DriveTest.java | 27 ++ .../java/first/robot/opmode/ElevatorTest.java | 27 ++ .../first/robot/opmode/FullScoringTeleop.java | 49 ++ .../main/java/first/robot/opmode/MyAuto.java | 30 ++ .../java/first/robot/simulation/ArmSim.java | 44 ++ .../java/first/robot/simulation/ClawSim.java | 40 ++ .../first/robot/simulation/ElevatorSim.java | 50 ++ .../templates/ctre/vendordeps/CommandsV3.json | 25 + .../templates/ctre/vendordeps/DogLog.json | 18 + .../vendordeps/Phoenix6-26.50.0-alpha-1.json | 447 ++++++++++++++++++ 33 files changed, 2531 insertions(+) create mode 100644 examples/stage2/templates/ctre/.gitignore create mode 100644 examples/stage2/templates/ctre/.wpilib/wpilib_preferences.json create mode 100644 examples/stage2/templates/ctre/WPILib-License.md create mode 100644 examples/stage2/templates/ctre/build.gradle create mode 100644 examples/stage2/templates/ctre/gradle/wrapper/gradle-wrapper.jar create mode 100644 examples/stage2/templates/ctre/gradle/wrapper/gradle-wrapper.properties create mode 100644 examples/stage2/templates/ctre/gradlew create mode 100644 examples/stage2/templates/ctre/gradlew.bat create mode 100644 examples/stage2/templates/ctre/settings.gradle create mode 100644 examples/stage2/templates/ctre/simgui-ds.json create mode 100644 examples/stage2/templates/ctre/src/main/deploy/example.txt create mode 100644 examples/stage2/templates/ctre/src/main/java/first/Main.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/FieldConstants.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/Poses.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/Robot.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Superstructure.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ArmTest.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/opmode/DriveTest.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ElevatorTest.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ArmSim.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ClawSim.java create mode 100644 examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ElevatorSim.java create mode 100644 examples/stage2/templates/ctre/vendordeps/CommandsV3.json create mode 100644 examples/stage2/templates/ctre/vendordeps/DogLog.json create mode 100644 examples/stage2/templates/ctre/vendordeps/Phoenix6-26.50.0-alpha-1.json diff --git a/.gitignore b/.gitignore index 50e55cb1..094cb9dd 100644 --- a/.gitignore +++ b/.gitignore @@ -27,6 +27,8 @@ bun.lock .DS_Store .vscode +*/.idea/ + # Build files .gradle diff --git a/examples/stage2/templates/ctre/.gitignore b/examples/stage2/templates/ctre/.gitignore new file mode 100644 index 00000000..34cbaac1 --- /dev/null +++ b/examples/stage2/templates/ctre/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/examples/stage2/templates/ctre/.wpilib/wpilib_preferences.json b/examples/stage2/templates/ctre/.wpilib/wpilib_preferences.json new file mode 100644 index 00000000..19f541ed --- /dev/null +++ b/examples/stage2/templates/ctre/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2027_alpha5", + "teamNumber": 9999 +} diff --git a/examples/stage2/templates/ctre/WPILib-License.md b/examples/stage2/templates/ctre/WPILib-License.md new file mode 100644 index 00000000..c2891d4d --- /dev/null +++ b/examples/stage2/templates/ctre/WPILib-License.md @@ -0,0 +1,26 @@ +Copyright (c) 2009-2026 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +- Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. +- Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. +IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/examples/stage2/templates/ctre/build.gradle b/examples/stage2/templates/ctre/build.gradle new file mode 100644 index 00000000..55508d09 --- /dev/null +++ b/examples/stage2/templates/ctre/build.gradle @@ -0,0 +1,111 @@ +plugins { + id "java" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6" + id "com.gradleup.shadow" version "9.3.0" +} + +java { + sourceCompatibility = JavaVersion.VERSION_25 + targetCompatibility = JavaVersion.VERSION_25 +} + +def ROBOT_MAIN_CLASS = "first.Main" + +// Define my targets (SystemCore) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + 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.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 + + wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) { + } + + // Static files artifact + wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava + +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) + + 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) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat/shaded jar') +// in order to make them all available at runtime and merging service files to make JSON work. +// Also adding the manifest so WPILib knows where to look for our Robot Class. +shadowJar { + mergeServiceFiles() + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = shadowJar +wpi.java.configureExecutableTasks(shadowJar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/examples/stage2/templates/ctre/gradle/wrapper/gradle-wrapper.jar b/examples/stage2/templates/ctre/gradle/wrapper/gradle-wrapper.jar new file mode 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If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/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/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -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 + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, 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=$APP_BASE_NAME" \ + -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/examples/stage2/templates/ctre/gradlew.bat b/examples/stage2/templates/ctre/gradlew.bat new file mode 100644 index 00000000..c4bdd3ab --- /dev/null +++ b/examples/stage2/templates/ctre/gradlew.bat @@ -0,0 +1,93 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + + + +@rem Execute Gradle +"%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 +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/examples/stage2/templates/ctre/settings.gradle b/examples/stage2/templates/ctre/settings.gradle new file mode 100644 index 00000000..e2626a81 --- /dev/null +++ b/examples/stage2/templates/ctre/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + String wpilibYear = '2027_alpha5' + File wpilibHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } + def wpilibHomeMaven = new File(wpilibHome, 'maven') + maven { + name = 'wpilibHome' + url = wpilibHomeMaven + } + mavenLocal() + gradlePluginPortal() + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/examples/stage2/templates/ctre/simgui-ds.json b/examples/stage2/templates/ctre/simgui-ds.json new file mode 100644 index 00000000..9da8aa99 --- /dev/null +++ b/examples/stage2/templates/ctre/simgui-ds.json @@ -0,0 +1,62 @@ +{ + "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 + }], + "robotJoysticks": [{ + "guid": "78696e70757401000000000000000000", + "useGamepad": true + }] + } diff --git a/examples/stage2/templates/ctre/src/main/deploy/example.txt b/examples/stage2/templates/ctre/src/main/deploy/example.txt new file mode 100644 index 00000000..c9bc6a2f --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the Systemcore into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/examples/stage2/templates/ctre/src/main/java/first/Main.java b/examples/stage2/templates/ctre/src/main/java/first/Main.java new file mode 100644 index 00000000..7d287e7a --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/Main.java @@ -0,0 +1,25 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package first; + +import org.wpilib.framework.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(first.robot.Robot.class); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/FieldConstants.java b/examples/stage2/templates/ctre/src/main/java/first/robot/FieldConstants.java new file mode 100644 index 00000000..40e1d187 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/FieldConstants.java @@ -0,0 +1,46 @@ +package first.robot; + +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.vision.apriltag.AprilTagFieldLayout; +import org.wpilib.vision.apriltag.AprilTagFields; + +public class FieldConstants { + + public static final double fieldWidth = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded).getFieldWidth(); + public static final double fieldLength = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded).getFieldLength(); + + public static final Translation2d BLUE_REEF_CENTER = new Translation2d(4.263, 0); + public static final Translation2d RED_REEF_CENTER = mirrorX(BLUE_REEF_CENTER); + + + + + + + + public static Translation2d mirrorX(Translation2d translation) { + return new Translation2d(-translation.getX(), translation.getY()); + } + + public static Pose2d mirrorX(Pose2d pose) { + return new Pose2d(mirrorX(pose.getTranslation()), Rotation2d.kCCW_Pi_2.minus(pose.getRotation())); + } + + public static Translation2d mirrorY(Translation2d translation) { + return new Translation2d(translation.getX(), -translation.getY()); + } + + public static Pose2d mirrorY(Pose2d pose) { + return new Pose2d(mirrorY(pose.getTranslation()), pose.getRotation().unaryMinus()); + } + + public static Translation2d rotateAboutCenter(Translation2d translation) { + return mirrorX(mirrorY(translation)); + } + + public static Pose2d rotateAboutCenter(Pose2d pose) { + return mirrorX(mirrorY(pose)); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/Poses.java b/examples/stage2/templates/ctre/src/main/java/first/robot/Poses.java new file mode 100644 index 00000000..4bc98f9d --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/Poses.java @@ -0,0 +1,47 @@ +package first.robot; + +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Transform2d; +import org.wpilib.math.geometry.Translation2d; + +import java.util.List; + +public class Poses { + + public static final Pose2d BLUE_REEF_A = new Pose2d(FieldConstants.BLUE_REEF_CENTER.plus(new Translation2d(1.4, -0.164309)), Rotation2d.kZero); + public static final Pose2d BLUE_REEF_B = FieldConstants.mirrorY(BLUE_REEF_A); + public static final Pose2d BLUE_REEF_C = BLUE_REEF_A.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(60)); + public static final Pose2d BLUE_REEF_D = BLUE_REEF_B.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(60)); + public static final Pose2d BLUE_REEF_E = BLUE_REEF_A.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(120)); + public static final Pose2d BLUE_REEF_F = BLUE_REEF_B.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(120)); + public static final Pose2d BLUE_REEF_G = BLUE_REEF_A.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(180)); + public static final Pose2d BLUE_REEF_H = BLUE_REEF_B.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(180)); + public static final Pose2d BLUE_REEF_I = BLUE_REEF_A.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(240)); + public static final Pose2d BLUE_REEF_J = BLUE_REEF_B.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(240)); + public static final Pose2d BLUE_REEF_K = BLUE_REEF_A.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(300)); + public static final Pose2d BLUE_REEF_L = BLUE_REEF_B.rotateAround(FieldConstants.BLUE_REEF_CENTER, Rotation2d.fromDegrees(300)); + + public static final List BLUE_REEF_POSES = List.of(BLUE_REEF_A, BLUE_REEF_B, BLUE_REEF_C, BLUE_REEF_D, BLUE_REEF_E, BLUE_REEF_F, BLUE_REEF_G, BLUE_REEF_H, BLUE_REEF_I, BLUE_REEF_J, BLUE_REEF_K, BLUE_REEF_L); + public static final List BLUE_REEF_LEFT_POSES = List.of(BLUE_REEF_A, BLUE_REEF_C, BLUE_REEF_E, BLUE_REEF_G, BLUE_REEF_I, BLUE_REEF_K); + public static final List BLUE_REEF_RIGHT_POSES = List.of(BLUE_REEF_B, BLUE_REEF_D, BLUE_REEF_F, BLUE_REEF_H, BLUE_REEF_J, BLUE_REEF_L); + + public static final Pose2d RED_REEF_A = FieldConstants.rotateAboutCenter(BLUE_REEF_A); + public static final Pose2d RED_REEF_B = FieldConstants.rotateAboutCenter(BLUE_REEF_B); + public static final Pose2d RED_REEF_C = FieldConstants.rotateAboutCenter(BLUE_REEF_C); + public static final Pose2d RED_REEF_D = FieldConstants.rotateAboutCenter(BLUE_REEF_D); + public static final Pose2d RED_REEF_E = FieldConstants.rotateAboutCenter(BLUE_REEF_E); + public static final Pose2d RED_REEF_F = FieldConstants.rotateAboutCenter(BLUE_REEF_F); + public static final Pose2d RED_REEF_G = FieldConstants.rotateAboutCenter(BLUE_REEF_G); + public static final Pose2d RED_REEF_H = FieldConstants.rotateAboutCenter(BLUE_REEF_H); + public static final Pose2d RED_REEF_I = FieldConstants.rotateAboutCenter(BLUE_REEF_I); + public static final Pose2d RED_REEF_J = FieldConstants.rotateAboutCenter(BLUE_REEF_J); + public static final Pose2d RED_REEF_K = FieldConstants.rotateAboutCenter(BLUE_REEF_K); + public static final Pose2d RED_REEF_L = FieldConstants.rotateAboutCenter(BLUE_REEF_L); + + public static final List RED_REEF_POSES = List.of(RED_REEF_A, RED_REEF_B, RED_REEF_C, RED_REEF_D, RED_REEF_E, RED_REEF_F, RED_REEF_G, RED_REEF_H, RED_REEF_I, RED_REEF_J, RED_REEF_K, RED_REEF_L); + public static final List RED_REEF_LEFT_POSES = List.of(RED_REEF_A, RED_REEF_C, RED_REEF_E, RED_REEF_G, RED_REEF_I, RED_REEF_K); + public static final List RED_REEF_RIGHT_POSES = List.of(RED_REEF_B, RED_REEF_D, RED_REEF_F, RED_REEF_H, RED_REEF_J, RED_REEF_L); + + public static final Transform2d REEF_PREALIGN_TRANSFORM = new Transform2d(0.3, 0, Rotation2d.kZero); +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/Robot.java b/examples/stage2/templates/ctre/src/main/java/first/robot/Robot.java new file mode 100644 index 00000000..6552e961 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/Robot.java @@ -0,0 +1,35 @@ +// 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 first.robot; + +import dev.doglog.DogLog; +import dev.doglog.DogLogOptions; +import first.robot.mechanisms.*; +import org.wpilib.command3.Scheduler; +import org.wpilib.framework.OpModeRobot; + +public class Robot extends OpModeRobot { + + public final Drive drive; + public final Elevator elevator; + public final Arm arm; + public final Superstructure superstructure; + public final Claw claw; + + public Robot() { + DogLog.setOptions(new DogLogOptions().withCaptureDs(true)); + + drive = new Drive(); + elevator = new Elevator(); + arm = new Arm(); + superstructure = new Superstructure(elevator, arm); + claw = new Claw(); + } + + @Override + public void robotPeriodic() { + Scheduler.getDefault().run(); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java new file mode 100644 index 00000000..23ad994c --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java @@ -0,0 +1,160 @@ +package first.robot.mechanisms; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MotorAlignmentValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import dev.doglog.DogLog; +import first.robot.simulation.ArmSim; +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; +import org.wpilib.command3.Scheduler; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.units.measure.Angle; +import org.wpilib.units.measure.AngularVelocity; +import org.wpilib.units.measure.Current; +import org.wpilib.units.measure.Voltage; + +public class Arm extends Mechanism { + + private static class Constants { + static final int MOTOR_ID = 22; + static final CANBus BUS = CANBus.systemcore(1); + + static final InvertedValue MOTOR_INVERSION = InvertedValue.Clockwise_Positive; + + static final double GEAR_RATIO = (56.0 / 16.0) * (84.0 / 10.0); // Two stage, 56:16, 84:10 reductions + + static final double kS = 0; + static final double kG = 0.777; + static final double kV = 3.464; + static final double kA = 0.192; + static final double kP = 60; + static final double kI = 0; + static final double kD = 7; + + static final double POSITION_TOLERANCE = 3.0/360.0; + } + + private TalonFX motor; + private ArmSim sim; + + private VoltageOut voltageRequest; + private PositionVoltage positionRequest; + + private StatusSignal appliedVoltageSignal; + private StatusSignal positionSignal; + private StatusSignal velocitySignal; + private StatusSignal statorCurrentSignal; + private StatusSignal supplyCurrentSignal; + + private BaseStatusSignal[] signals; + + private double setpoint = 0; + + public Arm() { + // Construct and configure motors + motor = new TalonFX(Constants.MOTOR_ID, Constants.BUS); + + TalonFXConfiguration leaderConfiguration = new TalonFXConfiguration(); + leaderConfiguration.MotorOutput.withNeutralMode(NeutralModeValue.Brake) + .withInverted(Constants.MOTOR_INVERSION); + leaderConfiguration.Feedback.withSensorToMechanismRatio(Constants.GEAR_RATIO); + leaderConfiguration.Slot0.withKS(Constants.kS) + .withKG(Constants.kG) + .withKV(Constants.kV) + .withKA(Constants.kA) + .withKP(Constants.kP) + .withKI(Constants.kI) + .withKD(Constants.kD) + .withGravityType(GravityTypeValue.Arm_Cosine); + + CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs(); + currentLimitsConfigs.withStatorCurrentLimit(60) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(60) + .withSupplyCurrentLimitEnable(true); + + leaderConfiguration.withCurrentLimits(currentLimitsConfigs); + + motor.getConfigurator().apply(leaderConfiguration); + + // Set up periodic method to run every code loop + Scheduler.getDefault().addPeriodic(this::periodic); + + // Set up simulation + sim = new ArmSim(motor); + + // Set up requests + voltageRequest = new VoltageOut(0); + positionRequest = new PositionVoltage(0); + + // Set up status signals + appliedVoltageSignal = motor.getMotorVoltage(); + positionSignal = motor.getPosition(); + velocitySignal = motor.getVelocity(); + statorCurrentSignal = motor.getStatorCurrent(); + supplyCurrentSignal = motor.getSupplyCurrent(); + + signals = new BaseStatusSignal[] {appliedVoltageSignal, positionSignal, velocitySignal, + statorCurrentSignal, supplyCurrentSignal}; + } + + private void periodic() { + // Update simulation + sim.periodic(); + + BaseStatusSignal.refreshAll(signals); + + DogLog.log("Arm/Applied Voltage", getAppliedVoltage()); + DogLog.log("Arm/Position", getPosition()); + DogLog.log("Arm/Velocity", getVelocity()); + DogLog.log("Arm/At Setpoint", isAtSetpoint()); + DogLog.log("Arm/Active Commands", getRunningCommands().toString()); + } + + public Command setVoltage(double voltage) { + return run(coro -> { + motor.setControl(voltageRequest.withOutput(voltage)); + }).named("Set Voltage " + voltage + "V"); + } + + public Command setPosition(double position) { + return run(coro -> { + setpoint = position; + motor.setControl(positionRequest.withPosition(position)); + DogLog.log("Arm/Setpoint", position); + + coro.await(Command.waitUntil(() -> isAtPosition(position)).named("Is at position " + position)); + }).named("Set Position " + position + "rot"); + } + + public double getPosition() { + return positionSignal.getValueAsDouble(); + } + + public double getVelocity() { + return velocitySignal.getValueAsDouble(); + } + + public double getAppliedVoltage() { + return appliedVoltageSignal.getValueAsDouble(); + } + + public boolean isAtPosition(double position) { + return Math.abs(getPosition() - position) < Constants.POSITION_TOLERANCE; + } + + public boolean isAtSetpoint() { + return isAtPosition(setpoint); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java new file mode 100644 index 00000000..192cbf75 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java @@ -0,0 +1,61 @@ +package first.robot.mechanisms; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import dev.doglog.DogLog; +import first.robot.simulation.ClawSim; +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; +import org.wpilib.command3.Scheduler; +import org.wpilib.units.measure.Current; +import org.wpilib.units.measure.Voltage; + +public class Claw extends Mechanism { + private final TalonFX motor; + + private final ClawSim sim; + + private VoltageOut voltageRequest; + + private StatusSignal appliedVoltageSignal; + private StatusSignal statorCurrentSignal; + private StatusSignal supplyCurrentSignal; + + private BaseStatusSignal[] signals; + + public Claw() { + motor = new TalonFX(23, CANBus.systemcore(2)); + + sim = new ClawSim(motor); + + voltageRequest = new VoltageOut(0); + + appliedVoltageSignal = motor.getMotorVoltage(); + statorCurrentSignal = motor.getStatorCurrent(); + supplyCurrentSignal = motor.getSupplyCurrent(); + + signals = new BaseStatusSignal[] {appliedVoltageSignal, statorCurrentSignal, supplyCurrentSignal}; + + Scheduler.getDefault().addPeriodic(this::periodic); + } + + public void periodic() { + sim.periodic(); + + BaseStatusSignal.refreshAll(signals); + + DogLog.log("Claw/Applied Voltage", appliedVoltageSignal.getValueAsDouble()); + DogLog.log("Claw/Stator Current", statorCurrentSignal.getValueAsDouble()); + DogLog.log("Claw/Supply Current", supplyCurrentSignal.getValueAsDouble()); + DogLog.log("Claw/Active Commands", getRunningCommands().toString()); + } + + public Command setVoltage(double voltage) { + return run((coro) -> { + motor.setControl(voltageRequest.withOutput(voltage)); + }).named("Set Voltage: " + voltage + "V"); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java new file mode 100644 index 00000000..cce65275 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java @@ -0,0 +1,357 @@ +package first.robot.mechanisms; + +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.ParentConfiguration; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.StaticFeedforwardSignValue; +import com.ctre.phoenix6.swerve.*; +import dev.doglog.DogLog; +import org.wpilib.command3.*; +import org.wpilib.command3.button.CommandNiDsXboxController; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.controller.ProfiledPIDController; +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.kinematics.SwerveModulePosition; +import org.wpilib.math.trajectory.TrapezoidProfile; +import org.wpilib.math.util.MathUtil; +import org.wpilib.math.util.Units; + +import java.util.Set; +import java.util.function.Supplier; + +import static org.wpilib.units.Units.*; + +public class Drive extends Mechanism { + + private final SwerveDrivetrain swerve; + + private final SwerveDrivetrainConstants constants; + private final SwerveModuleConstantsFactory moduleConstantsFactory; + + private final double DRIVE_WIDTH = Units.inchesToMeters(22.729228); + private final double DRIVE_LENGTH = Units.inchesToMeters(22.729228); + + private static final double MAX_VELOCITY = Units.feetToMeters(14.9); + private static final double MAX_ACCELERATION = Units.feetToMeters(8); + + public Drive() { + constants = new SwerveDrivetrainConstants().withCANBusName("can_s0").withPigeon2Id(4); + + moduleConstantsFactory = new SwerveModuleConstantsFactory<>() + .withDriveMotorGearRatio(7.03) + .withSteerMotorGearRatio(26.09090909090909) + .withCouplingGearRatio(3.857142857142857) + .withWheelRadius(Units.inchesToMeters(2)) +// .withSteerMotorGains(new Slot0Configs() +// .withKP(0.05).withKD(0) +// .withKS(0.2).withKV(0.72972) +// .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign)) + .withSteerMotorGains(new Slot0Configs() + .withKP(100).withKI(0).withKD(0.5) + .withKS(0.1).withKV(2.49).withKA(0) + .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign)) + .withDriveMotorGains(new Slot0Configs() + .withKP(8).withKD(0) + .withKS(0.2)) +// .withDriveMotorGains(new Slot0Configs() +// .withKP(0.3).withKI(0).withKD(0) +// .withKS(0.2).withKV(0.13)) + .withSteerMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType.Voltage) + .withDriveMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType.Voltage) + .withSlipCurrent(Amps.of(45)) + .withSpeedAt12Volts(MAX_VELOCITY) + .withDriveMotorType(SwerveModuleConstants.DriveMotorArrangement.TalonFX_Integrated) + .withSteerMotorType(SwerveModuleConstants.SteerMotorArrangement.TalonFX_Integrated) + .withFeedbackSource(SwerveModuleConstants.SteerFeedbackType.RemoteCANcoder) + .withDriveMotorInitialConfigs(new TalonFXConfiguration()) + .withSteerMotorInitialConfigs(new TalonFXConfiguration()) + .withEncoderInitialConfigs(new CANcoderConfiguration()) + .withSteerInertia(KilogramSquareMeters.of(0.01)) + .withDriveInertia(KilogramSquareMeters.of(0.03)) + .withSteerFrictionVoltage(Volts.of(0.1)) + .withDriveFrictionVoltage(Volts.of(0.2)); + + var moduleConstants = new SwerveModuleConstants[] { + moduleConstantsFactory.createModuleConstants(10, 11, 10, 0, DRIVE_LENGTH/2, DRIVE_WIDTH/2, false, false, false), + moduleConstantsFactory.createModuleConstants(12, 13, 12, 0, DRIVE_LENGTH/2, -DRIVE_WIDTH/2, false, false, false), + moduleConstantsFactory.createModuleConstants(14, 15, 14, 0, -DRIVE_LENGTH/2, DRIVE_WIDTH/2, false, false, false), + moduleConstantsFactory.createModuleConstants(16, 17, 16, 0, -DRIVE_LENGTH/2, -DRIVE_WIDTH/2, false, false, false) + }; + + swerve = new SwerveDrivetrain<>(TalonFX::new, TalonFX::new, CANcoder::new, constants, moduleConstants); + + Scheduler.getDefault().addPeriodic(this::periodic); + } + + public void periodic() { + // Update sim 5x per loop for greater PID realism + swerve.updateSimState(1.0/50.0/5.0, 12); + swerve.updateSimState(1.0/50.0/5.0, 12); + swerve.updateSimState(1.0/50.0/5.0, 12); + swerve.updateSimState(1.0/50.0/5.0, 12); + swerve.updateSimState(1.0/50.0/5.0, 12); + + DogLog.log("Drive/Pose", getPose()); + + var modules = swerve.getModules(); + SwerveModulePosition[] modulePositions = new SwerveModulePosition[4]; + for (int i = 0; i < modules.length; i++) { + modulePositions[i] = modules[i].getPosition(true); + DogLog.log("Drive/ModuleVel/"+i, modules[i].getDriveMotor().getVelocity().getValueAsDouble()); + } + + DogLog.log("Drive/ModulesReal", swerve.getState().ModuleVelocities); + DogLog.log("Drive/ModulesTargets", swerve.getState().ModuleTargets); + DogLog.log("Drive/Velocity", swerve.getState().Velocity); + DogLog.log("Drive/Active Commands", getRunningCommands().toString()); + } + + public Pose2d getPose() { + return swerve.getState().Pose; + } + + public Rotation2d getHeading() { + return getPose().getRotation(); + } + + + /** + * @return Field-relative robot velocity + */ + public ChassisVelocities getVelocity() { + return swerve.getState().Velocity.toFieldRelative(getHeading()); + } + + public Command getDriveCommand(CommandNiDsXboxController controller) { + return runRepeatedly(() -> { + double x = -MathUtil.applyDeadband(controller.getLeftY(), 0.1) * MAX_VELOCITY; + double y = -MathUtil.applyDeadband(controller.getLeftX(), 0.1) * MAX_VELOCITY; + double rotation = -MathUtil.applyDeadband(controller.getRightX(), 0.10) * 10; + + var request = new SwerveRequest.FieldCentric(); + request.withForwardPerspective(SwerveRequest.ForwardPerspectiveValue.OperatorPerspective); + request.withVelocityX(x); + request.withVelocityY(y); + request.withRotationalRate(rotation) + .withDeadband(0.1*4.54); + + swerve.setControl(request); + + DogLog.log("Drive/DesiredVelocity", new ChassisVelocities(x, y, rotation).toRobotRelative(getHeading())); + }).named("Teleop Drive"); + } + + public static class AutoAlignCommand implements Command { + + private final Drive drive; + + private final SwerveRequest.ApplyFieldVelocity swerveRequest = new SwerveRequest.ApplyFieldVelocity();; + + private Pose2d targetPose = new Pose2d(); + private Supplier poseSupplier = () -> {return new Pose2d();}; + private boolean usePoseSupplier = false; + + private double accelerationLimit = MAX_ACCELERATION; + private double velocityLimit = MAX_VELOCITY; + private double positionTolerance = Units.inchesToMeters(2); + private double angleTolerance = Units.degreesToRadians(3); + private boolean runContinuously = false; + private boolean ignoreRotation = false; + private double targetVelocity = 0; + + private double angularVelocityLimit = 5; + private double angularAccelerationLimit = 45; + + private ProfiledPIDController headingController; + + public AutoAlignCommand(Drive drive, Pose2d target) { + this.drive = drive; + this.targetPose = target; + this.usePoseSupplier = false; + + headingController = new ProfiledPIDController(6, 0, 0.2, new TrapezoidProfile.Constraints(angularVelocityLimit, angularAccelerationLimit)); + headingController.enableContinuousInput(-Math.PI, Math.PI); + } + + public AutoAlignCommand(Drive drive, Supplier poseSupplier) { + this.drive = drive; + this.poseSupplier = poseSupplier; + this.usePoseSupplier = true; + + headingController = new ProfiledPIDController(6, 0, 0.2, new TrapezoidProfile.Constraints(angularVelocityLimit, angularAccelerationLimit)); + headingController.enableContinuousInput(-Math.PI, Math.PI); + } + + @Override + public void run(Coroutine coroutine) { + if (usePoseSupplier) { + targetPose = poseSupplier.get(); + } + + headingController.reset(drive.getHeading().getRadians(), drive.getVelocity().omega); + + while (runContinuously || !atPosition()) { + var currentPose = drive.getPose(); + + if (usePoseSupplier) { + targetPose = poseSupplier.get(); + } + + DogLog.log("Drive/AutoAlign/At Target", atPosition()); + DogLog.log("Drive/AutoAlign/Position in Tolerance", targetPose.getTranslation().getDistance(drive.getPose().getTranslation()) <= positionTolerance); + DogLog.log("Drive/AutoAlign/Angle in Tolerance", (ignoreRotation || Math.abs(targetPose.getRotation().minus(drive.getPose().getRotation()).getRadians()) <= angleTolerance)); + + DogLog.log("Drive/AutoAlign/Target Pose", targetPose); + + Translation2d vectorToTarget = targetPose.getTranslation().minus(currentPose.getTranslation()); + double distanceToEnd = vectorToTarget.getNorm(); + + DogLog.log("Drive/AutoAlign/Distance", distanceToEnd); + +// ChassisVelocities currentVelocity = drive.getVelocity(); +// Translation2d currentVelocityAsTranslation = new Translation2d(currentVelocity.vx, currentVelocity.vy); +// +// double velocityTowardsTarget = vectorToTarget.div(distanceToEnd).dot(currentVelocityAsTranslation); +// +// double maxDistanceForCurrentSpeed = (Math.pow(targetVelocity,2) - Math.pow(velocityTowardsTarget,2)) / (2 * -accelerationLimit); + + double velocityForDistance = Math.pow(targetVelocity,2) - 2*-accelerationLimit*distanceToEnd; + + DogLog.log("Drive/AutoAlign/Velocity for Distance", velocityForDistance); + + double velocityToTarget = Math.min(velocityForDistance * 0.85, velocityLimit); + + DogLog.log("Drive/AutoAlign/Targeted Velocity", velocityToTarget); + + Translation2d velocities = vectorToTarget.div(distanceToEnd).times(velocityToTarget); + + + + double omega = 0; + + if(!ignoreRotation) { + omega = headingController.calculate(currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); + } + + ChassisVelocities chassisVelocities = new ChassisVelocities(velocities.getX(), velocities.getY(), omega); + + DogLog.log("Drive/DesiredVelocity", chassisVelocities); + + swerveRequest.withVelocity(chassisVelocities); + drive.swerve.setControl(swerveRequest); + + coroutine.yield(); + } + + // If command ends naturally, have the robot stop + swerveRequest.withVelocity(new ChassisVelocities()); + drive.swerve.setControl(swerveRequest); + } + + @Override + public String name() { + return "AutoAlign"; + } + + @Override + public Set requirements() { + return Set.of(drive); + } + + /** + * Sets a static target pose for the command + * @param pose The pose to target + * @return this command + */ + public AutoAlignCommand withTargetPose(Pose2d pose) { + this.targetPose = pose; + this.usePoseSupplier = false; + return this; + } + + /** + * Sets a pose supplier for the command to use, which will be evaluated continuously + * @param supplier The supplier to use for the pose target + * @return this command + */ + public AutoAlignCommand withTargetPoseSupplier(Supplier supplier) { + this.poseSupplier = supplier; + this.usePoseSupplier = true; + return this; + } + + /** + * Sets the maximum allowed acceleration for the robot to use + * @param accelerationLimit The maximum allowed acceleration + * @return this command + */ + public AutoAlignCommand withAccelerationLimit(double accelerationLimit) { + this.accelerationLimit = accelerationLimit; + return this; + } + + /** + * Sets the maximum allowed velocity for the robot to use + * @param velocityLimit The maximum allowed velocity + * @return this command + */ + public AutoAlignCommand withVelocityLimit(double velocityLimit) { + this.velocityLimit = velocityLimit; + return this; + } + + /** + * Sets the tolerance for the final position of the robot. Used to determine whether + * @param tolerance + * @return + */ + public AutoAlignCommand withPositionTolerance(double tolerance) { + this.positionTolerance = tolerance; + return this; + } + + public AutoAlignCommand withAngleTolerance(double tolerance) { + this.angleTolerance = tolerance; + return this; + } + + public AutoAlignCommand withRunningContinuously(boolean runContinuously) { + this.runContinuously = runContinuously; + return this; + } + + public AutoAlignCommand withIgnoringRotation(boolean ignoringRotation) { + this.ignoreRotation = ignoringRotation; + return this; + } + + public AutoAlignCommand withTargetVelocity(double targetVelocity) { + this.targetVelocity = targetVelocity; + return this; + } + + public AutoAlignCommand withAngularAccelerationLimit(double angularAccelerationLimit) { + this.angularAccelerationLimit = angularAccelerationLimit; + return this; + } + + public AutoAlignCommand withAngularVelocityLimit(double angularVelocityLimit) { + this.angularVelocityLimit = angularVelocityLimit; + return this; + } + + public boolean atPosition() { + return targetPose.getTranslation().getDistance(drive.getPose().getTranslation()) <= positionTolerance && (ignoreRotation || Math.abs(targetPose.getRotation().minus(drive.getPose().getRotation()).getRadians()) <= angleTolerance); + } + + public Command waitUntilAtPosition() { + return Command.waitUntil(this::atPosition).named("Wait Until At Position"); + } + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java new file mode 100644 index 00000000..e5f80cea --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java @@ -0,0 +1,172 @@ +package first.robot.mechanisms; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MotorAlignmentValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import dev.doglog.DogLog; +import first.robot.simulation.ElevatorSim; +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; +import org.wpilib.command3.Scheduler; +import org.wpilib.math.util.Units; +import org.wpilib.units.measure.*; + +public class Elevator extends Mechanism { + + private static class Constants { + static final int LEADER_ID = 20; + static final int FOLLOWER_ID = 21; + static final CANBus BUS = CANBus.systemcore(1); + + static final InvertedValue LEADER_INVERSION = InvertedValue.Clockwise_Positive; + static final MotorAlignmentValue FOLLOWER_ALIGNMENT = MotorAlignmentValue.Opposed; + + static final double GEAR_RATIO = (44.0 / 14.0) * (42.0 / 22.0); // Two stage, 14:44, 22:44 reductions + static final double PULLEY_CIRCUMFERENCE = 24 * 0.005; // Convert 24t pulley to circumference, in m + + static final double kS = 0; + static final double kG = 0.26; + static final double kV = 5.94; + static final double kA = 0.03; + static final double kP = 18.3; + static final double kI = 0; + static final double kD = 0.7;; + + static final double POSITION_TOLERANCE = Units.inchesToMeters(0.5); + } + + private final TalonFX leader; + private final TalonFX follower; + + private final ElevatorSim sim; + + private final VoltageOut voltageRequest; + private final PositionVoltage positionRequest; + + private final StatusSignal appliedVoltageSignal; + private final StatusSignal positionSignal; + private final StatusSignal velocitySignal; + private final StatusSignal leaderStatorCurrentSignal; + private final StatusSignal followerStatorCurrentSignal; + private final StatusSignal leaderSupplyCurrentSignal; + private final StatusSignal followerSupplyCurrentSignal; + + private final BaseStatusSignal[] signals; + + private double setpoint = 0; + + public Elevator() { + // Construct and configure motors + leader = new TalonFX(Constants.LEADER_ID, Constants.BUS); + follower = new TalonFX(Constants.FOLLOWER_ID, Constants.BUS); + + TalonFXConfiguration leaderConfiguration = new TalonFXConfiguration(); + leaderConfiguration.MotorOutput.withNeutralMode(NeutralModeValue.Brake) + .withInverted(Constants.LEADER_INVERSION); + leaderConfiguration.Feedback.withSensorToMechanismRatio(Constants.GEAR_RATIO); + leaderConfiguration.Slot0.withKS(Constants.kS) + .withKG(Constants.kG) + .withKV(Constants.kV) + .withKA(Constants.kA) + .withKP(Constants.kP) + .withKI(Constants.kI) + .withKD(Constants.kD) + .withGravityType(GravityTypeValue.Elevator_Static); + + CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs(); + currentLimitsConfigs.withStatorCurrentLimit(60) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(60) + .withSupplyCurrentLimitEnable(true); + + leaderConfiguration.withCurrentLimits(currentLimitsConfigs); + + leader.getConfigurator().apply(leaderConfiguration); + + follower.getConfigurator().apply(currentLimitsConfigs); + + follower.setControl(new Follower(leader.getDeviceID(), Constants.FOLLOWER_ALIGNMENT)); + + // Set up periodic method to run every code loop + Scheduler.getDefault().addPeriodic(this::periodic); + + // Set up simulation + sim = new ElevatorSim(leader, follower); + + // Set up requests + voltageRequest = new VoltageOut(0); + positionRequest = new PositionVoltage(0); + + // Set up status signals + appliedVoltageSignal = leader.getMotorVoltage(); + positionSignal = leader.getPosition(); + velocitySignal = leader.getVelocity(); + leaderStatorCurrentSignal = leader.getStatorCurrent(); + followerStatorCurrentSignal = follower.getStatorCurrent(); + leaderSupplyCurrentSignal = leader.getSupplyCurrent(); + followerSupplyCurrentSignal = follower.getSupplyCurrent(); + + signals = new BaseStatusSignal[] {appliedVoltageSignal, positionSignal, velocitySignal, + leaderStatorCurrentSignal, followerStatorCurrentSignal, leaderSupplyCurrentSignal, + followerSupplyCurrentSignal}; + } + + private void periodic() { + // Update simulation + sim.periodic(); + + BaseStatusSignal.refreshAll(signals); + + DogLog.log("Elevator/Applied Voltage", getAppliedVoltage()); + DogLog.log("Elevator/Position", getPosition()); + DogLog.log("Elevator/Velocity", getVelocity()); + DogLog.log("Elevator/At Setpoint", isAtSetpoint()); + DogLog.log("Elevator/Active Commands", getRunningCommands().toString()); + } + + public Command setVoltage(double voltage) { + return run(coro -> { + leader.setControl(voltageRequest.withOutput(voltage)); + }).named("Set Voltage " + voltage + "V"); + } + + public Command setPosition(double position) { + return run(coro -> { + setpoint = position; + leader.setControl(positionRequest.withPosition(position / Constants.PULLEY_CIRCUMFERENCE)); + DogLog.log("Elevator/Setpoint", position); + + coro.await(Command.waitUntil(() -> isAtPosition(position)).named("Is At Position " + position)); + }).named("Set Position " + position + "m"); + } + + public double getPosition() { + return positionSignal.getValueAsDouble() * Constants.PULLEY_CIRCUMFERENCE; + } + + public double getVelocity() { + return velocitySignal.getValueAsDouble() * Constants.PULLEY_CIRCUMFERENCE; + } + + public double getAppliedVoltage() { + return appliedVoltageSignal.getValueAsDouble(); + } + + public boolean isAtPosition(double position) { + return Math.abs(getPosition() - position) < Constants.POSITION_TOLERANCE; + } + + public boolean isAtSetpoint() { + return isAtPosition(setpoint); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Superstructure.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Superstructure.java new file mode 100644 index 00000000..8e123b55 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Superstructure.java @@ -0,0 +1,22 @@ +package first.robot.mechanisms; + +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; + +public class Superstructure extends Mechanism { + + private final Elevator elevator; + private final Arm arm; + + public Superstructure(Elevator elevator, Arm arm) { + this.elevator = elevator; + this.arm = arm; + } + + public Command setPosition(double elevatorPosition, double armPosition) { + return run((coro) -> { + coro.awaitAll(elevator.setPosition(elevatorPosition), + arm.setPosition(armPosition)); + }).named("Set Position"); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ArmTest.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ArmTest.java new file mode 100644 index 00000000..ddcd1603 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ArmTest.java @@ -0,0 +1,27 @@ +// 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 first.robot.opmode; + +import first.robot.Robot; +import org.wpilib.command3.button.CommandGamepad; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; +import org.wpilib.opmode.Utility; + +@Utility +public class ArmTest extends PeriodicOpMode { + private final Robot robot; + + private final CommandGamepad controller; + + public ArmTest(Robot robot) { + this.robot = robot; + + controller = new CommandGamepad(0); + + controller.button(0).onTrue(robot.arm.setPosition(1)); + controller.button(1).onTrue(robot.arm.setPosition(0)); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java new file mode 100644 index 00000000..aa2cb245 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java @@ -0,0 +1,47 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package first.robot.opmode; + +import first.robot.Poses; +import first.robot.Robot; +import first.robot.mechanisms.Drive; +import first.robot.mechanisms.Drive.AutoAlignCommand; +import org.wpilib.command3.Command; +import org.wpilib.command3.button.CommandGamepad; +import org.wpilib.command3.button.CommandNiDsXboxController; +import org.wpilib.math.util.Units; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; +import org.wpilib.opmode.Utility; +import static org.wpilib.units.Units.*; +import org.wpilib.units.measure.Time; + +@Teleop +public class BasicScoringTeleop extends PeriodicOpMode { + private final Robot robot; + + private final CommandNiDsXboxController controller; + + public BasicScoringTeleop(Robot robot) { + this.robot = robot; + + controller = new CommandNiDsXboxController(0); + + robot.drive.setDefaultCommand(robot.drive.getDriveCommand(controller)); + + controller.button(0).whileTrue(Command.noRequirements((coro) -> { + coro.awaitAll(robot.superstructure.setPosition(1, 1), + new AutoAlignCommand(robot.drive, Poses.BLUE_REEF_A.transformBy(Poses.REEF_PREALIGN_TRANSFORM)).withPositionTolerance(Units.inchesToMeters(6))); + + AutoAlignCommand finalAlign = new AutoAlignCommand(robot.drive, Poses.BLUE_REEF_A).withRunningContinuously(true); + coro.fork(finalAlign); + coro.await(finalAlign.waitUntilAtPosition()); + + coro.fork(robot.superstructure.setPosition(0.5, 0.5)); + coro.wait(Seconds.of(0.25)); + coro.await(robot.claw.setVoltage(-6)); + }).named("AutoAlign and Score")); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/DriveTest.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/DriveTest.java new file mode 100644 index 00000000..47d8cc80 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/DriveTest.java @@ -0,0 +1,27 @@ +// 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 first.robot.opmode; + +import first.robot.Robot; +import org.wpilib.command3.button.CommandGamepad; +import org.wpilib.command3.button.CommandNiDsXboxController; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; +import org.wpilib.opmode.Utility; + +@Utility +public class DriveTest extends PeriodicOpMode { + private final Robot robot; + + private final CommandNiDsXboxController controller; + + public DriveTest(Robot robot) { + this.robot = robot; + + controller = new CommandNiDsXboxController(0); + + robot.drive.setDefaultCommand(robot.drive.getDriveCommand(controller)); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ElevatorTest.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ElevatorTest.java new file mode 100644 index 00000000..b91ec5c3 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/ElevatorTest.java @@ -0,0 +1,27 @@ +// 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 first.robot.opmode; + +import org.wpilib.command3.button.CommandGamepad; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; +import first.robot.Robot; +import org.wpilib.opmode.Utility; + +@Utility +public class ElevatorTest extends PeriodicOpMode { + private final Robot robot; + + private final CommandGamepad controller; + + public ElevatorTest(Robot robot) { + this.robot = robot; + + controller = new CommandGamepad(0); + + controller.button(0).onTrue(robot.elevator.setPosition(1)); + controller.button(1).onTrue(robot.elevator.setPosition(0)); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java new file mode 100644 index 00000000..23793e96 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java @@ -0,0 +1,49 @@ +package first.robot.opmode; + +import first.robot.Poses; +import first.robot.Robot; +import first.robot.mechanisms.Drive; +import org.wpilib.command3.Command; +import org.wpilib.command3.NeedsNameBuilderStage; +import org.wpilib.command3.button.CommandNiDsXboxController; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.util.Units; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; + +import java.util.List; + +import static org.wpilib.units.Units.Seconds; + +@Teleop +public class FullScoringTeleop extends PeriodicOpMode { + private final Robot robot; + + private final CommandNiDsXboxController controller; + + public FullScoringTeleop(Robot robot) { + this.robot = robot; + + controller = new CommandNiDsXboxController(0); + + robot.drive.setDefaultCommand(robot.drive.getDriveCommand(controller)); + + controller.button(4).whileTrue(createScoreCommand(Poses.BLUE_REEF_LEFT_POSES).named("Autoalign and score (left)")); + controller.button(5).whileTrue(createScoreCommand(Poses.BLUE_REEF_RIGHT_POSES).named("Autoalign and score (right)")); + } + + private NeedsNameBuilderStage createScoreCommand(List poses) { + return Command.noRequirements((coro) -> { + coro.awaitAll(robot.superstructure.setPosition(1, 1), + new Drive.AutoAlignCommand(robot.drive, () -> robot.drive.getPose().nearest(poses).transformBy(Poses.REEF_PREALIGN_TRANSFORM)).withPositionTolerance(Units.inchesToMeters(6))); + + Drive.AutoAlignCommand finalAlign = new Drive.AutoAlignCommand(robot.drive, () -> robot.drive.getPose().nearest(poses)).withRunningContinuously(true); + coro.fork(finalAlign); + coro.await(finalAlign.waitUntilAtPosition()); + + coro.fork(robot.superstructure.setPosition(0.5, 0.5)); + coro.wait(Seconds.of(0.25)); + coro.await(robot.claw.setVoltage(-6)); + }); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java new file mode 100644 index 00000000..244cd9f0 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java @@ -0,0 +1,30 @@ +// 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 first.robot.opmode; + +import org.wpilib.opmode.Autonomous; +import org.wpilib.opmode.PeriodicOpMode; +import first.robot.Robot; + +@Autonomous(name = "My Auto", group = "Group 1") +public class MyAuto extends PeriodicOpMode { + private final Robot robot; + + /** The Robot instance is passed into the opmode via the constructor. */ + public MyAuto(Robot robot) { + this.robot = robot; + } + + /* + * This method runs periodically, using the same period as the Robot instance. + * + * Additional periodic methods may be configured with addPeriodic(), + * which can have periods that differ from the main Robot instance. + */ + @Override + public void periodic() { + // Put custom auto code here + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ArmSim.java b/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ArmSim.java new file mode 100644 index 00000000..5e81b260 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ArmSim.java @@ -0,0 +1,44 @@ +package first.robot.simulation; + +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.sim.ChassisReference; +import com.ctre.phoenix6.sim.TalonFXSimState; +import org.wpilib.math.system.DCMotor; +import org.wpilib.math.util.Units; +import org.wpilib.simulation.SingleJointedArmSim; + +public class ArmSim { + + private final TalonFX motor; + + private final TalonFXSimState motorSim; + + private final SingleJointedArmSim sim; + + private final double GEAR_RATIO = (56.0 / 16.0) * (84.0 / 10.0); // Two stage, 56:16, 84:10 reductions + private final double J = SingleJointedArmSim.estimateMOI(Units.inchesToMeters(15.2), 3.6); + private final double ARM_LENGTH = Units.inchesToMeters(15.2); + private final double MIN_ANGLE = 0; + private final double MAX_ANGLE = 1.5 * Math.PI * 2; + + public ArmSim(TalonFX motor) { + this.motor = motor; + + motorSim = motor.getSimState(); + + motorSim.Orientation = ChassisReference.Clockwise_Positive; + + sim = new SingleJointedArmSim(DCMotor.getKrakenX60(1), GEAR_RATIO, J, ARM_LENGTH, MIN_ANGLE, MAX_ANGLE, true, -Math.PI/2); + } + + public void periodic() { + sim.setInputVoltage(motorSim.getMotorVoltage()); + sim.update(0.02); + + double motorPosition = sim.getAngle() / (Math.PI * 2) * GEAR_RATIO; + motorSim.setRawRotorPosition(motorPosition); + + double motorVelocity = sim.getVelocity() / (Math.PI * 2) * GEAR_RATIO; + motorSim.setRotorVelocity(motorVelocity); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ClawSim.java b/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ClawSim.java new file mode 100644 index 00000000..09844073 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ClawSim.java @@ -0,0 +1,40 @@ +package first.robot.simulation; + +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.sim.ChassisReference; +import com.ctre.phoenix6.sim.TalonFXSimState; +import org.wpilib.math.system.DCMotor; +import org.wpilib.math.system.Models; +import org.wpilib.math.util.Units; +import org.wpilib.simulation.DCMotorSim; +import org.wpilib.simulation.FlywheelSim; +import org.wpilib.simulation.SingleJointedArmSim; + +public class ClawSim { + + private final TalonFX motor; + + private final TalonFXSimState motorSim; + + private final FlywheelSim sim; + + private final double GEAR_RATIO = (18.0 / 12.0) * (54.0 / 18.0) * (22.0 / 18.0) * (22.0 / 18.0); + private final double J = 0.00001; + + public ClawSim(TalonFX motor) { + this.motor = motor; + + motorSim = motor.getSimState(); + + motorSim.Orientation = ChassisReference.Clockwise_Positive; + + sim = new FlywheelSim(Models.flywheelFromPhysicalConstants(DCMotor.getKrakenX44(1), J, GEAR_RATIO), DCMotor.getKrakenX44(1)); + } + + public void periodic() { + sim.setInputVoltage(motorSim.getMotorVoltage()); + sim.update(0.02); + + motorSim.setRotorVelocity(Units.radiansToRotations(sim.getAngularVelocity())); + } +} diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ElevatorSim.java b/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ElevatorSim.java new file mode 100644 index 00000000..00e3fc05 --- /dev/null +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/simulation/ElevatorSim.java @@ -0,0 +1,50 @@ +package first.robot.simulation; + +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.sim.ChassisReference; +import com.ctre.phoenix6.sim.TalonFXSimState; +import org.wpilib.math.system.DCMotor; + +public class ElevatorSim { + + private TalonFX leader; + private TalonFX follower; + + private TalonFXSimState leaderSim; + private TalonFXSimState followerSim; + + private org.wpilib.simulation.ElevatorSim sim; + + private final double GEAR_RATIO = (44.0 / 14.0) * (42.0 / 22.0); // Two stage, 14:44, 22:44 reductions + private final double PULLEY_CIRCUMFERENCE = 24 * 0.005; // Convert 24t pulley to circumference, in m + private final double PULLEY_RADIUS = PULLEY_CIRCUMFERENCE / (2 * Math.PI); + private final double CARRIAGE_MASS = 11.24; // kg + private final double MAX_HEIGHT = 1.347; // m + + public ElevatorSim(TalonFX leader, TalonFX follower) { + this.leader = leader; + this.follower = follower; + + leaderSim = leader.getSimState(); + followerSim = follower.getSimState(); + + leaderSim.Orientation = ChassisReference.Clockwise_Positive; + + + sim = new org.wpilib.simulation.ElevatorSim(DCMotor.getKrakenX60(2), GEAR_RATIO, CARRIAGE_MASS, + PULLEY_RADIUS, 0, MAX_HEIGHT, true, 0); + } + + public void periodic() { + sim.setInputVoltage(leaderSim.getMotorVoltage()); + sim.update(0.02); + + double motorPosition = sim.getPosition() / PULLEY_CIRCUMFERENCE * GEAR_RATIO; + leaderSim.setRawRotorPosition(motorPosition); + followerSim.setRawRotorPosition(motorPosition); + + double motorVelocity = sim.getVelocity() / PULLEY_CIRCUMFERENCE * GEAR_RATIO; + leaderSim.setRotorVelocity(motorVelocity); + followerSim.setRotorVelocity(motorVelocity); + } +} diff --git a/examples/stage2/templates/ctre/vendordeps/CommandsV3.json b/examples/stage2/templates/ctre/vendordeps/CommandsV3.json new file mode 100644 index 00000000..f406bde7 --- /dev/null +++ b/examples/stage2/templates/ctre/vendordeps/CommandsV3.json @@ -0,0 +1,25 @@ +{ + "fileName": "CommandsV3.json", + "name": "Commands v3", + "version": "1.0.0", + "uuid": "4decdc05-a056-46cf-9561-39449bbb0130", + "wpilibYear": "2027_alpha5", + "mavenUrls": [], + "jsonUrl": "", + "conflictsWith": [ + { + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.", + "offlineFileName": "CommandsV2.json" + } + ], + "javaDependencies": [ + { + "groupId": "org.wpilib", + "artifactId": "commands3-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/stage2/templates/ctre/vendordeps/DogLog.json b/examples/stage2/templates/ctre/vendordeps/DogLog.json new file mode 100644 index 00000000..2834d26c --- /dev/null +++ b/examples/stage2/templates/ctre/vendordeps/DogLog.json @@ -0,0 +1,18 @@ +{ + "javaDependencies": [ + { + "groupId": "com.github.jonahsnider", + "artifactId": "doglog", + "version": "2027.1.0" + } + ], + "fileName": "DogLog.json", + "wpilibYear": "2027_alpha5", + "jsonUrl": "https://doglog.dev/vendordep.json", + "name": "DogLog", + "jniDependencies": [], + "mavenUrls": ["https://jitpack.io"], + "cppDependencies": [], + "version": "2027.1.0", + "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4" +} diff --git a/examples/stage2/templates/ctre/vendordeps/Phoenix6-26.50.0-alpha-1.json b/examples/stage2/templates/ctre/vendordeps/Phoenix6-26.50.0-alpha-1.json new file mode 100644 index 00000000..589b309c --- /dev/null +++ b/examples/stage2/templates/ctre/vendordeps/Phoenix6-26.50.0-alpha-1.json @@ -0,0 +1,447 @@ +{ + "fileName": "Phoenix6-26.50.0-alpha-1.json", + "name": "CTRE-Phoenix (v6)", + "version": "26.50.0-alpha-1", + "wpilibYear": "2027_alpha5", + "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-frc2027-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "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": "26.50.0-alpha-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.50.0-alpha-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.50.0-alpha-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.50.0-alpha-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.50.0-alpha-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} From 45cbe134ae5093a2a5609d0e6366ddab44c048d5 Mon Sep 17 00:00:00 2001 From: Andrew Haselton Date: Mon, 3 Aug 2026 20:45:46 -0500 Subject: [PATCH 2/2] Tweaks + Javadoc --- .../main/java/first/robot/mechanisms/Arm.java | 29 +++++++++++++++++-- .../java/first/robot/mechanisms/Claw.java | 4 +++ .../java/first/robot/mechanisms/Drive.java | 15 ++++++++-- .../java/first/robot/mechanisms/Elevator.java | 26 ++++++++++++++++- .../robot/opmode/BasicScoringTeleop.java | 7 +++-- .../first/robot/opmode/FullScoringTeleop.java | 6 ++-- 6 files changed, 76 insertions(+), 11 deletions(-) diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java index 23ad994c..6e75a9a7 100644 --- a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Arm.java @@ -19,6 +19,7 @@ import org.wpilib.command3.Mechanism; import org.wpilib.command3.Scheduler; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.util.Units; import org.wpilib.units.measure.Angle; import org.wpilib.units.measure.AngularVelocity; import org.wpilib.units.measure.Current; @@ -42,7 +43,7 @@ private static class Constants { static final double kI = 0; static final double kD = 7; - static final double POSITION_TOLERANCE = 3.0/360.0; + static final double POSITION_TOLERANCE = Units.degreesToRotations(3); } private TalonFX motor; @@ -122,38 +123,62 @@ private void periodic() { DogLog.log("Arm/Active Commands", getRunningCommands().toString()); } + /** + * @param voltage the voltage to apply to the motor + * @return a command + */ public Command setVoltage(double voltage) { return run(coro -> { motor.setControl(voltageRequest.withOutput(voltage)); }).named("Set Voltage " + voltage + "V"); } + /** + * @param position the position for the arm to target, in rotations + * @return a command + */ public Command setPosition(double position) { return run(coro -> { setpoint = position; motor.setControl(positionRequest.withPosition(position)); DogLog.log("Arm/Setpoint", position); - coro.await(Command.waitUntil(() -> isAtPosition(position)).named("Is at position " + position)); + coro.waitUntil(() -> isAtPosition(position)); }).named("Set Position " + position + "rot"); } + /** + * @return the current position of the arm, in rotations + */ public double getPosition() { return positionSignal.getValueAsDouble(); } + /** + * @return the current velocity, in rotations per second + */ public double getVelocity() { return velocitySignal.getValueAsDouble(); } + /** + * @return the current voltage being applied to the arm motor + */ public double getAppliedVoltage() { return appliedVoltageSignal.getValueAsDouble(); } + /** + * @param position the position to compare against, in rotations + * @return whether the arm is at that positoin + */ public boolean isAtPosition(double position) { return Math.abs(getPosition() - position) < Constants.POSITION_TOLERANCE; } + /** + * @return whether the arm is at its current setpoint + */ public boolean isAtSetpoint() { return isAtPosition(setpoint); } diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java index 192cbf75..e246f05a 100644 --- a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Claw.java @@ -53,6 +53,10 @@ public void periodic() { DogLog.log("Claw/Active Commands", getRunningCommands().toString()); } + /** + * @param voltage the voltage to apply to the motors + * @return a command + */ public Command setVoltage(double voltage) { return run((coro) -> { motor.setControl(voltageRequest.withOutput(voltage)); diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java index cce65275..7160eada 100644 --- a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Drive.java @@ -112,10 +112,16 @@ public void periodic() { DogLog.log("Drive/Active Commands", getRunningCommands().toString()); } + /** + * @return the current pose of the drivetrain + */ public Pose2d getPose() { return swerve.getState().Pose; } + /** + * @return the current heading of the drivetrain + */ public Rotation2d getHeading() { return getPose().getRotation(); } @@ -128,6 +134,11 @@ public ChassisVelocities getVelocity() { return swerve.getState().Velocity.toFieldRelative(getHeading()); } + /** + * Creates a teleop drive command + * @param controller the controller to use for inputs, the left stick controls translation, while the right stick controls rotation + * @return a command + */ public Command getDriveCommand(CommandNiDsXboxController controller) { return runRepeatedly(() -> { double x = -MathUtil.applyDeadband(controller.getLeftY(), 0.1) * MAX_VELOCITY; @@ -138,8 +149,8 @@ public Command getDriveCommand(CommandNiDsXboxController controller) { request.withForwardPerspective(SwerveRequest.ForwardPerspectiveValue.OperatorPerspective); request.withVelocityX(x); request.withVelocityY(y); - request.withRotationalRate(rotation) - .withDeadband(0.1*4.54); + request.withRotationalRate(rotation); + request.withDeadband(0.1*4.54); swerve.setControl(request); diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java index e5f80cea..90ae8adb 100644 --- a/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/mechanisms/Elevator.java @@ -134,38 +134,62 @@ private void periodic() { DogLog.log("Elevator/Active Commands", getRunningCommands().toString()); } + /** + * @param voltage the voltage to apply to the motors + * @return a command + */ public Command setVoltage(double voltage) { return run(coro -> { leader.setControl(voltageRequest.withOutput(voltage)); }).named("Set Voltage " + voltage + "V"); } + /** + * @param position the position for the elevator to target, in meters + * @return a command + */ public Command setPosition(double position) { return run(coro -> { setpoint = position; leader.setControl(positionRequest.withPosition(position / Constants.PULLEY_CIRCUMFERENCE)); DogLog.log("Elevator/Setpoint", position); - coro.await(Command.waitUntil(() -> isAtPosition(position)).named("Is At Position " + position)); + coro.waitUntil(() -> isAtPosition(position)); }).named("Set Position " + position + "m"); } + /** + * @return the position of the elevator, in meters + */ public double getPosition() { return positionSignal.getValueAsDouble() * Constants.PULLEY_CIRCUMFERENCE; } + /** + * @return the velocity of the elevator, in meters per second + */ public double getVelocity() { return velocitySignal.getValueAsDouble() * Constants.PULLEY_CIRCUMFERENCE; } + /** + * @return the current voltage being applied to the arm motor + */ public double getAppliedVoltage() { return appliedVoltageSignal.getValueAsDouble(); } + /** + * @param position the position to compare against, in meters + * @return whether the elevator is at that position + */ public boolean isAtPosition(double position) { return Math.abs(getPosition() - position) < Constants.POSITION_TOLERANCE; } + /** + * @return whether the elevator is at its current setpoint + */ public boolean isAtSetpoint() { return isAtPosition(setpoint); } diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java index aa2cb245..9761f735 100644 --- a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/BasicScoringTeleop.java @@ -32,12 +32,13 @@ public BasicScoringTeleop(Robot robot) { robot.drive.setDefaultCommand(robot.drive.getDriveCommand(controller)); controller.button(0).whileTrue(Command.noRequirements((coro) -> { - coro.awaitAll(robot.superstructure.setPosition(1, 1), - new AutoAlignCommand(robot.drive, Poses.BLUE_REEF_A.transformBy(Poses.REEF_PREALIGN_TRANSFORM)).withPositionTolerance(Units.inchesToMeters(6))); + coro.fork(new AutoAlignCommand(robot.drive, Poses.BLUE_REEF_A.transformBy(Poses.REEF_PREALIGN_TRANSFORM)).withRunningContinuously(true)); + coro.await(robot.superstructure.setPosition(1, 1)); + AutoAlignCommand finalAlign = new AutoAlignCommand(robot.drive, Poses.BLUE_REEF_A).withRunningContinuously(true); coro.fork(finalAlign); - coro.await(finalAlign.waitUntilAtPosition()); + coro.waitUntil(finalAlign::atPosition); coro.fork(robot.superstructure.setPosition(0.5, 0.5)); coro.wait(Seconds.of(0.25)); diff --git a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java index 23793e96..a281c02a 100644 --- a/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java +++ b/examples/stage2/templates/ctre/src/main/java/first/robot/opmode/FullScoringTeleop.java @@ -34,12 +34,12 @@ public FullScoringTeleop(Robot robot) { private NeedsNameBuilderStage createScoreCommand(List poses) { return Command.noRequirements((coro) -> { - coro.awaitAll(robot.superstructure.setPosition(1, 1), - new Drive.AutoAlignCommand(robot.drive, () -> robot.drive.getPose().nearest(poses).transformBy(Poses.REEF_PREALIGN_TRANSFORM)).withPositionTolerance(Units.inchesToMeters(6))); + coro.fork(new Drive.AutoAlignCommand(robot.drive, () -> robot.drive.getPose().nearest(poses).transformBy(Poses.REEF_PREALIGN_TRANSFORM)).withRunningContinuously(true)); + coro.await(robot.superstructure.setPosition(1, 1)); Drive.AutoAlignCommand finalAlign = new Drive.AutoAlignCommand(robot.drive, () -> robot.drive.getPose().nearest(poses)).withRunningContinuously(true); coro.fork(finalAlign); - coro.await(finalAlign.waitUntilAtPosition()); + coro.waitUntil(finalAlign::atPosition); coro.fork(robot.superstructure.setPosition(0.5, 0.5)); coro.wait(Seconds.of(0.25));