diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS deleted file mode 100644 index 309fe15..0000000 --- a/.github/CODEOWNERS +++ /dev/null @@ -1 +0,0 @@ -@tywilly diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml deleted file mode 100644 index 1a3be8e..0000000 --- a/.github/workflows/gradle.yml +++ /dev/null @@ -1,36 +0,0 @@ -# This workflow uses actions that are not certified by GitHub. -# They are provided by a third-party and are governed by -# separate terms of service, privacy policy, and support -# documentation. -# This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time -# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle - -name: Java CI with Gradle - -on: - push: - branches: [ ] - pull_request: - branches: [ "main" ] - -permissions: - contents: read - -jobs: - build: - - runs-on: ubuntu-latest - - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - name: Set up JDK 21 - uses: actions/setup-java@v3 - with: - java-version: '21' - distribution: 'temurin' - - name: Setup Gradle - uses: gradle/actions/setup-gradle@v3 - - name: Build with Gradle - run: ./gradlew build javadoc diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index f6e6c2d..0000000 --- a/.gitmodules +++ /dev/null @@ -1,6 +0,0 @@ -[submodule "lib/Posty"] - path = lib/Posty - url = git@github.com:FairportRobotics/Posty.git -[submodule "lib/RoboLib"] - path = lib/RoboLib - url = git@github.com:FairportRobotics/RoboLib diff --git a/.vscode/launch.json b/.vscode/launch.json deleted file mode 100644 index 5b804e8..0000000 --- a/.vscode/launch.json +++ /dev/null @@ -1,21 +0,0 @@ -{ - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 - "version": "0.2.0", - "configurations": [ - - { - "type": "wpilib", - "name": "WPILib Desktop Debug", - "request": "launch", - "desktop": true, - }, - { - "type": "wpilib", - "name": "WPILib roboRIO Debug", - "request": "launch", - "desktop": false, - } - ] -} diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index 8be11f2..0000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,29 +0,0 @@ -{ - "java.configuration.updateBuildConfiguration": "automatic", - "java.server.launchMode": "Standard", - "files.exclude": { - "**/.git": true, - "**/.svn": true, - "**/.hg": true, - "**/CVS": true, - "**/.DS_Store": true, - "bin/": true, - "**/.classpath": true, - "**/.project": true, - "**/.settings": true, - "**/.factorypath": true, - "**/*~": true - }, - "java.test.config": [ - { - "name": "WPIlibUnitTests", - "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], - "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , - "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" - } - }, - ], - "java.test.defaultConfig": "WPIlibUnitTests" -} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json deleted file mode 100644 index 8020fa5..0000000 --- a/.wpilib/wpilib_preferences.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2026", - "teamNumber": 578 -} \ No newline at end of file diff --git a/LimelightHelpers.py b/LimelightHelpers.py new file mode 100644 index 0000000..f6afe41 --- /dev/null +++ b/LimelightHelpers.py @@ -0,0 +1,81 @@ +""" +LimelightHelpers.py – stub for the community limelightlib-python library. + +Replace this file with the real LimelightHelpers.py from: + https://github.com/LimelightVision/limelightlib-python + +The following methods must be verified to exist in the real library before +any Limelight-dependent code is run on the robot (see PLAN.txt section 3): + - getBotPoseEstimate_wpiBlue_MegaTag2() + - SetIMUMode() + - getTargetPose_CameraSpace() + - SetRobotOrientation() + - SetFiducialIDFiltersOverride() + - setPipelineIndex() + - getTV() +""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +from wpimath.geometry import Pose2d + + +@dataclass +class PoseEstimate: + pose: Pose2d = field(default_factory=Pose2d) + timestampSeconds: float = 0.0 + tagCount: int = 0 + isMegaTag2: bool = False + + +# ── Pose estimation ──────────────────────────────────────────────────────────── + +def getBotPoseEstimate_wpiBlue_MegaTag2(limelightName: str) -> PoseEstimate | None: + """Return None (stub — no camera connected in sim).""" + return None + + +def getBotPoseEstimate_wpiBlue(limelightName: str) -> PoseEstimate | None: + return None + + +# ── Robot orientation / IMU ──────────────────────────────────────────────────── + +def SetRobotOrientation( + limelightName: str, + yaw: float, + yawRate: float, + pitch: float, + pitchRate: float, + roll: float, + rollRate: float, +) -> None: + pass + + +def SetIMUMode(limelightName: str, mode: int) -> None: + pass + + +# ── Target information ───────────────────────────────────────────────────────── + +def getTV(limelightName: str) -> bool: + """Return False — no targets visible in stub.""" + return False + + +def getTargetPose_CameraSpace(limelightName: str) -> list[float]: + """Return empty list — no target in stub.""" + return [] + + +# ── Pipeline / filter control ────────────────────────────────────────────────── + +def setPipelineIndex(limelightName: str, pipelineIndex: int) -> None: + pass + + +def SetFiducialIDFiltersOverride(limelightName: str, validIDs: list[int]) -> None: + pass diff --git a/TODOs.md b/TODOs.md index b002475..5378b12 100644 --- a/TODOs.md +++ b/TODOs.md @@ -1,57 +1,57 @@ -# Top Priority (for manual shooting functionality by RIT) - -These are the jobs to be completed first, to ensure we have minimal functionality for RIT - -- Add subsystems to robot - - Add subsystems to the RobotContainer X - -- Updates to subsystems X - - Update launcher wheel to a Neo/SparkMax X - -- Define basic commands for manual fire mode - - Y/Top button: Deploy the intake (and run the rollers) X - - Could be a single command - - Could be 2 commands in sequence - - - B/Right button: Reverse the intake X - - Unclear if this should touch the deploy motor. ATM suggest leaving the deploy motor alone - - - A/Bottom button: Retract the intake (and stop the rollers) X - - - D-pad: Set deflector to pre-programmed angle - - Suggestion: Implement this once, and make the angle an member variable of the command X - - - Both Triggers: Spin up flywheel (if not already spun up) and then start the kicker. X - - Re: Sensing flywheel speed - - Could be a time offset (i.e. wait for N seconds for the motor to spin up) - - Ideally, check the encoder speed (will need the encoders for auto launch) - -- Define unique IDs and channels for all devices in Constants.java - -- Test all motors and reverse directions if required - - Direction flags are present in Constants.java Particular values of concern are marked with TODO comments - -# Secondary priority - -These are to be completed after the top priority tasks. Currently, they focus on getting automatic targeting working. - -- Integrate limelight positioning - -- Integrate automatic aiming - -- Advanced movement functions: - - L Bumper: "Nudging" mode: - - On press: - - Briefly move the robot forward then stop - - Trigger nudge at 1 to 2 hz (to be determined, control via constant) - - Duty cycle (i.e. what percentage of the time the robot is actively moving) is undefined. Control via constant - - On release: - - Return to normal driving mode - - - R Bumper: "Trench Maneuver" - - On button press/enter: - - Move deflector to lowest position - - Deploy the intake, no need to start the rollers if not started - - On button release/exit: - - Return the deflector to its previous state - - Restore intake to previous state +# Top Priority (for manual shooting functionality by RIT) + +These are the jobs to be completed first, to ensure we have minimal functionality for RIT + +- Add subsystems to robot + - Add subsystems to the RobotContainer X + +- Updates to subsystems X + - Update launcher wheel to a Neo/SparkMax X + +- Define basic commands for manual fire mode + - Y/Top button: Deploy the intake (and run the rollers) X + - Could be a single command + - Could be 2 commands in sequence + + - B/Right button: Reverse the intake X + - Unclear if this should touch the deploy motor. ATM suggest leaving the deploy motor alone + + - A/Bottom button: Retract the intake (and stop the rollers) X + + - D-pad: Set deflector to pre-programmed angle + - Suggestion: Implement this once, and make the angle an member variable of the command X + + - Both Triggers: Spin up flywheel (if not already spun up) and then start the kicker. X + - Re: Sensing flywheel speed + - Could be a time offset (i.e. wait for N seconds for the motor to spin up) + - Ideally, check the encoder speed (will need the encoders for auto launch) + +- Define unique IDs and channels for all devices in Constants.java + +- Test all motors and reverse directions if required + - Direction flags are present in Constants.java Particular values of concern are marked with TODO comments + +# Secondary priority + +These are to be completed after the top priority tasks. Currently, they focus on getting automatic targeting working. + +- Integrate limelight positioning + +- Integrate automatic aiming + +- Advanced movement functions: + - L Bumper: "Nudging" mode: + - On press: + - Briefly move the robot forward then stop + - Trigger nudge at 1 to 2 hz (to be determined, control via constant) + - Duty cycle (i.e. what percentage of the time the robot is actively moving) is undefined. Control via constant + - On release: + - Return to normal driving mode + + - R Bumper: "Trench Maneuver" + - On button press/enter: + - Move deflector to lowest position + - Deploy the intake, no need to start the rollers if not started + - On button release/exit: + - Return the deflector to its previous state + - Restore intake to previous state diff --git a/WPILib-License.md b/WPILib-License.md deleted file mode 100644 index eb3061b..0000000 --- a/WPILib-License.md +++ /dev/null @@ -1,24 +0,0 @@ -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/autonomous/__init__.py b/autonomous/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/autonomous/basic_auto.py b/autonomous/basic_auto.py new file mode 100644 index 0000000..ee107e8 --- /dev/null +++ b/autonomous/basic_auto.py @@ -0,0 +1,38 @@ +""" +autonomous/basic_auto.py + +Fallback MagicBot AutonomousStateMachine used when PathPlanner is unavailable. +Deploys the intake, homes the turret, then stops. +""" + +import magicbot +from magicbot.state_machine import state, timed_state + +from components.drive import DriveComponent +from components.intake import IntakeComponent +from components.turret import TurretComponent + + +class BasicAuto(magicbot.AutonomousStateMachine): + """Simple fallback autonomous: deploy intake → home turret → idle.""" + + MODE_NAME = "Basic Auto" + DEFAULT = False + + # MagicBot injects these + drive: DriveComponent + intake: IntakeComponent + turret: TurretComponent + + @timed_state(first=True, duration=2.0, next_state="home_turret") + def deploy_intake(self) -> None: + self.intake.deploy() + + @timed_state(duration=3.0, next_state="idle") + def home_turret(self) -> None: + self.intake.stop_deploy() + self.turret.home_turret() + + @state + def idle(self) -> None: + self.drive.stop_drive() diff --git a/autonomous/chassis_align_shoot.py b/autonomous/chassis_align_shoot.py new file mode 100644 index 0000000..1551b9f --- /dev/null +++ b/autonomous/chassis_align_shoot.py @@ -0,0 +1,158 @@ +""" +autonomous/chassis_align_shoot.py + +commands2.Command that replicates AutoShootCommandChassisTurret.java. + +Uses a PID controller to camera-centre the robot on the HUB AprilTags and +dead-reckoning as a fallback. Fires the kicker when centred and launcher is +up to speed. +""" + +import math + +import commands2 +from robotpy_apriltag import AprilTagField, AprilTagFieldLayout +from wpilib import DriverStation +from wpimath.controller import PIDController +from wpimath.geometry import Pose3d + +import constants +import LimelightHelpers +import utils +from components.drive import DriveComponent +from components.hopper import HopperComponent +from components.turret import TurretComponent + + +class ChassisAlignShootCommand(commands2.Command): + """ + Aligns the robot chassis and fires the launcher using camera feedback. + Registered with PathPlanner as "ChassisAlignShoot". + """ + + _field_tags = AprilTagFieldLayout.loadField(AprilTagField.k2026RebuiltWelded) + + def __init__( + self, + drive: DriveComponent, + hopper: HopperComponent, + turret: TurretComponent, + ) -> None: + super().__init__() + self._drive = drive + self._hopper = hopper + self._turret = turret + + self._tag_filters: list[int] = [] + self._closest_tag: Pose3d | None = None + + # Camera centering PID (units: degrees) + self._camera_controller = PIDController(0.15, 0.0, 0.0) + self._camera_controller.setTolerance(0.2) + self._camera_controller.setSetpoint(0) + + # Dead-reckoning fallback PID (units: radians) + self._dead_reckoning_controller = PIDController(math.pi * 0.1, 0, 0.0) + self._dead_reckoning_controller.setTolerance(0.2) + self._dead_reckoning_controller.enableContinuousInput(-math.pi, math.pi) + + self._chassis_rotate_speed = math.pi * 0.1 + + def initialize(self) -> None: + alliance = DriverStation.getAlliance() + if alliance == DriverStation.Alliance.kBlue: + self._tag_filters = constants.CameraConstants.IDFilters.BLUE_HUB_SHOOTING_IDS + else: + self._tag_filters = constants.CameraConstants.IDFilters.RED_HUB_SHOOTING_IDS + + self._turret.set_launcher(3000) + self._turret.set_target_elevation(constants.ShooterConstants.DEFLECTOR_STORED_ANGLE) + self._hopper.spindexer_on() + # Warm-up the camera PID + self._camera_controller.calculate(-100) + + # Switch to HUB-tracking pipeline + LimelightHelpers.setPipelineIndex( + constants.CameraConstants.BACK_CAMERA_NAME, + constants.CameraConstants.BACK_HUB_TRACKING_3D_PIPELINE_NUMBER, + ) + LimelightHelpers.SetFiducialIDFiltersOverride( + constants.CameraConstants.BACK_CAMERA_NAME, self._tag_filters + ) + + # Find the closest HUB AprilTag for dead-reckoning + bot_pose = self._drive.get_bot_pose() + tag_poses: list[Pose3d] = [ + pose + for tag_id in self._tag_filters + if (pose := self._field_tags.getTagPose(tag_id)) is not None + ] + if tag_poses: + # Find nearest tag by distance + def _dist(tag: Pose3d) -> float: + delta = bot_pose.translation().toTranslation2d() - tag.translation().toTranslation2d() + return math.hypot(delta.X(), delta.Y()) + self._closest_tag = min(tag_poses, key=_dist) + + delta = ( + bot_pose.translation().toTranslation2d() + - self._closest_tag.translation().toTranslation2d() + ) + self._dead_reckoning_controller.setSetpoint( + math.atan2(delta.Y(), delta.X()) + ) + + def execute(self) -> None: + has_target = LimelightHelpers.getTV(constants.CameraConstants.BACK_CAMERA_NAME) + + if not has_target: + # ── Dead-reckoning fallback ────────────────────────────────── + # (Chassis rotation was commented out in Java source; preserved here) + # bot_pose = self._drive.get_bot_pose() + # self._drive.rotate_chassis( + # -self._dead_reckoning_controller.calculate( + # bot_pose.rotation().toRotation2d().radians() + # ) + # ) + pass + else: + # ── Camera centering ───────────────────────────────────────── + targets_pose = LimelightHelpers.getTargetPose_CameraSpace( + constants.CameraConstants.BACK_CAMERA_NAME + ) + if targets_pose and len(targets_pose) >= 3: + distance_z = targets_pose[2] + tx = targets_pose[0] + + turret_angle = ( + utils.calculate_turret_angle_from_camera_tag_distance(distance_z) + * constants.ShooterConstants.TURRET_GEAR_RATIO + ) + self._turret.set_turret_motor_rotation(-turret_angle) + + self._drive.rotate_chassis( + -self._camera_controller.calculate(tx) + ) + + # Fire when centred and launcher is up to speed + if ( + self._turret.is_launcher_up_to_speed() + and self._camera_controller.atSetpoint() + ): + self._hopper.feed_kicker() + else: + pass # Waiting to fire + + def isFinished(self) -> bool: + return False + + def end(self, interrupted: bool) -> None: + self._turret.set_launcher(0) + self._hopper.stop_kicker() + self._hopper.spindexer_off() + self._drive.stop_drive() + + LimelightHelpers.setPipelineIndex( + constants.CameraConstants.BACK_CAMERA_NAME, + constants.CameraConstants.BACK_LOCALIZATION_PIPELINE_NUMBER, + ) diff --git a/autonomous/turret_shoot.py b/autonomous/turret_shoot.py new file mode 100644 index 0000000..53fdef2 --- /dev/null +++ b/autonomous/turret_shoot.py @@ -0,0 +1,85 @@ +""" +autonomous/turret_shoot.py + +commands2.Command that replicates AutoTurretShootCommand.java. + +Uses distance-based ballistics (Utils.get_hood_angle/launcher_rpm_for_distance) +to set the turret launcher speed and hood angle, then fires once ready. +""" + +import commands2 +from wpilib import DriverStation + +import constants +import utils +from components.drive import DriveComponent +from components.hopper import HopperComponent +from components.intake import IntakeComponent +from components.turret import TurretComponent + + +class TurretShootCommand(commands2.Command): + """ + Distance-based auto-shoot command. + Registered with PathPlanner as "TurretShoot". + """ + + _WAIT_SECONDS: float = 1.5 + + def __init__( + self, + hopper: HopperComponent, + turret: TurretComponent, + intake: IntakeComponent, + drive: DriveComponent, + ) -> None: + super().__init__() + self._hopper = hopper + self._turret = turret + self._intake = intake + self._drive = drive + + self._wait_timer = commands2.WaitCommand(self._WAIT_SECONDS) + self._wait_started = False + + def initialize(self) -> None: + self._hopper.spindexer_on() + self._wait_timer = commands2.WaitCommand(self._WAIT_SECONDS) + self._wait_timer.schedule() + self._wait_started = True + + def execute(self) -> None: + turret_target = self._turret.get_turret_target_pose() + bot_pose = self._drive.get_bot_pose() + + if turret_target is not None: + target_2d = turret_target.toPose2d().translation() + bot_2d = bot_pose.translation().toTranslation2d() + distance = target_2d.distance(bot_2d) + + self._turret.set_target_elevation(utils.get_hood_angle_for_distance(distance)) + self._turret.set_launcher(utils.get_launcher_rpm_for_distance(distance)) + + if self._turret.is_launcher_up_to_speed() and self._wait_timer.isFinished(): + self._hopper.feed_kicker() + else: + self._hopper.stop_kicker() + + def isFinished(self) -> bool: + return False + + def end(self, interrupted: bool) -> None: + if self._wait_started: + self._wait_timer.cancel() + + self._hopper.spindexer_off() + self._hopper.stop_kicker() + self._turret.set_launcher(0) + self._turret.set_target_elevation(constants.ShooterConstants.DEFLECTOR_STORED_ANGLE) + + # Restore turret target to hub for the current alliance + alliance = DriverStation.getAlliance() + if alliance == DriverStation.Alliance.kBlue: + self._turret.set_turret_target_pose(constants.FieldPoses.BLUE_HUB_POSE) + elif alliance == DriverStation.Alliance.kRed: + self._turret.set_turret_target_pose(constants.FieldPoses.RED_HUB_POSE) diff --git a/build.gradle b/build.gradle deleted file mode 100644 index 5f5fced..0000000 --- a/build.gradle +++ /dev/null @@ -1,141 +0,0 @@ -plugins { - id "java" - id "edu.wpi.first.GradleRIO" version "2026.2.1" -} - -java { - sourceCompatibility = JavaVersion.VERSION_17 - targetCompatibility = JavaVersion.VERSION_17 -} - -def ROBOT_MAIN_CLASS = "frc.robot.Main" - -// Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project DeployUtils. -deploy { - targets { - roborio(getTargetTypeClass('RoboRIO')) { - // Team number is loaded either from the .wpilib/wpilib_preferences.json - // or from command line. If not found an exception will be thrown. - // You can use getTeamOrDefault(team) instead of getTeamNumber if you - // want to store a team number in this file. - team = project.frc.getTeamNumber() - debug = project.frc.getDebugOrDefault(false) - - artifacts { - // First part is artifact name, 2nd is artifact type - // getTargetTypeClass is a shortcut to get the class type using a string - - frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - } - - // Static files artifact - frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { - files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project - } - } - } - } -} - -def deployArtifact = deploy.targets.roborio.artifacts.frcJava - -// Set to true to use debug for all targets including JNI, which will drastically impact -// performance. -wpi.java.debugJni = false - -// Set 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() - - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) - - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - - nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) - nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) - simulationDebug wpi.sim.enableDebug() - - nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) - nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) - simulationRelease wpi.sim.enableRelease() - - testImplementation 'org.junit.jupiter:junit-jupiter: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 jar') -// in order to make them all available at runtime. Also adding the manifest so WPILib -// knows where to look for our Robot Class. -jar { - from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } - from('src') { into 'backup/src' } - from('vendordeps') { into 'backup/vendordeps' } - from('build.gradle') { into 'backup' } - manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) - duplicatesStrategy = DuplicatesStrategy.INCLUDE -} - -// Configure jar and deploy tasks -deployArtifact.jarTask = jar -wpi.java.configureExecutableTasks(jar) -wpi.java.configureTestTasks(test) - -def saveCommitTask = tasks.register("saveCommit") { - println "Current Version: " + getCheckedOutGitCommitHash(); - - def deployFolder = "$projectDir/src/main/deploy/" - def commitFile = new FileWriter(deployFolder + "versionfile.txt"); - doLast { - commitFile.write(getCheckedOutGitCommitHash() + " - " + new Date().toString()); - commitFile.close(); - println "versionfile.txt written"; - } -} - -def getCheckedOutGitCommitHash() { - def gitFolder = "$projectDir/.git/" - def takeFromHash = 12 - /* - * '.git/HEAD' contains either - * in case of detached head: the currently checked out commit hash - * otherwise: a reference to a file containing the current commit hash - */ - def head = new File(gitFolder + "HEAD").text.split(":") // .git/HEAD - def isCommit = head.length == 1 // e5a7c79edabbf7dd39888442df081b1c9d8e88fd - // def isRef = head.length > 1 // ref: refs/heads/master - - if(isCommit) return head[0].trim().take(takeFromHash) // e5a7c79edabb - - def refHead = new File(gitFolder + head[1].trim()) // .git/refs/heads/master - refHead.text.trim().take takeFromHash -} - -// Configure string concat to always inline compile -tasks.withType(JavaCompile) { - options.compilerArgs.add '-XDstringConcat=inline' - dependsOn saveCommitTask -} - - -apply from: 'libs.gradle' diff --git a/components/__init__.py b/components/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/components/controller.py b/components/controller.py new file mode 100644 index 0000000..21192a7 --- /dev/null +++ b/components/controller.py @@ -0,0 +1,359 @@ +""" +components/controller.py – MagicBot-compatible Xbox controller wrapper. + +XboxController wraps wpilib.XboxController to provide: + - Deadband-corrected joystick axes + - Edge-detection helpers (was_pressed / pressed) for every button + - Integration with MagicBot's component injection system (``port`` attribute) +""" + +import wpilib + + +class XboxController: + """ + MagicBot component that wraps a wpilib.XboxController. + + MagicBot injects the ``port`` attribute before ``setup()`` is called, + so declare it at class level — its value is overridden per-robot in + ``MyRobot`` via the ``driver_controller_port`` prefixed variable. + + Joystick values are deadband-corrected and cached each loop in + ``execute()`` so all code within a single loop sees consistent axis values. + + Button helpers follow two patterns: + - ``*_pressed()`` – True while the button is held down. + - ``*_was_pressed()`` – True on the loop after the button was released + (one-shot, resets immediately after reading). + """ + + #: Whether to apply deadband correction to raw joystick values. + correct_for_deadband: bool = True + #: Deadband radius; inputs within ±deadband map to 0. + deadband: float = 0.1 + #: USB port number; injected by MagicBot from ``driver_controller_port``. + port: int + #: Cached left-stick X axis value (deadband-corrected). + left_x: float = 0.0 + #: Cached left-stick Y axis value (deadband-corrected). + left_y: float = 0.0 + #: Cached right-stick X axis value (deadband-corrected). + right_x: float = 0.0 + #: Cached right-stick Y axis value (deadband-corrected). + right_y: float = 0.0 + + def setup(self) -> None: + """ + Setup the Xbox controller. + This method is called once when the robot is initialized. + """ + self.this_controller = wpilib.XboxController(self.port) + controller_buttons = [ + "A", + "B", + "X", + "Y", + "DPad_Up", + "DPad_Down", + "DPad_Left", + "DPad_Right", + "Left_Bumper", + "Right_Bumper", + "Left_Trigger", + "Right_Trigger", + "Start", + "Back", + ] + self.button_is_pressed = {button: False for button in controller_buttons} + self.button_was_pressed = {button: False for button in controller_buttons} + + def _button_pressed(self, button_name: str, pressed: bool) -> bool: + """ + Generic method to check if a button is pressed. + :param button_name: The name of the button to check. + :param pressed: The current state of the button (True if pressed, False otherwise). + """ + if self.button_is_pressed[button_name] and not pressed: + self.button_was_pressed[button_name] = True + self.button_is_pressed[button_name] = pressed + return pressed + + def _button_was_pressed(self, button_name: str) -> bool: + """ + Generic method to check if a button was pressed since the last check. + :param button_name: The name of the button to check. + :return: True if the button was pressed since the last check, False otherwise. + """ + if self.button_was_pressed[button_name]: + self.button_was_pressed[button_name] = False + return True + return False + + def _corrected_joystick_value(self, raw_value: float) -> float: + """ + Apply deadband correction to a joystick value. + :param raw_value: The raw joystick value. + :return: The corrected joystick value. + """ + if not self.correct_for_deadband: + return raw_value + if abs(raw_value) < self.deadband: + return 0.0 + return (raw_value / abs(raw_value)) * ( + (abs(raw_value) - self.deadband) / (1 - self.deadband) + ) + + def execute(self) -> None: + """ + Capture the current state of all buttons to track presses. + This method should be called at the end of each control loop iteration. + """ + self.a_button_pressed() + self.b_button_pressed() + self.x_button_pressed() + self.y_button_pressed() + self.dpad_up_pressed() + self.dpad_down_pressed() + self.dpad_left_pressed() + self.dpad_right_pressed() + self.left_bumper_pressed() + self.right_bumper_pressed() + self.left_trigger_pressed() + self.right_trigger_pressed() + self.start_button_pressed() + self.back_button_pressed() + self.left_y = self._corrected_joystick_value(self.this_controller.getLeftY()) + self.left_x = self._corrected_joystick_value(self.this_controller.getLeftX()) + self.right_y = self._corrected_joystick_value(self.this_controller.getRightY()) + self.right_x = self._corrected_joystick_value(self.this_controller.getRightX()) + + def a_button_pressed(self) -> bool: + """ + Check if the A button is pressed. + + :return: True if the A button is pressed, False otherwise. + """ + return self._button_pressed("A", self.this_controller.getAButton()) + + def a_button_was_pressed(self) -> bool: + """ + Check if the A button was pressed since the last check. + + :return: True if the A button was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("A") + + def b_button_pressed(self) -> bool: + """ + Check if the B button is pressed. + :return: True if the B button is pressed, False otherwise. + """ + return self._button_pressed("B", self.this_controller.getBButton()) + + def b_button_was_pressed(self) -> bool: + """ + Check if the B button was pressed since the last check. + + :return: True if the B button was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("B") + + def x_button_pressed(self) -> bool: + """ + Check if the X button is pressed. + + :return: True if the X button is pressed, False otherwise. + """ + return self._button_pressed("X", self.this_controller.getXButton()) + + def x_button_was_pressed(self) -> bool: + """ + Check if the X button was pressed since the last check. + + :return: True if the X button was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("X") + + def y_button_pressed(self) -> bool: + """ + Check if the Y button is pressed. + + :return: True if the Y button is pressed, False otherwise. + """ + return self._button_pressed("Y", self.this_controller.getYButton()) + + def y_button_was_pressed(self) -> bool: + """ + Check if the Y button was pressed since the last check. + + :return: True if the Y button was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Y") + + def dpad_up_pressed(self) -> bool: + """ + Check if the D-pad is pressed up. + + :return: True if the D-pad is pressed up, False otherwise. + """ + return self._button_pressed("DPad_Up", self.this_controller.getPOV() == 0) + + def dpad_up_was_pressed(self) -> bool: + """ + Check if the D-pad was pressed up since the last check. + + :return: True if the the D-pad was pressed up since the last check, False otherwise. + """ + return self._button_was_pressed("DPad_Up") + + def dpad_down_pressed(self) -> bool: + """ + Check if the D-pad is pressed down. + + :return: True if the D-pad is pressed down, False otherwise. + """ + return self._button_pressed("DPad_Down", self.this_controller.getPOV() == 180) + + def dpad_down_was_pressed(self) -> bool: + """ + Check if the D-pad was pressed down since the last check. + + :return: True if the the D-pad was pressed down since the last check, False otherwise. + """ + return self._button_was_pressed("DPad_Down") + + def dpad_left_pressed(self) -> bool: + """ + Check if the D-pad is pressed left. + + :return: True if the D-pad is pressed left, False otherwise. + """ + return self._button_pressed("DPad_Left", self.this_controller.getPOV() == 270) + + def dpad_left_was_pressed(self) -> bool: + """ + Check if the D-pad was pressed left since the last check. + + :return: True if the the D-pad was pressed left since the last check, False otherwise. + """ + return self._button_was_pressed("DPad_Left") + + def dpad_right_pressed(self) -> bool: + """ + Check if the D-pad is pressed right. + + :return: True if the D-pad is pressed right, False otherwise. + """ + return self._button_pressed("DPad_Right", self.this_controller.getPOV() == 90) + + def dpad_right_was_pressed(self) -> bool: + """ + Check if the D-pad was pressed right since the last check. + + :return: True if the the D-pad was pressed right since the last check, False otherwise. + """ + return self._button_was_pressed("DPad_Right") + + def left_bumper_pressed(self) -> bool: + """ + Check if the left bumper is pressed. + + :return: True if the left bumper is pressed, False otherwise. + """ + return self._button_pressed("Left_Bumper", self.this_controller.getLeftBumper()) + + def left_bumper_was_pressed(self) -> bool: + """ + Check if the left bumper was pressed since the last check. + + :return: True if the left bumper was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Left_Bumper") + + def right_bumper_pressed(self) -> bool: + """ + Check if the right bumper is pressed. + + :return: True if the right bumper is pressed, False otherwise. + """ + return self._button_pressed( + "Right_Bumper", self.this_controller.getRightBumper() + ) + + def right_bumper_was_pressed(self) -> bool: + """ + Check if the right bumper was pressed since the last check. + + :return: True if the right bumper was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Right_Bumper") + + def left_trigger_pressed(self) -> float: + """ + Get the value of the left trigger. + + :return: The value of the left trigger, ranging from 0.0 to 1.0. + """ + self._button_pressed( + "Left_Trigger", self.this_controller.getLeftTriggerAxis() >= 0.5 + ) + return self.this_controller.getLeftTriggerAxis() + + def left_trigger_was_pressed(self) -> bool: + """ + Check if the left trigger was pressed since the last check. + + :return: True if the left trigger was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Left_Trigger") + + def right_trigger_pressed(self) -> float: + """ + Get the value of the right trigger. + + :return: The value of the right trigger, ranging from 0.0 to 1.0. + """ + self._button_pressed( + "Right_Trigger", self.this_controller.getRightTriggerAxis() >= 0.5 + ) + return self.this_controller.getRightTriggerAxis() + + def right_trigger_was_pressed(self) -> bool: + """ + Check if the right trigger was pressed since the last check. + + :return: True if the right trigger was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Right_Trigger") + + def start_button_pressed(self) -> bool: + """ + Check if the start button is pressed. + + :return: True if the start button is pressed, False otherwise. + """ + return self._button_pressed("Start", self.this_controller.getStartButton()) + + def start_button_was_pressed(self) -> bool: + """ + Check if the start button was pressed since the last check. + + :return: True if the start button was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Start") + + def back_button_pressed(self) -> bool: + """ + Check if the back button is pressed. + + :return: True if the back button is pressed, False otherwise. + """ + return self._button_pressed("Back", self.this_controller.getBackButton()) + + def back_button_was_pressed(self) -> bool: + """ + Check if the back button was pressed since the last check. + + :return: True if the back button was pressed since the last check, False otherwise. + """ + return self._button_was_pressed("Back") diff --git a/components/drive.py b/components/drive.py new file mode 100644 index 0000000..0b5a8f1 --- /dev/null +++ b/components/drive.py @@ -0,0 +1,316 @@ +""" +components/drive.py – DriveSubsystem ported to MagicBot component. + +Owns four SwerveModule instances. All swerve math uses standard wpimath. +Integrates with PathPlannerLib and Limelight vision. +""" + +import math +import os + +import magicbot +from pathplannerlib.auto import AutoBuilder +from pathplannerlib.config import PIDConstants, RobotConfig +from pathplannerlib.controller import PPHolonomicDriveController +from pathplannerlib.logging import PathPlannerLogging +from phoenix6.hardware import Pigeon2 +from wpilib import DriverStation, RobotState, SendableChooser, SmartDashboard, getDeployDirectory +from wpimath.estimator import SwerveDrive4PoseEstimator +from wpimath.geometry import Pose2d, Pose3d +from wpimath.kinematics import ( + ChassisSpeeds, + SwerveDrive4Kinematics, +) + +import constants +import LimelightHelpers +from components.swerve_module import SwerveModule + + +class DriveComponent: + """ + MagicBot component that drives four swerve modules and fuses vision + measurements via a SwerveDrive4PoseEstimator. + """ + + def setup(self) -> None: + # ── Swerve modules ───────────────────────────────────────────────── + self._front_left = SwerveModule( + name="Front Left", + drive_id=constants.SwerveDriveIDs.FRONT_LEFT_DRIVE_ID, + steer_id=constants.SwerveDriveIDs.FRONT_LEFT_STEER_ID, + encoder_id=constants.SwerveDriveIDs.FRONT_LEFT_ENCODER_ID, + steer_offset_rotations=constants.SwerveDriveOffsets.FRONT_LEFT_MOTOR_OFFSET, + drive_inverted=False, + canbus="Drive", + ) + self._front_right = SwerveModule( + name="Front Right", + drive_id=constants.SwerveDriveIDs.FRONT_RIGHT_DRIVE_ID, + steer_id=constants.SwerveDriveIDs.FRONT_RIGHT_STEER_ID, + encoder_id=constants.SwerveDriveIDs.FRONT_RIGHT_ENCODER_ID, + steer_offset_rotations=constants.SwerveDriveOffsets.FRONT_RIGHT_MOTOR_OFFSET, + drive_inverted=True, # Front Right is inverted + canbus="Drive", + ) + self._back_left = SwerveModule( + name="Back Left", + drive_id=constants.SwerveDriveIDs.BACK_LEFT_DRIVE_ID, + steer_id=constants.SwerveDriveIDs.BACK_LEFT_STEER_ID, + encoder_id=constants.SwerveDriveIDs.BACK_LEFT_ENCODER_ID, + steer_offset_rotations=constants.SwerveDriveOffsets.BACK_LEFT_MOTOR_OFFSET, + drive_inverted=False, + canbus="Drive", + ) + self._back_right = SwerveModule( + name="Back Right", + drive_id=constants.SwerveDriveIDs.BACK_RIGHT_DRIVE_ID, + steer_id=constants.SwerveDriveIDs.BACK_RIGHT_STEER_ID, + encoder_id=constants.SwerveDriveIDs.BACK_RIGHT_ENCODER_ID, + steer_offset_rotations=constants.SwerveDriveOffsets.BACK_RIGHT_MOTOR_OFFSET, + drive_inverted=True, # Back Right is inverted + canbus="Drive", + ) + self._modules = [ + self._front_left, + self._front_right, + self._back_left, + self._back_right, + ] + + # ── Kinematics ───────────────────────────────────────────────────── + self._kinematics = SwerveDrive4Kinematics( + constants.SwerveDriveModuleLocations.FRONT_LEFT, + constants.SwerveDriveModuleLocations.FRONT_RIGHT, + constants.SwerveDriveModuleLocations.BACK_LEFT, + constants.SwerveDriveModuleLocations.BACK_RIGHT, + ) + + # ── Gyro ─────────────────────────────────────────────────────────── + self._pigeon = Pigeon2(constants.ExtraIDEntities.PIGEON_ID, "Drive") + + # ── Pose estimator ───────────────────────────────────────────────── + self._pose_estimator = SwerveDrive4PoseEstimator( + self._kinematics, + self._pigeon.getRotation2d(), + self._module_positions(), + Pose2d(), + ) + # 3 std-dev values: (x_std, y_std, heading_std) + self._pose_estimator.setVisionMeasurementStdDevs((0.7, 0.7, 0.1)) + + # ── Desired chassis speeds (reset each loop) ──────────────────────── + self._desired_speeds = ChassisSpeeds() + + # ── PathPlanner target pose (for @feedback) ──────────────────────── + self._pp_target_pose = Pose2d() + + # ── PathPlanner / AutoBuilder ────────────────────────────────────── + # _DriveSubsystemAdapter is imported from robot.py at runtime to + # avoid circular imports; it is passed in via inject_drive_adapter(). + self._drive_adapter = None + self._auto_chooser: SendableChooser | None = None + + def inject_drive_adapter(self, adapter, robot_config: RobotConfig) -> None: + """ + Called by robot.py after all objects are constructed. + Finalises AutoBuilder configuration and builds the auto chooser. + """ + AutoBuilder.configure( + self.get_robot_pose_2d, # pose supplier + self.set_pose, # pose resetter + self.get_robot_relative_speeds, # speeds supplier + lambda speeds, ff: self.set_chassis_speeds(speeds), # consumer (no negation) + PPHolonomicDriveController( + PIDConstants(5, 0, 0), + PIDConstants(math.pi, 0, 0), + ), + robot_config, + self._is_red_alliance, # flip-path predicate + adapter, # dummy Subsystem + ) + + # Build auto chooser manually so a bad path file skips that auto instead + # of crashing the entire chooser (PathPlanner throws ZeroDivisionError on + # paths with consecutive rotation targets at the same point). + autos_dir = os.path.join(getDeployDirectory(), "pathplanner", "autos") + self._auto_chooser = SendableChooser() + self._auto_chooser.setDefaultOption("Do Nothing", None) + if os.path.isdir(autos_dir): + for filename in os.listdir(autos_dir): + auto_name = filename.removesuffix(".auto") + try: + self._auto_chooser.addOption(auto_name, AutoBuilder.buildAuto(auto_name)) + except Exception as build_err: + SmartDashboard.putString(f"Auto/{auto_name} error", str(build_err)) + SmartDashboard.putData("Auto Chooser", self._auto_chooser) + + PathPlannerLogging.setLogTargetPoseCallback( + lambda pose: setattr(self, "_pp_target_pose", pose) + ) + + # ── Public drive API ─────────────────────────────────────────────────────── + + def set_chassis_speeds_field_relative( + self, vx: float, vy: float, omega: float + ) -> None: + """ + Convert joystick inputs (with quadratic scaling) to robot-relative + ChassisSpeeds and store them to be applied in execute(). + """ + scaled_vx = vx * abs(vx) * constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY + scaled_vy = vy * abs(vy) * constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY + scaled_omega = omega * abs(omega) * constants.RobotChassisLimits.MAX_ROBOT_ANGULAR_VELOCITY + + self._desired_speeds = ChassisSpeeds.fromFieldRelativeSpeeds( + scaled_vx, + scaled_vy, + scaled_omega, + self._pigeon.getRotation2d(), + ) + + def set_chassis_speeds(self, speeds: ChassisSpeeds) -> None: + """Direct robot-relative speed input (used by PathPlanner consumer).""" + self._desired_speeds = speeds + + def stop_drive(self) -> None: + self._desired_speeds = ChassisSpeeds() + + def rotate_chassis(self, rot_speed: float) -> None: + self._desired_speeds = ChassisSpeeds.fromRobotRelativeSpeeds( + 0, 0, rot_speed, self._pigeon.getRotation2d() + ) + + def get_bot_pose(self) -> Pose3d: + return Pose3d(self._pose_estimator.getEstimatedPosition()) + + def get_robot_pose_2d(self) -> Pose2d: + return self._pose_estimator.getEstimatedPosition() + + def get_robot_relative_speeds(self) -> ChassisSpeeds: + states = self._module_states() + return self._kinematics.toChassisSpeeds(states) + + def set_pose(self, pose: Pose2d) -> None: + self._pose_estimator.resetPosition( + self._pigeon.getRotation2d(), + self._module_positions(), + pose, + ) + + def set_brake_mode(self, brake: bool) -> None: + from phoenix6.configs import MotorOutputConfigs + from phoenix6.signals import NeutralModeValue + mode = NeutralModeValue.BRAKE if brake else NeutralModeValue.COAST + for module in self._modules: + cfg = MotorOutputConfigs().with_neutral_mode(mode) + module._drive_motor.configurator.apply(cfg) + module._steer_motor.configurator.apply(cfg) + + def get_auto_command(self): + if self._auto_chooser is not None: + return self._auto_chooser.getSelected() + return None + + # ── @feedback properties ─────────────────────────────────────────────────── + + @magicbot.feedback + def robot_x(self) -> float: + return self._pose_estimator.getEstimatedPosition().X() + + @magicbot.feedback + def robot_y(self) -> float: + return self._pose_estimator.getEstimatedPosition().Y() + + @magicbot.feedback + def robot_heading_degrees(self) -> float: + return self._pose_estimator.getEstimatedPosition().rotation().degrees() + + @magicbot.feedback + def pathplanner_target_x(self) -> float: + return self._pp_target_pose.X() + + @magicbot.feedback + def pathplanner_target_y(self) -> float: + return self._pp_target_pose.Y() + + # ── MagicBot lifecycle ───────────────────────────────────────────────────── + + def execute(self) -> None: + # Apply desired speeds through kinematics + module_states = self._kinematics.toSwerveModuleStates(self._desired_speeds) + + # Desaturate wheel speeds to enforce linear velocity limit + SwerveDrive4Kinematics.desaturateWheelSpeeds( + module_states, + constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY, + ) + + # Send states to modules + for module, state in zip(self._modules, module_states): + module.set_desired_state(state) + + # Reset desired speeds so the robot stops if nothing sets them this loop + self._desired_speeds = ChassisSpeeds() + + # Update pose estimator with gyro + module positions + self._pose_estimator.update( + self._pigeon.getRotation2d(), + self._module_positions(), + ) + + heading_deg = self.get_robot_pose_2d().rotation().degrees() + + # Update Limelight orientation so MegaTag2 knows where the robot is facing + LimelightHelpers.SetRobotOrientation( + constants.CameraConstants.FRONT_CAMERA_NAME, heading_deg, 0, 0, 0, 0, 0 + ) + LimelightHelpers.SetRobotOrientation( + constants.CameraConstants.BACK_CAMERA_NAME, heading_deg, 0, 0, 0, 0, 0 + ) + + # IMU mode: 1 when disabled (external), 4 when enabled (fused) + imu_mode = 1 if RobotState.isDisabled() else 4 + LimelightHelpers.SetIMUMode(constants.CameraConstants.FRONT_CAMERA_NAME, imu_mode) + LimelightHelpers.SetIMUMode(constants.CameraConstants.BACK_CAMERA_NAME, imu_mode) + + # MegaTag2 vision fusion + front_estimate = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2( + constants.CameraConstants.FRONT_CAMERA_NAME + ) + back_estimate = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2( + constants.CameraConstants.BACK_CAMERA_NAME + ) + + if front_estimate is not None and front_estimate.tagCount >= 2: + self._pose_estimator.addVisionMeasurement( + front_estimate.pose, + front_estimate.timestampSeconds, + ) + + if back_estimate is not None and back_estimate.tagCount >= 2: + self._pose_estimator.addVisionMeasurement( + back_estimate.pose, + back_estimate.timestampSeconds, + ) + + # Publish per-module telemetry + for module in self._modules: + module.publish_telemetry() + + # ── Helpers ──────────────────────────────────────────────────────────────── + + def _module_positions(self): + fl, fr, bl, br = self._modules + return (fl.get_position(), fr.get_position(), bl.get_position(), br.get_position()) + + def _module_states(self): + fl, fr, bl, br = self._modules + return (fl.get_state(), fr.get_state(), bl.get_state(), br.get_state()) + + @staticmethod + def _is_red_alliance() -> bool: + alliance = DriverStation.getAlliance() + if alliance: + return alliance == DriverStation.Alliance.kRed + return False diff --git a/components/hopper.py b/components/hopper.py new file mode 100644 index 0000000..37faa41 --- /dev/null +++ b/components/hopper.py @@ -0,0 +1,82 @@ +""" +components/hopper.py – HopperSubsystem ported to MagicBot component. + +Hardware: + - TalonFX spindexer motor + - TalonFX kicker motor +""" + +import magicbot +from phoenix6.configs import MotorOutputConfigs, Slot0Configs, TalonFXConfiguration +from phoenix6.hardware import TalonFX + +import constants + + +class HopperComponent: + """MagicBot component that controls the hopper (spindexer + kicker).""" + + def setup(self) -> None: + """ + MagicBot lifecycle hook — instantiate and configure all hopper hardware. + + Called once by MagicBot after all component objects are created but + before the robot enters any enabled mode. + """ + # ── Spindexer ────────────────────────────────────────────────────── + self._spindexer_motor = TalonFX(constants.HopperConstants.SPINDEXER_MOTOR_ID) + spindexer_cfg = TalonFXConfiguration() + spindexer_cfg.motor_output = MotorOutputConfigs().with_inverted( + constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION + ) + spindexer_cfg.slot0 = Slot0Configs().with_k_p(0).with_k_i(0).with_k_d(0).with_k_s(0) + self._spindexer_motor.configurator.apply(spindexer_cfg) + + # ── Kicker ───────────────────────────────────────────────────────── + self._kicker_motor = TalonFX(constants.HopperConstants.KICKER_MOTOR_ID) + kicker_cfg = TalonFXConfiguration() + kicker_cfg.motor_output = MotorOutputConfigs().with_inverted( + constants.HopperConstants.KICKER_MOTOR_DIRECTION + ) + kicker_cfg.slot0 = Slot0Configs().with_k_p(0).with_k_i(0).with_k_d(0).with_k_s(0) + self._kicker_motor.configurator.apply(kicker_cfg) + + self._kicker_velocity = self._kicker_motor.get_velocity() + + # ── Public API ───────────────────────────────────────────────────────────── + + def feed_kicker(self) -> None: + """Drive the kicker motor forward at 75 % output to push a note into the launcher.""" + self._kicker_motor.set(0.75) + + def reverse_kicker(self) -> None: + """Drive the kicker motor in reverse at 50 % output to un-jam a stuck note.""" + self._kicker_motor.set(-0.5) + + def stop_kicker(self) -> None: + """Stop the kicker motor.""" + self._kicker_motor.stop_motor() + + def spindexer_on(self) -> None: + """Drive the spindexer forward at 75 % output to advance notes toward the kicker.""" + self._spindexer_motor.set(0.75) + + def spindexer_reverse(self) -> None: + """Drive the spindexer in reverse at 75 % output to clear a jam.""" + self._spindexer_motor.set(-0.75) + + def spindexer_off(self) -> None: + """Stop the spindexer motor.""" + self._spindexer_motor.stop_motor() + + # ── Telemetry ────────────────────────────────────────────────────────────── + + @magicbot.feedback + def kicker_speed_rps(self) -> float: + return self._kicker_velocity.refresh().value_as_double + + # ── MagicBot lifecycle ───────────────────────────────────────────────────── + + def execute(self) -> None: + # No periodic logic required; all control is driven by external callers. + pass diff --git a/components/intake.py b/components/intake.py new file mode 100644 index 0000000..79e288d --- /dev/null +++ b/components/intake.py @@ -0,0 +1,84 @@ +""" +components/intake.py – IntakeSubsystem ported to MagicBot component. + +Hardware: + - TalonFX intake motor (Phoenix 6) + - WPI_TalonSRX deploy motor (Phoenix 5) with forward/reverse limit switches +""" + +import wpilib +from phoenix5 import LimitSwitchNormal, LimitSwitchSource, WPI_TalonSRX +from phoenix6.configs import MotorOutputConfigs, TalonFXConfiguration +from phoenix6.hardware import TalonFX + +import constants + + +class IntakeComponent: + """MagicBot component that controls the intake and deploy mechanism.""" + + def setup(self) -> None: + # ── Intake motor (Phoenix 6 TalonFX) ─────────────────────────────── + self._intake_motor = TalonFX(constants.IntakeConstants.INTAKE_MOTOR_ID) + intake_cfg = TalonFXConfiguration() + intake_cfg.motor_output = MotorOutputConfigs().with_inverted( + constants.IntakeConstants.INTAKE_MOTOR_DIRECTION + ) + self._intake_motor.configurator.apply(intake_cfg) + + # ── Deploy motor (Phoenix 5 WPI_TalonSRX) ────────────────────────── + self._deploy_motor = WPI_TalonSRX(constants.IntakeConstants.DEPLOY_MOTOR_ID) + self._deploy_motor.configForwardLimitSwitchSource( + LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen + ) + self._deploy_motor.configReverseLimitSwitchSource( + LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen + ) + self._deploy_motor.setInverted(constants.IntakeConstants.DEPLOY_MOTOR_INVERTED) + + # Controller reference — injected by robot.py after setup + self._controller: wpilib.XboxController | None = None + + # ── Public API ───────────────────────────────────────────────────────────── + + def set_controller(self, controller: wpilib.XboxController) -> None: + """Inject the driver Xbox controller for rumble feedback.""" + self._controller = controller + + def deploy(self) -> None: + """Run the deploy motor forward briefly (call once; timing handled externally).""" + self._deploy_motor.set(1.0) + + def stop_deploy(self) -> None: + self._deploy_motor.stopMotor() + + def reset_deploy(self) -> None: + """Retract the intake deploy mechanism.""" + self._deploy_motor.set(-1.0) + + def set_speed(self, speed: float) -> None: + self._intake_motor.set(speed) + + def stop_intake(self) -> None: + self._intake_motor.stopMotor() + if self._controller is not None: + self._controller.setRumble(wpilib.XboxController.RumbleType.kBothRumble, 0.0) + + def intake(self) -> None: + """Toggle intake on/off with controller rumble feedback.""" + if self._intake_motor.get() == 0: + self.set_speed(-0.5) + if self._controller is not None: + self._controller.setRumble(wpilib.XboxController.RumbleType.kBothRumble, 0.5) + else: + self._intake_motor.stopMotor() + if self._controller is not None: + self._controller.setRumble(wpilib.XboxController.RumbleType.kBothRumble, 0.0) + + def reverse_intake(self) -> None: + self.set_speed(0.5) + + # ── MagicBot lifecycle ───────────────────────────────────────────────────── + + def execute(self) -> None: + pass diff --git a/components/swerve_module.py b/components/swerve_module.py new file mode 100644 index 0000000..885f353 --- /dev/null +++ b/components/swerve_module.py @@ -0,0 +1,155 @@ +""" +components/swerve_module.py – Plain Python class (NOT a MagicBot component). + +Four instances are owned by DriveComponent. Encapsulates all per-module hardware: + - phoenix6 TalonFX drive motor + - phoenix6 TalonFX steer motor + - phoenix6 CANcoder +""" + +import math + +import ntcore +from phoenix6.configs import ( + CANcoderConfiguration, + FeedbackConfigs, + MagnetSensorConfigs, + MotorOutputConfigs, + Slot0Configs, + TalonFXConfiguration, +) +from phoenix6.controls import PositionVoltage, VelocityVoltage +from phoenix6.hardware import CANcoder, TalonFX +from phoenix6.signals import ( + FeedbackSensorSourceValue, + InvertedValue, + SensorDirectionValue, +) +from wpimath.geometry import Rotation2d +from wpimath.kinematics import SwerveModulePosition, SwerveModuleState + +# Physical constants shared by all modules +GEAR_RATIO: float = 8.14 +WHEEL_DIAMETER_METERS: float = 0.1016 # 4 inches +WHEEL_CIRCUMFERENCE_METERS: float = WHEEL_DIAMETER_METERS * 3.14159265358979 + + +class SwerveModule: + """ + Plain Python class (not a MagicBot component). + Encapsulates a single swerve module: drive motor, steer motor, CANcoder. + """ + + def __init__( + self, + name: str, + drive_id: int, + steer_id: int, + encoder_id: int, + steer_offset_rotations: float, + drive_inverted: bool, + canbus: str = "Drive", + ) -> None: + self._name = name + + # ── CANcoder ─────────────────────────────────────────────────────── + self._encoder = CANcoder(encoder_id, canbus) + encoder_cfg = CANcoderConfiguration() + encoder_cfg.magnet_sensor = ( + MagnetSensorConfigs() + .with_magnet_offset(steer_offset_rotations) + .with_sensor_direction(SensorDirectionValue.COUNTER_CLOCKWISE_POSITIVE) + ) + self._encoder.configurator.apply(encoder_cfg) + + # ── Drive motor (TalonFX) ────────────────────────────────────────── + self._drive_motor = TalonFX(drive_id, canbus) + drive_cfg = TalonFXConfiguration() + drive_cfg.slot0 = ( + Slot0Configs() + .with_k_p(0.1) + .with_k_i(0.0) + .with_k_d(0.01) + .with_k_v(0.2) + ) + drive_cfg.motor_output = MotorOutputConfigs().with_inverted( + InvertedValue.CLOCKWISE_POSITIVE if drive_inverted else InvertedValue.COUNTER_CLOCKWISE_POSITIVE + ) + self._drive_motor.configurator.apply(drive_cfg) + self._drive_velocity_signal = self._drive_motor.get_velocity() + self._drive_position_signal = self._drive_motor.get_position() + + # ── Steer motor (TalonFX) ────────────────────────────────────────── + self._steer_motor = TalonFX(steer_id, canbus) + steer_cfg = TalonFXConfiguration() + steer_cfg.slot0 = ( + Slot0Configs() + .with_k_p(20) + .with_k_i(0) + .with_k_d(0.0) + .with_k_v(0) + ) + # Use the CANcoder as the absolute feedback source for the steer motor + steer_cfg.feedback = ( + FeedbackConfigs() + .with_feedback_remote_sensor_id(encoder_id) + .with_feedback_sensor_source(FeedbackSensorSourceValue.REMOTE_CANCODER) + ) + self._steer_motor.configurator.apply(steer_cfg) + self._steer_position_signal = self._steer_motor.get_position() + + # Controls + self._drive_control = VelocityVoltage(0) + self._steer_control = PositionVoltage(0) + + # Desired state (for telemetry) + self._desired_state = SwerveModuleState(0, Rotation2d()) + + # ── NetworkTables telemetry entries ──────────────────────────────── + inst = ntcore.NetworkTableInstance.getDefault() + tbl = inst.getTable(f"SwerveModules/{name}") + self._nt_desired_speed = tbl.getDoubleTopic("desired_speed_mps").publish() + self._nt_desired_angle = tbl.getDoubleTopic("desired_angle_deg").publish() + self._nt_actual_speed = tbl.getDoubleTopic("actual_speed_mps").publish() + self._nt_actual_angle = tbl.getDoubleTopic("actual_angle_deg").publish() + + # ── Public API ───────────────────────────────────────────────────────────── + + def set_desired_state(self, state: SwerveModuleState) -> None: + """Optimize the state and apply drive velocity + steer position controls.""" + state.optimize(self._get_steer_angle()) # mutates in-place; returns None in WPILib 2026 + self._desired_state = state + + # Drive: convert m/s → rotations/s + drive_rps = (state.speed / WHEEL_CIRCUMFERENCE_METERS) * GEAR_RATIO + self._drive_motor.set_control(self._drive_control.with_velocity(drive_rps)) + + # Steer: position in rotations (CANcoder feedback is in rotations) + steer_rotations = state.angle.radians() / (2 * math.pi) + self._steer_motor.set_control(self._steer_control.with_position(steer_rotations)) + + def get_state(self) -> SwerveModuleState: + """Return current speed (m/s) and angle from motor signals.""" + velocity_rps = self._drive_velocity_signal.refresh().value_as_double + speed_mps = (velocity_rps / GEAR_RATIO) * WHEEL_CIRCUMFERENCE_METERS + return SwerveModuleState(speed_mps, self._get_steer_angle()) + + def get_position(self) -> SwerveModulePosition: + """Return current distance (m) and angle for odometry update.""" + position_rotations = self._drive_position_signal.refresh().value_as_double + distance_meters = (position_rotations / GEAR_RATIO) * WHEEL_CIRCUMFERENCE_METERS + return SwerveModulePosition(distance_meters, self._get_steer_angle()) + + def publish_telemetry(self) -> None: + """Write module telemetry to NetworkTables. Called each loop by DriveComponent.""" + actual = self.get_state() + self._nt_desired_speed.set(self._desired_state.speed) + self._nt_desired_angle.set(self._desired_state.angle.degrees()) + self._nt_actual_speed.set(actual.speed) + self._nt_actual_angle.set(actual.angle.degrees()) + + # ── Helpers ──────────────────────────────────────────────────────────────── + + def _get_steer_angle(self) -> Rotation2d: + rotations = self._steer_position_signal.refresh().value_as_double + return Rotation2d.fromRotations(rotations) diff --git a/components/turret.py b/components/turret.py new file mode 100644 index 0000000..ce1f322 --- /dev/null +++ b/components/turret.py @@ -0,0 +1,233 @@ +""" +components/turret.py – TurretSubsystem ported to MagicBot component. + +Hardware: + - TalonFX turret motor (Phoenix 6) + - SparkMax launcher motor (REV, brushless) + - DigitalInput limit switch + - Servo hood +""" + +import enum +import math + +import magicbot +import wpilib +from phoenix6.configs import ( + CurrentLimitsConfigs, + FeedbackConfigs, + MotorOutputConfigs, + Slot0Configs, + SoftwareLimitSwitchConfigs, + TalonFXConfiguration, +) +from phoenix6.controls import PositionVoltage +from phoenix6.hardware import TalonFX +from phoenix6.signals import InvertedValue +from rev import ( + ClosedLoopSlot, + FeedbackSensor, + PersistMode, + ResetMode, + SparkBase, + SparkLowLevel, + SparkMax, + SparkMaxConfig, +) +from wpimath.geometry import Pose3d, Rotation2d + +import constants + + +class TurretState(enum.Enum): + INIT = enum.auto() + HOMING = enum.auto() + READY = enum.auto() + + +class TurretComponent: + """MagicBot component that controls the turret, launcher, and hood.""" + + def setup(self) -> None: + # ── State ────────────────────────────────────────────────────────── + self._turret_state = TurretState.INIT + self._turret_offset_rotations: float = 0.0 + self._forward_limit: float = 0.0 + self._reverse_limit: float = 0.0 + self._launcher_setpoint_rpm: float = 0.0 + + # ── Limit switch ─────────────────────────────────────────────────── + self._turret_limit_switch = wpilib.DigitalInput( + constants.ShooterConstants.TURRET_LIMIT_CHANNEL + ) + + # ── Turret motor (TalonFX) ───────────────────────────────────────── + self._turret_motor = TalonFX(constants.ShooterConstants.TURRET_MOTOR_ID) + turret_cfg = TalonFXConfiguration() + turret_cfg.slot0 = ( + Slot0Configs() + .with_k_p(6) + .with_k_i(0) + .with_k_d(0.3) + .with_k_s(0) + ) + turret_cfg.motor_output = MotorOutputConfigs().with_inverted( + InvertedValue.CLOCKWISE_POSITIVE + ) + turret_cfg.current_limits = CurrentLimitsConfigs().with_stator_current_limit(50) + turret_cfg.software_limit_switch = ( + SoftwareLimitSwitchConfigs() + .with_forward_soft_limit_enable(False) + .with_reverse_soft_limit_enable(False) + ) + turret_cfg.feedback = FeedbackConfigs().with_feedback_rotor_offset(0) + self._turret_motor.configurator.apply(turret_cfg) + + self._turret_position_signal = self._turret_motor.get_position() + self._turret_error_signal = self._turret_motor.get_closed_loop_error() + self._turret_control = PositionVoltage(0) + + # ── Launcher motor (SparkMax / REV NEO) ──────────────────────────── + self._launcher_motor = SparkMax( + constants.ShooterConstants.LAUNCHER_MOTOR_ID, + SparkLowLevel.MotorType.kBrushless, + ) + launcher_cfg = SparkMaxConfig() + # Apply equivalent of REV_NEO preset manually + launcher_cfg.inverted(constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED) + launcher_cfg.voltageCompensation(10) + launcher_cfg.closedLoop.P(0.0002).I(0.000001).D(0.0005) + launcher_cfg.closedLoop.feedForward.kS(0.2).kV(0.0).kA(0.0) + launcher_cfg.closedLoop.setFeedbackSensor(FeedbackSensor.kPrimaryEncoder) + launcher_cfg.closedLoop.positionWrappingEnabled(False) + self._launcher_motor.configure( + launcher_cfg, + ResetMode.kResetSafeParameters, + PersistMode.kPersistParameters, + ) + self._launcher_controller = self._launcher_motor.getClosedLoopController() + + # ── Hood servo ───────────────────────────────────────────────────── + self._hood = wpilib.Servo(constants.ShooterConstants.HOOD_SERVO_CHANNEL) + + self._turret_target_pose: Pose3d = Pose3d() + + # ── Public API ───────────────────────────────────────────────────────────── + + def set_launcher(self, speed_rpm: float) -> None: + self._launcher_setpoint_rpm = speed_rpm + if speed_rpm == 0: + self._launcher_motor.stopMotor() + return + self._launcher_controller.setSetpoint( + speed_rpm, SparkBase.ControlType.kVelocity, ClosedLoopSlot.kSlot0 + ) + + def is_launcher_up_to_speed(self) -> bool: + # Currently always returns True (same as Java source) + return True + + def set_target_elevation(self, elev: float) -> None: + pos = abs((elev - 300) / 300) + self._hood.set(pos) + + def home_turret(self) -> None: + if self._turret_state != TurretState.INIT: + return + self._turret_motor.set(constants.ShooterConstants.HOMING_SPEED) + self._turret_state = TurretState.HOMING + + def is_turret_ready(self) -> bool: + return self._turret_state == TurretState.READY + + def get_turret_angle_robot_relative(self) -> float: + return self._get_turret_motor_position() / constants.ShooterConstants.TURRET_GEAR_RATIO + + def set_turret_target_pose(self, target_pose: Pose3d) -> None: + self._turret_target_pose = target_pose + + def get_turret_target_pose(self) -> Pose3d: + return self._turret_target_pose + + def set_turret_field_relative(self, robot_pose, pos: float) -> None: + """Set turret angle field-relative, accounting for robot heading.""" + if self._turret_state != TurretState.READY: + return + + corrected_pos = -pos # Flip angle to match CCW positive + robot_rotations = robot_pose.rotation().toRotation2d().radians() / (2 * math.pi) + turret_angle = ( + Rotation2d.fromRotations(corrected_pos) + + Rotation2d.fromRotations(robot_rotations) + - Rotation2d.fromRotations(0.5) + ) + self.set_turret_robot_relative(turret_angle.radians() / (2 * math.pi)) + + def set_turret_robot_relative(self, pos: float) -> None: + if self._turret_state != TurretState.READY: + return + corrected_pos = -pos # Flip angle to match CCW positive + self.set_turret_motor_rotation( + corrected_pos * constants.ShooterConstants.TURRET_GEAR_RATIO + ) + + def set_turret_motor_rotation(self, pos: float) -> None: + pos_with_offset = pos + self._turret_offset_rotations + self._turret_motor.set_control(self._turret_control.with_position(pos_with_offset)) + + def is_turret_at_target(self) -> bool: + return abs(self._turret_error_signal.refresh().value_as_double) <= 0.1 + + # ── Feedback properties ──────────────────────────────────────────────────── + + @magicbot.feedback + def turret_state(self) -> str: + return self._turret_state.name + + @magicbot.feedback + def turret_angle_robot_relative(self) -> float: + return self.get_turret_angle_robot_relative() + + @magicbot.feedback + def turret_position_error(self) -> float: + return self._turret_error_signal.refresh().value_as_double + + @magicbot.feedback + def launcher_speed_rpm(self) -> float: + return self._launcher_motor.getEncoder().getVelocity() + + @magicbot.feedback + def turret_limit_switch(self) -> bool: + return self._turret_limit_switch.get() + + # ── MagicBot lifecycle ───────────────────────────────────────────────────── + + def execute(self) -> None: + # Homing state machine + if self._turret_state == TurretState.HOMING: + if self._turret_limit_switch.get(): # Switch tripped → homed + self._turret_motor.stopMotor() + raw_pos = self._turret_position_signal.refresh().value_as_double + if wpilib.RobotBase.isReal(): + self._turret_offset_rotations = raw_pos - 1.323 + else: + self._turret_offset_rotations = 0.0 + + self._turret_state = TurretState.READY + self._forward_limit = 1.5 + self._turret_offset_rotations + self._reverse_limit = -1.5 + self._turret_offset_rotations + + # Enable software limits now that homing is complete + limit_cfg = ( + SoftwareLimitSwitchConfigs() + .with_forward_soft_limit_enable(True) + .with_forward_soft_limit_threshold(self._forward_limit) + .with_reverse_soft_limit_enable(True) + .with_reverse_soft_limit_threshold(self._reverse_limit) + ) + self._turret_motor.configurator.apply(limit_cfg) + + # ── Helpers ──────────────────────────────────────────────────────────────── + + def _get_turret_motor_position(self) -> float: + return self._turret_position_signal.refresh().value_as_double - self._turret_offset_rotations diff --git a/constants.py b/constants.py new file mode 100644 index 0000000..f48b51f --- /dev/null +++ b/constants.py @@ -0,0 +1,202 @@ +""" +constants.py – robot-wide constants for Castor 2026 (Python/MagicBot port). + +All Java "public static final" fields become Python class-level attributes. +""" + +import enum +import math + +from phoenix6.signals import InvertedValue +from robotpy_apriltag import AprilTagField, AprilTagFieldLayout +from wpimath.geometry import ( + Pose3d, + Rotation3d, + Transform3d, + Translation2d, + Translation3d, +) + + +class OperatorConstants: + CONTROLLER_PORT: int = 0 + + +class CameraConstants: + + class IDFilters: + RED_HUB_SHOOTING_IDS: list[int] = [8, 9, 10, 11] + BLUE_HUB_SHOOTING_IDS: list[int] = [27, 26, 25, 24] + + BACK_CAMERA_NAME: str = "limelight-back" + BACK_LOCALIZATION_PIPELINE_NUMBER: int = 0 + BACK_HUB_TRACKING_2D_PIPELINE_NUMBER: int = 1 + BACK_HUB_TRACKING_3D_PIPELINE_NUMBER: int = 2 + + FRONT_CAMERA_NAME: str = "limelight-front" + FRONT_LOCALIZATION_PIPELINE_NUMBER: int = 0 + + BLUE_ZONE_COOR: list[float] = [0, 3.5] + RED_ZONE_COOR: list[float] = [13, 16] + NEUTRAL_ZONE_COOR: list[float] = [5.5, 11] + NEUTRAL1_ZONE_COOR: list[float] = [5.5, 11, 0, 3] + NEUTRAL2_ZONE_COOR: list[float] = [5.5, 11, 5, 8] + BLUE1_ZONE_COOR: list[float] = [0, 3.5, 0, 3] + BLUE2_ZONE_COOR: list[float] = [0, 3.5, 5, 8] + RED1_ZONE_COOR: list[float] = [13, 16, 0, 3] + RED2_ZONE_COOR: list[float] = [13, 16, 5, 8] + + +# Swerve encoder offsets as of 3/2/26 +class SwerveDriveOffsets: + FRONT_LEFT_MOTOR_OFFSET: float = -0.336426 + FRONT_RIGHT_MOTOR_OFFSET: float = 0.108887 + BACK_LEFT_MOTOR_OFFSET: float = -0.492432 + BACK_RIGHT_MOTOR_OFFSET: float = 0.470215 + + +# CAN ID numbering convention: +# 1x = Front Left, 2x = Front Right, 3x = Back Left, 4x = Back Right +# Single-digit IDs are non-motor devices (e.g. Pigeon2) +class SwerveDriveIDs: + FRONT_LEFT_STEER_ID: int = 11 + FRONT_LEFT_DRIVE_ID: int = 12 + FRONT_LEFT_ENCODER_ID: int = 13 + + FRONT_RIGHT_STEER_ID: int = 21 + FRONT_RIGHT_DRIVE_ID: int = 22 + FRONT_RIGHT_ENCODER_ID: int = 23 + + BACK_LEFT_STEER_ID: int = 31 + BACK_LEFT_DRIVE_ID: int = 32 + BACK_LEFT_ENCODER_ID: int = 33 + + BACK_RIGHT_STEER_ID: int = 41 + BACK_RIGHT_DRIVE_ID: int = 42 + BACK_RIGHT_ENCODER_ID: int = 43 + + +class RobotChassisLimits: + # Max linear velocity (m/s) + MAX_ROBOT_LINEAR_VELOCITY: float = 3.0 + # Max linear acceleration (m/s²) + MAX_ROBOT_LINEAR_VELOCITY_ACCEL: float = 2.0 + # Max angular velocity (rad/s) + MAX_ROBOT_ANGULAR_VELOCITY: float = math.pi + # Max angular acceleration (rad/s²) + MAX_ROBOT_ANGULAR_VELOCITY_ACCEL: float = math.pi + + +class ExtraIDEntities: + PIGEON_ID: int = 1 + + +class IntakeConstants: + DEPLOY_MOTOR_ID: int = 17 + DEPLOY_MOTOR_INVERTED: bool = True # TODO: Test this + + INTAKE_MOTOR_ID: int = 2 + INTAKE_MOTOR_DIRECTION: InvertedValue = InvertedValue.CLOCKWISE_POSITIVE # TODO: Test this + + +class ShooterConstants: + LAUNCHER_MOTOR_ID: int = 3 + LAUNCHER_MOTOR_INVERTED: bool = False + + TURRET_MOTOR_ID: int = 4 + TURRET_MOTOR_DIRECTION: InvertedValue = InvertedValue.CLOCKWISE_POSITIVE + TURRET_LIMIT_CHANNEL: int = 9 + + # Plain floats (degrees) replacing edu.wpi.first.units.Degrees.of(x) + LIMIT_AZIMUTH_POS: float = 165.0 # degrees + LIMIT_AZIMUTH_NEG: float = 5.0 # degrees + + HOMING_SPEED: float = 0.05 + TURRET_GEAR_RATIO: float = 6.0 + + HOOD_SERVO_CHANNEL: int = 0 + HOOD_SERVO_INVERTED: bool = False # TODO: Test this + HOOD_ENCODER_ID: int = 4 + + TARGET_ELEVATION_DIF: float = 1.0 # degrees + LIMIT_ELEVATION_POS: float = 90.0 # degrees + LIMIT_ELEVATION_NEG: float = 0.0 # degrees + + DEFLECTOR_STORED_ANGLE: float = 0.0 + DEFLECTOR_SET_ANGLE1: float = 100.0 + DEFLECTOR_SET_ANGLE2: float = 200.0 + DEFLECTOR_SET_ANGLE3: float = 300.0 + DEFLECTOR_SERVO_RATIO: float = 1.0 + + +class HopperConstants: + KICKER_MOTOR_ID: int = 9 + KICKER_MOTOR_DIRECTION: InvertedValue = InvertedValue.CLOCKWISE_POSITIVE + + SPINDEXER_MOTOR_ID: int = 8 + SPINDEXER_MOTOR_DIRECTION: InvertedValue = InvertedValue.COUNTER_CLOCKWISE_POSITIVE + + +# ── Swerve module Translation2d locations ──────────────────────────────────── +# Robot is 22" × 22"; modules are at the corners. +# Half of 22" = 11" = 0.2794 m from robot centre to each module. +# WPILib convention: +X is forward, +Y is to the left. +class SwerveDriveModuleLocations: + _HALF: float = 0.2794 # metres (11 inches) + + FRONT_LEFT: Translation2d = Translation2d( _HALF, _HALF) + FRONT_RIGHT: Translation2d = Translation2d( _HALF, -_HALF) + BACK_LEFT: Translation2d = Translation2d(-_HALF, _HALF) + BACK_RIGHT: Translation2d = Translation2d(-_HALF, -_HALF) + + +# ── April-tag field layout (loaded once at import time) ─────────────────────── +_field_tags = AprilTagFieldLayout.loadField(AprilTagField.k2026RebuiltWelded) + + +class FieldPoses: + BLUE_HUB_POSE: Pose3d = _field_tags.getTagPose(26).transformBy( + Transform3d(Translation3d(-0.5207, 0, 0), Rotation3d()) + ) + RED_HUB_POSE: Pose3d = _field_tags.getTagPose(10).transformBy( + Transform3d(Translation3d(-0.5207, 0, 0), Rotation3d()) + ) + + # Passing targets — left/right from driver's perspective; + # origin at blue side of field; rotations are zero (don't matter). + BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(1.99, 6.35, 0, Rotation3d()) + BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(1.99, 1.72, 0, Rotation3d()) + BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(8.27, 6.35, 0, Rotation3d()) + BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(8.27, 1.72, 0, Rotation3d()) + + RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(14.55, 1.72, 0, Rotation3d()) + RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(14.55, 6.35, 0, Rotation3d()) + RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(8.27, 1.72, 0, Rotation3d()) + RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE: Pose3d = Pose3d(8.27, 6.35, 0, Rotation3d()) + + +# ── Shooting-region boundary lines ─────────────────────────────────────────── +class ShootingRegionDimensions: + BLUE_ALLIANCE_ZONE_REGION_X_MAX: float = 3.5 + RED_ALLIANCE_ZONE_REGION_X_MIN: float = 13.0 + NEUTRAL_ZONE_REGION_X_MIN: float = 5.5 + NEUTRAL_ZONE_REGION_X_MAX: float = 11.0 + BLUE_RIGHT_REGION_Y_MAX: float = 3.0 + RED_LEFT_REGION_Y_MAX: float = 3.0 + BLUE_LEFT_REGION_Y_MIN: float = 5.0 + RED_RIGHT_REGION_Y_MIN: float = 5.0 + + +# ── Shooting regions (Java enum → Python enum.Enum) ─────────────────────────── +class ShootingRegion(enum.Enum): + NON_SHOOTING_REGION = enum.auto() + BLUE_OWN_ALLIANCE_ZONE = enum.auto() + BLUE_LEFT_NEUTRAL_ZONE = enum.auto() + BLUE_RIGHT_NEUTRAL_ZONE = enum.auto() + BLUE_LEFT_OPPONENT_ALLIANCE_ZONE = enum.auto() + BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE = enum.auto() + RED_OWN_ALLIANCE_ZONE = enum.auto() + RED_LEFT_NEUTRAL_ZONE = enum.auto() + RED_RIGHT_NEUTRAL_ZONE = enum.auto() + RED_LEFT_OPPONENT_ALLIANCE_ZONE = enum.auto() + RED_RIGHT_OPPONENT_ALLIANCE_ZONE = enum.auto() diff --git a/src/main/deploy/example.txt b/deploy/example.txt similarity index 74% rename from src/main/deploy/example.txt rename to deploy/example.txt index bb82515..2a2cc19 100644 --- a/src/main/deploy/example.txt +++ b/deploy/example.txt @@ -1,3 +1,3 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto b/deploy/pathplanner/autos/1. Hub to Shoot.auto similarity index 95% rename from src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto rename to deploy/pathplanner/autos/1. Hub to Shoot.auto index 732cd97..74cb5df 100644 --- a/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto +++ b/deploy/pathplanner/autos/1. Hub to Shoot.auto @@ -1,88 +1,88 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "1.1 Hub to Shoot" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ChassisAlignShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 10.0 - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "1.2 Shoot to Depot Path" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "RunIntake" - } - }, - { - "type": "wait", - "data": { - "waitTime": 10.0 - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "1.3 Depot to Shoot Path" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ChassisAlignShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 10.0 - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "1.1 Hub to Shoot" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ChassisAlignShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "1.2 Shoot to Depot Path" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "RunIntake" + } + }, + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "1.3 Depot to Shoot Path" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ChassisAlignShoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto b/deploy/pathplanner/autos/9. Chaos Monkey.auto similarity index 94% rename from src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto rename to deploy/pathplanner/autos/9. Chaos Monkey.auto index 465748a..ed86f29 100644 --- a/src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto +++ b/deploy/pathplanner/autos/9. Chaos Monkey.auto @@ -1,25 +1,25 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "9.1 Chaos Monkey Path" - } - }, - { - "type": "named", - "data": { - "name": "Shoot preload" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "9.1 Chaos Monkey Path" + } + }, + { + "type": "named", + "data": { + "name": "Shoot preload" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Depot. Hub.auto b/deploy/pathplanner/autos/Depot. Hub.auto similarity index 94% rename from src/main/deploy/pathplanner/autos/Depot. Hub.auto rename to deploy/pathplanner/autos/Depot. Hub.auto index 134ca13..b90bed7 100644 --- a/src/main/deploy/pathplanner/autos/Depot. Hub.auto +++ b/deploy/pathplanner/autos/Depot. Hub.auto @@ -1,25 +1,25 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "S. Hub. shoot 8. E-Hub" - } - }, - { - "type": "path", - "data": { - "pathName": "M. Depot. " - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "S. Hub. shoot 8. E-Hub" + } + }, + { + "type": "path", + "data": { + "pathName": "M. Depot. " + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Depot. L-Tr..auto b/deploy/pathplanner/autos/Depot. L-Tr..auto similarity index 94% rename from src/main/deploy/pathplanner/autos/Depot. L-Tr..auto rename to deploy/pathplanner/autos/Depot. L-Tr..auto index 597d68e..b674d7c 100644 --- a/src/main/deploy/pathplanner/autos/Depot. L-Tr..auto +++ b/deploy/pathplanner/autos/Depot. L-Tr..auto @@ -1,25 +1,25 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "S. L-Tre. Preload." - } - }, - { - "type": "path", - "data": { - "pathName": "M. Depot. " - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "S. L-Tre. Preload." + } + }, + { + "type": "path", + "data": { + "pathName": "M. Depot. " + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Depot. R-Tr.auto b/deploy/pathplanner/autos/Depot. R-Tr.auto similarity index 94% rename from src/main/deploy/pathplanner/autos/Depot. R-Tr.auto rename to deploy/pathplanner/autos/Depot. R-Tr.auto index 89cb728..93ed248 100644 --- a/src/main/deploy/pathplanner/autos/Depot. R-Tr.auto +++ b/deploy/pathplanner/autos/Depot. R-Tr.auto @@ -1,25 +1,25 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "S. R-Trench. E-Hub" - } - }, - { - "type": "path", - "data": { - "pathName": "M. Depot. " - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "S. R-Trench. E-Hub" + } + }, + { + "type": "path", + "data": { + "pathName": "M. Depot. " + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HUB_START.auto b/deploy/pathplanner/autos/HUB_START.auto similarity index 93% rename from src/main/deploy/pathplanner/autos/HUB_START.auto rename to deploy/pathplanner/autos/HUB_START.auto index 90fb0e0..57bbf0d 100644 --- a/src/main/deploy/pathplanner/autos/HUB_START.auto +++ b/deploy/pathplanner/autos/HUB_START.auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "HUB_START" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "HUB_START" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/LEFT_TRENCH_START.auto b/deploy/pathplanner/autos/LEFT_TRENCH_START.auto similarity index 94% rename from src/main/deploy/pathplanner/autos/LEFT_TRENCH_START.auto rename to deploy/pathplanner/autos/LEFT_TRENCH_START.auto index b8aef49..4d4278f 100644 --- a/src/main/deploy/pathplanner/autos/LEFT_TRENCH_START.auto +++ b/deploy/pathplanner/autos/LEFT_TRENCH_START.auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "LEFT_TRENCH_START" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LEFT_TRENCH_START" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RIGHT_TRENCH_START.auto b/deploy/pathplanner/autos/RIGHT_TRENCH_START.auto similarity index 94% rename from src/main/deploy/pathplanner/autos/RIGHT_TRENCH_START.auto rename to deploy/pathplanner/autos/RIGHT_TRENCH_START.auto index 4ef3703..cc02d5b 100644 --- a/src/main/deploy/pathplanner/autos/RIGHT_TRENCH_START.auto +++ b/deploy/pathplanner/autos/RIGHT_TRENCH_START.auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "RIGHT_TRENCH_START" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RIGHT_TRENCH_START" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Relay. L-Tr..auto b/deploy/pathplanner/autos/Relay. L-Tr..auto similarity index 93% rename from src/main/deploy/pathplanner/autos/Relay. L-Tr..auto rename to deploy/pathplanner/autos/Relay. L-Tr..auto index 527c67d..7778b18 100644 --- a/src/main/deploy/pathplanner/autos/Relay. L-Tr..auto +++ b/deploy/pathplanner/autos/Relay. L-Tr..auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Relay. L-Tr." - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Relay. L-Tr." + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Relay. R-Tr..auto b/deploy/pathplanner/autos/Relay. R-Tr..auto similarity index 93% rename from src/main/deploy/pathplanner/autos/Relay. R-Tr..auto rename to deploy/pathplanner/autos/Relay. R-Tr..auto index aa5298a..3187eb0 100644 --- a/src/main/deploy/pathplanner/autos/Relay. R-Tr..auto +++ b/deploy/pathplanner/autos/Relay. R-Tr..auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Relay. R-Tr." - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Relay. R-Tr." + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto b/deploy/pathplanner/autos/Shoot 8. Hub.auto similarity index 95% rename from src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto rename to deploy/pathplanner/autos/Shoot 8. Hub.auto index 3cffb68..ab17eec 100644 --- a/src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto +++ b/deploy/pathplanner/autos/Shoot 8. Hub.auto @@ -1,38 +1,38 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "S. Hub. shoot 8. E-Hub" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 10.0 - } - }, - { - "type": "named", - "data": { - "name": "TurretShoot" - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "S. Hub. shoot 8. E-Hub" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + }, + { + "type": "named", + "data": { + "name": "TurretShoot" + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto b/deploy/pathplanner/autos/Shoot 8. L-Tr..auto similarity index 94% rename from src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto rename to deploy/pathplanner/autos/Shoot 8. L-Tr..auto index 997f905..5953c95 100644 --- a/src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto +++ b/deploy/pathplanner/autos/Shoot 8. L-Tr..auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "S. L-Tre. Preload." - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "S. L-Tre. Preload." + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto b/deploy/pathplanner/autos/Shoot 8. R-Tr..auto similarity index 94% rename from src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto rename to deploy/pathplanner/autos/Shoot 8. R-Tr..auto index ae61a31..e4310ab 100644 --- a/src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto +++ b/deploy/pathplanner/autos/Shoot 8. R-Tr..auto @@ -1,19 +1,19 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "S. R-Trench. E-Hub" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "S. R-Trench. E-Hub" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/navgrid.json b/deploy/pathplanner/navgrid.json similarity index 100% rename from src/main/deploy/pathplanner/navgrid.json rename to deploy/pathplanner/navgrid.json diff --git a/src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path b/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path similarity index 95% rename from src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path rename to deploy/pathplanner/paths/1.1 Hub to Shoot Path.path index 37590bd..71372d2 100644 --- a/src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path +++ b/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path @@ -1,58 +1,58 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.5, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 3.0, - "y": 4.0 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.0, - "y": 4.0 - }, - "prevControl": { - "x": 2.5, - "y": 4.0 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 1.5, - "maxAcceleration": 1.5, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -177.9047474356738 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, -<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to Depot.path - "rotation": -179.99999999992184 -======= - "rotation": -179.69626968995792 ->>>>>>> c2fa27aa5cc22124b930645e802b8176658edb7a:src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5, + "y": 4.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.0, + "y": 4.0 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.0, + "y": 4.0 + }, + "prevControl": { + "x": 2.5, + "y": 4.0 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -177.9047474356738 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, +<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to Depot.path + "rotation": -179.99999999992184 +======= + "rotation": -179.69626968995792 +>>>>>>> c2fa27aa5cc22124b930645e802b8176658edb7a:src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/1.1 Hub to Shoot.path b/deploy/pathplanner/paths/1.1 Hub to Shoot.path similarity index 94% rename from src/main/deploy/pathplanner/paths/1.1 Hub to Shoot.path rename to deploy/pathplanner/paths/1.1 Hub to Shoot.path index 23e1232..735777b 100644 --- a/src/main/deploy/pathplanner/paths/1.1 Hub to Shoot.path +++ b/deploy/pathplanner/paths/1.1 Hub to Shoot.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.5, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.75, - "y": 4.0 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.0, - "y": 4.0 - }, - "prevControl": { - "x": 2.75, - "y": 4.0 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 177.4888349270938 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -179.0393266954795 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5, + "y": 4.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.75, + "y": 4.0 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.0, + "y": 4.0 + }, + "prevControl": { + "x": 2.75, + "y": 4.0 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 177.4888349270938 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -179.0393266954795 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path b/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path similarity index 95% rename from src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path rename to deploy/pathplanner/paths/1.2 Shoot to Depot Path.path index 554ebf4..0372ebc 100644 --- a/src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path +++ b/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path @@ -1,54 +1,54 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.0, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.2144854970378125, - "y": 3.8554998234204434 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.0, - "y": 6.0 - }, - "prevControl": { - "x": 1.2166471375173105, - "y": 5.875244167248359 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -178.09121133641756 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.4910281334858283 - }, - "useDefaultConstraints": true +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.0, + "y": 4.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.2144854970378125, + "y": 3.8554998234204434 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.0, + "y": 6.0 + }, + "prevControl": { + "x": 1.2166471375173105, + "y": 5.875244167248359 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -178.09121133641756 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.4910281334858283 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path b/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path similarity index 95% rename from src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path rename to deploy/pathplanner/paths/1.3 Depot to Shoot Path.path index 11dd115..0d37cb9 100644 --- a/src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path +++ b/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path @@ -1,54 +1,54 @@ -{ - 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"robotWidth": 0.8763, - "robotLength": 0.8763, - "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 360.0, - "defaultMaxAngAccel": 720.0, - "defaultNominalVoltage": 12.0, - "robotMass": 44.4521, - "robotMOI": 6.883, - "robotTrackwidth": 0.546, - "driveWheelRadius": 0.051, - "driveGearing": 8.14, - "maxDriveSpeed": 3.9, - "driveMotorType": "krakenX60", - "driveCurrentLimit": 60.0, - "wheelCOF": 1.2, - "flModuleX": 0.273, - "flModuleY": 0.273, - "frModuleX": 0.273, - "frModuleY": -0.273, - "blModuleX": -0.273, - "blModuleY": 0.273, - "brModuleX": -0.273, - "brModuleY": -0.273, - "bumperOffsetX": 0.0, - "bumperOffsetY": 0.0, - "robotFeatures": [] +{ + "robotWidth": 0.8763, + "robotLength": 0.8763, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 360.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 44.4521, + "robotMOI": 6.883, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.051, + "driveGearing": 8.14, + "maxDriveSpeed": 3.9, + "driveMotorType": "krakenX60", + "driveCurrentLimit": 60.0, + "wheelCOF": 1.2, + "flModuleX": 0.273, + "flModuleY": 0.273, + "frModuleX": 0.273, + "frModuleY": -0.273, + "blModuleX": -0.273, + "blModuleY": 0.273, + "brModuleX": -0.273, + "brModuleY": -0.273, + "bumperOffsetX": 0.0, + "bumperOffsetY": 0.0, + "robotFeatures": [] } \ No newline at end of file diff --git a/genie.py b/genie.py new file mode 100644 index 0000000..82dbfeb --- /dev/null +++ b/genie.py @@ -0,0 +1,37 @@ +""" +genie.py – Thin MagicRobot subclass that integrates commands2.CommandScheduler. + +GenieRobot bridges MagicBot's component-injection lifecycle with the +commands2/PathPlannerLib command-based pattern by running the +CommandScheduler once per robot loop iteration. +""" + +import commands2 +import magicbot + + +class GenieRobot(magicbot.MagicRobot): + """ + MagicRobot subclass that runs the commands2 CommandScheduler each loop. + + Inherit from this instead of MagicRobot whenever PathPlannerLib commands + or other commands2 commands need to execute. + """ + + def robotPeriodic(self) -> None: + """Run the CommandScheduler every loop, then delegate to MagicRobot.""" + commands2.CommandScheduler.getInstance().run() + return super().robotPeriodic() + + def scheduleCommand(self, command: commands2.Command) -> None: + """ + Schedule a commands2 Command to run via the CommandScheduler. + Used to kick off PathPlanner autos and named commands. + + :param command: The command to schedule. + """ + commands2.CommandScheduler.getInstance().schedule(command) + + def disabledPeriodic(self) -> None: + """Called periodically while the robot is disabled. No-op by default.""" + pass diff --git a/gradle.properties b/gradle.properties deleted file mode 100644 index dd96912..0000000 --- a/gradle.properties +++ /dev/null @@ -1,4 +0,0 @@ -frcYear = 2026 -wpiVersion = 2026.2.1 - -ctreVersion = 26.1.0 diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar deleted file mode 100644 index a4b76b9..0000000 Binary files a/gradle/wrapper/gradle-wrapper.jar and /dev/null differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties deleted file mode 100644 index 8e975a5..0000000 --- a/gradle/wrapper/gradle-wrapper.properties +++ /dev/null @@ -1,7 +0,0 @@ -distributionBase=GRADLE_USER_HOME -distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip -networkTimeout=10000 -validateDistributionUrl=true -zipStoreBase=GRADLE_USER_HOME -zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew deleted file mode 100755 index f5feea6..0000000 --- a/gradlew +++ /dev/null @@ -1,252 +0,0 @@ -#!/bin/sh - -# -# Copyright © 2015-2021 the original authors. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# https://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# SPDX-License-Identifier: Apache-2.0 -# - -############################################################################## -# -# Gradle start up script for POSIX generated by Gradle. -# -# Important for running: -# -# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is -# noncompliant, but you have some other compliant shell such as ksh or -# bash, then to run this script, type that shell name before the whole -# command line, like: -# -# ksh Gradle -# -# Busybox and similar reduced shells will NOT work, because this script -# requires all of these POSIX shell features: -# * functions; -# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», -# «${var#prefix}», «${var%suffix}», and «$( cmd )»; -# * compound commands having a testable exit status, especially «case»; -# * various built-in commands including «command», «set», and «ulimit». -# -# Important for patching: -# -# (2) This script targets any POSIX shell, so it avoids extensions provided -# by Bash, Ksh, etc; in particular arrays are avoided. -# -# The "traditional" practice of packing multiple parameters into a -# space-separated string is a well documented source of bugs and security -# problems, so this is (mostly) avoided, by progressively accumulating -# options in "$@", and eventually passing that to Java. -# -# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, -# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; -# see the in-line comments for details. -# -# There are tweaks for specific operating systems such as AIX, CygWin, -# Darwin, MinGW, and NonStop. -# -# (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/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 "${APP_HOME:-./}" > /dev/null && printf '%s -' "$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 "$( uname )" in #( - CYGWIN* ) cygwin=true ;; #( - Darwin* ) darwin=true ;; #( - MSYS* | MINGW* ) msys=true ;; #( - NONSTOP* ) nonstop=true ;; -esac - -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar - - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD=$JAVA_HOME/jre/sh/java - else - JAVACMD=$JAVA_HOME/bin/java - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD=java - if ! command -v java >/dev/null 2>&1 - then - die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -fi - -# Increase the maximum file descriptors if we can. -if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then - case $MAX_FD in #( - max*) - # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - MAX_FD=$( ulimit -H -n ) || - warn "Could not query maximum file descriptor limit" - esac - case $MAX_FD in #( - '' | soft) :;; #( - *) - # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - ulimit -n "$MAX_FD" || - warn "Could not set maximum file descriptor limit to $MAX_FD" - esac -fi - -# Collect all arguments for the java command, stacking in reverse order: -# * args from the command line -# * the main class name -# * -classpath -# * -D...appname settings -# * --module-path (only if needed) -# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. - -# For Cygwin or MSYS, switch paths to Windows format before running java -if "$cygwin" || "$msys" ; then - APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) - CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) - - JAVACMD=$( cygpath --unix "$JAVACMD" ) - - # Now convert the arguments - kludge to limit ourselves to /bin/sh - for arg do - if - case $arg in #( - -*) false ;; # don't mess with options #( - /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath - [ -e "$t" ] ;; #( - *) false ;; - esac - then - arg=$( cygpath --path --ignore --mixed "$arg" ) - fi - # Roll the args list around exactly as many times as the number of - # args, so each arg winds up back in the position where it started, but - # possibly modified. - # - # NB: a `for` loop captures its iteration list before it begins, so - # changing the positional parameters here affects neither the number of - # iterations, nor the values presented in `arg`. - shift # remove old arg - set -- "$@" "$arg" # push replacement arg - done -fi - - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' - -# Collect all arguments for the java command: -# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, -# and any embedded shellness will be escaped. -# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be -# treated as '${Hostname}' itself on the command line. - -set -- \ - "-Dorg.gradle.appname=$APP_BASE_NAME" \ - -classpath "$CLASSPATH" \ - org.gradle.wrapper.GradleWrapperMain \ - "$@" - -# Stop when "xargs" is not available. -if ! command -v xargs >/dev/null 2>&1 -then - die "xargs is not available" -fi - -# Use "xargs" to parse quoted args. -# -# With -n1 it outputs one arg per line, with the quotes and backslashes removed. -# -# In Bash we could simply go: -# -# readarray ARGS < <( xargs -n1 <<<"$var" ) && -# set -- "${ARGS[@]}" "$@" -# -# but POSIX shell has neither arrays nor command substitution, so instead we -# post-process each arg (as a line of input to sed) to backslash-escape any -# character that might be a shell metacharacter, then use eval to reverse -# that process (while maintaining the separation between arguments), and wrap -# the whole thing up as a single "set" statement. -# -# This will of course break if any of these variables contains a newline or -# an unmatched quote. -# - -eval "set -- $( - printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | - xargs -n1 | - sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | - tr '\n' ' ' - )" '"$@"' - -exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat deleted file mode 100644 index 9b42019..0000000 --- a/gradlew.bat +++ /dev/null @@ -1,94 +0,0 @@ -@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 - -set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar - - -@rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* - -:end -@rem End local scope for the variables with windows NT shell -if %ERRORLEVEL% equ 0 goto mainEnd - -:fail -rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of -rem the _cmd.exe /c_ return code! -set EXIT_CODE=%ERRORLEVEL% -if %EXIT_CODE% equ 0 set EXIT_CODE=1 -if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% -exit /b %EXIT_CODE% - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega diff --git a/lib/Posty b/lib/Posty deleted file mode 160000 index f3e38dc..0000000 --- a/lib/Posty +++ /dev/null @@ -1 +0,0 @@ -Subproject commit f3e38dc7ec323ba5cca8293a6df8de677d067d4d diff --git a/lib/RoboLib b/lib/RoboLib deleted file mode 160000 index c0478b0..0000000 --- a/lib/RoboLib +++ /dev/null @@ -1 +0,0 @@ -Subproject commit c0478b01a526712b8308ac329017857177a3c876 diff --git a/libs.gradle b/libs.gradle deleted file mode 100644 index 76ebaed..0000000 --- a/libs.gradle +++ /dev/null @@ -1,11 +0,0 @@ -build{ - dependsOn ':lib:Posty:lib:build' - dependsOn ':lib:RoboLib:lib:build' -} - -dependencies{ - // Team 578 libraries - implementation project(':lib:Posty:lib') - implementation project(':lib:RoboLib:lib') -} - diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..12201a6 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,36 @@ +# +# Use this configuration file to control what RobotPy packages are installed +# on your RoboRIO +# + +[tool.robotpy] + +# Version of robotpy this project depends on +robotpy_version = "2026.2.2" + +# Which optional robotpy components should be installed? +# -> equivalent to `pip install robotpy[extra1, ...] +components = [ + #"all", + "apriltag", + "commands2", # Needed for PathPlanner + GenieRobot pattern + # "cscore", + # "romi", + # "sim", + # "xrp", +] + +# Other pip packages to install, such as vendor packages (each element +# is equivalent to a line in requirements.txt) +requires = [ + "robotpy-rev", # SparkMax (launcher motor) + "robotpy-ctre", # WPI_TalonSRX (deploy motor, Phoenix 5), TalonFX (drive, turret, hopper), CANcoder, Pigeon2 + "robotpy-pathplannerlib", # Path following +] + +[tool.ruff] +line-length = 120 +target-version = "py312" + +[tool.ruff.lint] +select = ["E", "F", "W", "I"] # pycodestyle, pyflakes, isort diff --git a/robot.py b/robot.py new file mode 100644 index 0000000..385c924 --- /dev/null +++ b/robot.py @@ -0,0 +1,164 @@ +""" +robot.py – Main robot file for Castor 2026 (Python/MagicBot port). + +MyRobot extends GenieRobot (which extends MagicRobot and also runs the +CommandScheduler each loop so PathPlannerLib commands work seamlessly). +""" + +import commands2 +import wpilib +from pathplannerlib.auto import NamedCommands +from pathplannerlib.config import RobotConfig + +import constants +from autonomous.chassis_align_shoot import ChassisAlignShootCommand +from autonomous.turret_shoot import TurretShootCommand +from components.controller import XboxController +from components.drive import DriveComponent +from components.hopper import HopperComponent +from components.intake import IntakeComponent +from components.turret import TurretComponent +from genie import GenieRobot + + +class _DriveSubsystemAdapter(commands2.Subsystem): + """ + Satisfies AutoBuilder.configure()'s subsystem requirement parameter. + DriveComponent is not a commands2.Subsystem, so this adapter bridges the gap. + """ + + pass + + +class MyRobot(GenieRobot): + # ── MagicBot component declarations (framework auto-injects instances) ── + driver_controller: XboxController + # Prefixed variable: MagicBot strips "driver_controller_" and injects + # `port` into the XboxController component before its setup() runs. + driver_controller_port: int = constants.OperatorConstants.CONTROLLER_PORT + drive: DriveComponent + hopper: HopperComponent + intake: IntakeComponent + turret: TurretComponent + + def createObjects(self) -> None: + """ + Called by MagicBot before any component setup() methods. + Class-level prefixed variables (e.g. driver_controller_port) are + injected into components automatically after this method returns. + """ + # Tracks the active A/X turret-shoot command so it can be cancelled + self._shoot_cmd: TurretShootCommand | None = None + + def _post_setup(self) -> None: + """ + Called after all component setup() methods have run (from robotInit). + Wire button bindings and PathPlanner named commands here because + component objects are fully constructed at this point. + """ + # Pass the underlying wpilib controller to intake for rumble feedback + self.intake.set_controller(self.driver_controller.this_controller) + + # ── PathPlanner named commands ───────────────────────────────────── + NamedCommands.registerCommand( + "ChassisAlignShoot", + ChassisAlignShootCommand(self.drive, self.hopper, self.turret), + ) + NamedCommands.registerCommand( + "TurretShoot", + TurretShootCommand(self.hopper, self.turret, self.intake, self.drive), + ) + NamedCommands.registerCommand( + "RunIntake", + commands2.FunctionalCommand( + onInit=self.intake.intake, + onExecute=lambda: None, + onEnd=lambda interrupted: self.intake.stop_intake(), + isFinished=lambda: False, + ), + ) + # Aliases used in PathPlanner auto files + NamedCommands.registerCommand( + "Shoot preload", + TurretShootCommand(self.hopper, self.turret, self.intake, self.drive), + ) + NamedCommands.registerCommand( + "Shoot Headed R-Tr", + ChassisAlignShootCommand(self.drive, self.hopper, self.turret), + ) + NamedCommands.registerCommand( + "Shoot headed L-Tr", + ChassisAlignShootCommand(self.drive, self.hopper, self.turret), + ) + + # ── AutoBuilder / auto chooser ───────────────────────────────────── + try: + robot_config = RobotConfig.fromGUISettings() + drive_adapter = _DriveSubsystemAdapter() + self.drive.inject_drive_adapter(drive_adapter, robot_config) + except Exception as e: + print(f"[robot.py] AutoBuilder configuration failed: {e}") + + def teleopPeriodic(self) -> None: + # ── Drive ────────────────────────────────────────────────────────── + self.drive.set_chassis_speeds_field_relative( + -self.driver_controller.left_y, + -self.driver_controller.left_x, + -self.driver_controller.right_x, + ) + + # ── One-shot actions (fire when button is released) ──────────────── + if self.driver_controller.left_bumper_was_pressed(): + self.turret.home_turret() + + if self.driver_controller.right_bumper_was_pressed(): + self.intake.intake() + + if self.driver_controller.y_button_was_pressed(): + self.scheduleCommand( + commands2.SequentialCommandGroup( + commands2.InstantCommand(self.intake.deploy), + commands2.WaitCommand(2.0), + commands2.InstantCommand(self.intake.stop_deploy), + ) + ) + + # ── Held actions ─────────────────────────────────────────────────── + if self.driver_controller.start_button_pressed(): + self.intake.reset_deploy() + + if self.driver_controller.b_button_pressed(): + self.intake.reverse_intake() + self.hopper.reverse_kicker() + + # A or X held → schedule turret-shoot command; cancel when released + shooting = ( + self.driver_controller.a_button_pressed() + or self.driver_controller.x_button_pressed() + ) + if shooting: + if self._shoot_cmd is None or self._shoot_cmd.isFinished(): + self._shoot_cmd = TurretShootCommand( + self.hopper, self.turret, self.intake, self.drive + ) + self.scheduleCommand(self._shoot_cmd) + elif self._shoot_cmd is not None and not self._shoot_cmd.isFinished(): + self._shoot_cmd.cancel() + self._shoot_cmd = None + + def autonomousInit(self) -> None: + auto_cmd = self.drive.get_auto_command() + if auto_cmd is not None: + self.scheduleCommand(auto_cmd) + + def disabledInit(self) -> None: + self.drive.set_brake_mode(True) + + def robotInit(self) -> None: + super().robotInit() + self.drive.set_brake_mode(False) + self._post_setup() + + +if __name__ == "__main__": + wpilib.run(MyRobot) diff --git a/settings.gradle b/settings.gradle deleted file mode 100644 index c488f91..0000000 --- a/settings.gradle +++ /dev/null @@ -1,33 +0,0 @@ -import org.gradle.internal.os.OperatingSystem - -pluginManagement { - repositories { - mavenLocal() - gradlePluginPortal() - String frcYear = '2026' - File frcHome - if (OperatingSystem.current().isWindows()) { - String publicFolder = System.getenv('PUBLIC') - if (publicFolder == null) { - publicFolder = "C:\\Users\\Public" - } - def homeRoot = new File(publicFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } else { - def userFolder = System.getProperty("user.home") - def homeRoot = new File(userFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } - def frcHomeMaven = new File(frcHome, 'maven') - maven { - name = 'frcHome' - url = frcHomeMaven - } - } -} - -Properties props = System.getProperties(); -props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); - -include ':lib:Posty:lib' -include ':lib:RoboLib:lib' diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index 512b0fe..0000000 --- a/simgui-ds.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "Keyboard 0 Settings": { - "window": { - "visible": true - } - }, - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 83, - "incKey": 87 - }, - { - "decayRate": 0.009999999776482582, - "keyRate": 0.009999999776482582 - }, - {}, - { - "decKey": 81, - "incKey": 69 - } - ], - "axisCount": 5, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ], - "robotJoysticks": [ - { - "guid": "Keyboard0" - } - ] -} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java deleted file mode 100644 index 7ef4d67..0000000 --- a/src/main/java/frc/robot/Constants.java +++ /dev/null @@ -1,220 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -package frc.robot; - -import com.ctre.phoenix6.signals.InvertedValue; - -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.units.measure.Angle; - -/** - * The Constants class provides a convenient place for teams to hold robot-wide - * numerical or boolean constants. This class should not be used for any other - * purpose. All constants should be declared globally (i.e. public static). Do - * not put anything functional in this class. - * - *

- * It is advised to statically import this class (or one of its inner classes) - * wherever the constants are needed, to reduce verbosity. - */ -public final class Constants { - - public static class OperatorConstants { - - public static final int kDriverControllerPort = 0; - } - - public static class CameraConstanst { - - public static class IDFilters { - - public static final int[] RED_HUB_SHOOTING_IDS = new int[]{8, 9, 10, 11}; - public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{27, 26, 25, 24}; - } - - public static final String BACK_CAMERA_NAME = "limelight-back"; - public static final int BACK_LOCALIZATION_PIPELINE_NUMBER = 0; - public static final int BACK_HUB_TRACKING_2D_PIPELINE_NUMBER = 1; - public static final int BACK_HUB_TRACKING_3D_PIPELINE_NUMBER = 2; - - public static final String FRONT_CAMERA_NAME = "limelight-front"; - public static final int FRONT_LOCALIZATION_PIPELINE_NUMBER = 0; - public static final double[] BLUE_ZONE_COOR = new double[]{0, 3.5}; - public static final double[] RED_ZONE_COOR = new double[]{13, 16}; - public static final double[] NEUTRAL_ZONE_COOR = new double[]{5.5, 11}; - public static final double[] NEUTRAL1_ZONE_COOR = new double[]{5.5, 11, 0, 3}; - public static final double[] NEUTRAL2_ZONE_COOR = new double[]{5.5, 11, 5, 8}; - public static final double[] BLUE1_ZONE_COOR = new double[]{0, 3.5, 0, 3}; - public static final double[] BLUE2_ZONE_COOR = new double[]{0, 3.5, 5, 8}; - public static final double[] RED1_ZONE_COOR = new double[]{13, 16, 0, 3}; - public static final double[] RED2_ZONE_COOR = new double[]{13, 16, 5, 8}; - - } - - public static class AdvantageKitConstants { - - public enum RobotType { - SIM, - REAL, - REPLAY - } - public static final RobotType CURRENT_MODE = RobotType.REAL; - } - // Swerve offsets as of 3/2/26 - - public static class SwerveDriveOffsets { - - public static final float FRONT_LEFT_MOTOR_OFFSET = -0.336426f; - public static final float FRONT_RIGHT_MOTOR_OFFSET = 0.108887f; - public static final float BACK_LEFT_MOTOR_OFFSET = -0.492432f; - public static final float BACK_RIGHT_MOTOR_OFFSET = 0.470215f; - } - - /* - * Numbers starting with 1 (E.g. 11, 12, 13) are in the Front Left of the robot - * Numbers starting with 2 (E.g. 21, 22, 23) are in the Front Right of the robot - * Numbers starting with 3 (E.g. 31, 32, 33) are in the Back Left of the robot - * Numbers starting with 4 (E.g. 41, 42, 43) are in the Back Right of the robot - * Laters numbers will be added for more subsystems - * Single diget numbers (E.g. 1, 2, 3) are extra, non-motor, pieces that require IDs, such as the Pigeon - */ - public static class SwerveDriveIDs { - - public static final int FRONT_LEFT_STEER_ID = 11; - public static final int FRONT_LEFT_DRIVE_ID = 12; - public static final int FRONT_LEFT_ENCODER_ID = 13; - public static final int FRONT_RIGHT_STEER_ID = 21; - public static final int FRONT_RIGHT_DRIVE_ID = 22; - public static final int FRONT_RIGHT_ENCODER_ID = 23; - public static final int BACK_LEFT_STEER_ID = 31; - public static final int BACK_LEFT_DRIVE_ID = 32; - public static final int BACK_LEFT_ENCODER_ID = 33; - public static final int BACK_RIGHT_STEER_ID = 41; - public static final int BACK_RIGHT_DRIVE_ID = 42; - public static final int BACK_RIGHT_ENCODER_ID = 43; - } - - public static class RobotChassisLimits { - // Max velocity in meters per second - - public static final double MAX_ROBOT_LINEAR_VELOCITY = 3; - // In meters per second squared - public static final double MAX_ROBOT_LINEAR_VELOCITY_ACCEL = 2; - - // In radians per second - public static final double MAX_ROBOT_ANGULAR_VELOCITY = Math.PI; - // In radians per second squared - public static final double MAX_ROBOT_ANGULAR_VELOCITY_ACCEL = Math.PI; - } - - //Bird - public static class ExtraIDEntities { - - public static final int PIGEON_ID = 1; - } - - public static class IntakeConstants { - - public static final int DEPLOY_MOTOR_ID = 17; - public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this - - public static final int INTAKE_MOTOR_ID = 2; - public static final InvertedValue INTAKE_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; // TODO: Test this - } - - public static class ShooterConstants { - - public static final int LAUNCHER_MOTOR_ID = 3; - public static final boolean LAUNCHER_MOTOR_INVERTED = false; - - public static final int TURRET_MOTOR_ID = 4; - public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; - public static final int TURRET_LIMIT_CHANNEL = 9; - public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(165); - public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5); - public static final double HOMING_SPEED = .05; - public static final double TURRET_GEAR_RATIO = 6; - - public static final int HOOD_SERVO_CHANNEL = 0; - public static final boolean HOOD_SERVO_INVERTED = false; // TODO: Test this - public static final int HOOD_ENCODER_ID = 4; - public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1); - public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90); - public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0); - public static final double DEFLECTOR_STORED_ANGLE = 0; - public static final double DEFLECTOR_SET_ANGLE1 = 100; - public static final double DEFLECTOR_SET_ANGLE2 = 200; - public static final double DEFLECTOR_SET_ANGLE3 = 300; - public static final double DEFLECTOR_SERVO_RATIO = 1.0; - } - - public static class HopperConstants { - - public static final int KICKER_MOTOR_ID = 9; - public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; - - public static final int SPINDEXER_MOTOR_ID = 8; - public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive; - } - - public static class FieldPoses { - - private static AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded); - - public static Pose3d BLUE_HUB_POSE = fieldTags.getTagPose(26).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero))); - public static Pose3d RED_HUB_POSE = fieldTags.getTagPose(10).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero))); - - // These are the field targets for passing fuel to the Alliance Zone or to the Neutral Zone from the opponent's side. - // Left/Right are from driver's perspective. Coordinates assume origin at blue side of field. - // Rotation are zero because they don't matter. - public static Pose3d BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(1.99, 6.35, 0, new Rotation3d()); - public static Pose3d BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(1.99, 1.72, 0, new Rotation3d()); - public static Pose3d BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 6.35, 0, new Rotation3d()); - public static Pose3d BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 1.72, 0, new Rotation3d()); - - public static Pose3d RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(14.55, 1.72, 0, new Rotation3d()); - public static Pose3d RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(14.55, 6.35, 0, new Rotation3d()); - public static Pose3d RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 1.72, 0, new Rotation3d()); - public static Pose3d RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 6.35, 0, new Rotation3d()); - - - } - - // These represent the dividing lines for the regions in our shooting strategy. - public static class ShootingRegionDimensions { - - public static double BLUE_ALLIANCE_ZONE_REGION_X_MAX = 3.5; - public static double RED_ALLIANCE_ZONE_REGION_X_MIN = 13.0; - public static double NEUTRAL_ZONE_REGION_X_MIN = 5.5; - public static double NEUTRAL_ZONE_REGION_X_MAX = 11.0; - public static double BLUE_RIGHT_REGION_Y_MAX = 3.0; - public static double RED_LEFT_REGION_Y_MAX = 3.0; // same meaning as the previous one, but from red perspective - public static double BLUE_LEFT_REGION_Y_MIN = 5.0; - public static double RED_RIGHT_REGION_Y_MIN = 5.0; // same meaning as the previous one, but from red perspective - - } - - // Regions that define the AutoTurret shooting behaviors. - // Color ID in the name reflects robot's alliance since region definitions vary by alliance. - // Left/Right are from driver's perspective. - public enum ShootingRegion { - NON_SHOOTING_REGION, // Any part of the field that's not in one of the regions - BLUE_OWN_ALLIANCE_ZONE, - BLUE_LEFT_NEUTRAL_ZONE, - BLUE_RIGHT_NEUTRAL_ZONE, - BLUE_LEFT_OPPONENT_ALLIANCE_ZONE, - BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE, - RED_OWN_ALLIANCE_ZONE, - RED_LEFT_NEUTRAL_ZONE, - RED_RIGHT_NEUTRAL_ZONE, - RED_LEFT_OPPONENT_ALLIANCE_ZONE, - RED_RIGHT_OPPONENT_ALLIANCE_ZONE - } -} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java deleted file mode 100644 index 8776e5d..0000000 --- a/src/main/java/frc/robot/Main.java +++ /dev/null @@ -1,25 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import edu.wpi.first.wpilibj.RobotBase; - -/** - * Do NOT add any static variables to this class, or any initialization at all. Unless you know what - * you are doing, do not modify this file except to change the parameter class to the startRobot - * call. - */ -public final class Main { - private Main() {} - - /** - * Main initialization function. Do not perform any initialization here. - * - *

If you change your main robot class, change the parameter type. - */ - public static void main(String... args) { - RobotBase.startRobot(Robot::new); - } -} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java deleted file mode 100644 index ef6efd8..0000000 --- a/src/main/java/frc/robot/Robot.java +++ /dev/null @@ -1,188 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot; - -import java.io.File; -import java.io.FileNotFoundException; -import java.util.Scanner; - -import org.fairportrobotics.frc.posty.PostyManager; -import org.littletonrobotics.junction.LoggedRobot; -import org.littletonrobotics.junction.Logger; -import org.littletonrobotics.junction.networktables.NT4Publisher; -import org.littletonrobotics.junction.wpilog.WPILOGWriter; - -import com.ctre.phoenix6.swerve.SwerveModule; - -import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj.PowerDistribution; -import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; - -/** - * The VM is configured to automatically run this class, and to call the - * functions corresponding to - * each mode, as described in the TimedRobot documentation. If you change the - * name of this class or - * the package after creating this project, you must also update the - * build.gradle file in the - * project. - */ -public class Robot extends LoggedRobot { - private Command m_autonomousCommand; - - private RobotContainer m_robotContainer; - - public static String getVersion() { - try { - Scanner scan = new Scanner(new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/versionfile.txt")); - String ver = scan.nextLine(); - scan.close(); - - return ver; - } catch (FileNotFoundException e) { - e.printStackTrace(); - } - return ""; - } - - /** - * This function is run when the robot is first started up and should be used - * for any - * initialization code. - */ - @Override - public void robotInit() { - - String swVersion = getVersion(); - Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value - Logger.recordMetadata("Software Version", swVersion); - - if (isReal()) { - Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs") - Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging - } else { - setUseTiming(false); // Run as fast as possible - // String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user) - // Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log - // Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log - Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - } - - // Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in - // the "Understanding Data Flow" page - Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may - // be added. - - // Print out software version - Logger.recordOutput("Software Version", swVersion); - System.out.println("Robot Software Version: " + swVersion); - - // Instantiate our RobotContainer. This will perform all our button bindings, - // and put our - // autonomous chooser on the dashboard. - m_robotContainer = new RobotContainer(); - - // Collect Posty tests - PostyManager.getInstance().collectTests(); - - // Run all POST tests after robot has been initialized - PostyManager.getInstance().runAllPOSTs(); - - - m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(false); - } - - /** - * This function is called every 20 ms, no matter the mode. Use this for items - * like diagnostics - * that you want ran during disabled, autonomous, teleoperated and test. - * - *

- * This runs after the mode specific periodic functions, but before LiveWindow - * and - * SmartDashboard integrated updating. - */ - @Override - public void robotPeriodic() { - // Runs the Scheduler. This is responsible for polling buttons, adding - // newly-scheduled - // commands, running already-scheduled commands, removing finished or - // interrupted commands, - // and running subsystem periodic() methods. This must be called from the - // robot's periodic - // block in order for anything in the Command-based framework to work. - CommandScheduler.getInstance().run(); - } - - /** This function is called once each time the robot enters Disabled mode. */ - @Override - public void disabledInit() { - m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(true); - } - - @Override - public void disabledPeriodic() { - } - - /** - * This autonomous runs the autonomous command selected by your - * {@link RobotContainer} class. - */ - @Override - public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - - // schedule the autonomous command (example) - if (m_autonomousCommand != null) { - CommandScheduler.getInstance().schedule(m_autonomousCommand); - } - } - - /** This function is called periodically during autonomous. */ - @Override - public void autonomousPeriodic() { - } - - @Override - public void teleopInit() { - // This makes sure that the autonomous stops running when - // teleop starts running. If you want the autonomous to - // continue until interrupted by another command, remove - // this line or comment it out. - if (m_autonomousCommand != null) { - m_autonomousCommand.cancel(); - } - - } - - /** This function is called periodically during operator control. */ - @Override - public void teleopPeriodic() { - } - - @Override - public void testInit() { - // Cancels all running commands at the start of test mode. - CommandScheduler.getInstance().cancelAll(); - } - - /** This function is called periodically during test mode. */ - @Override - public void testPeriodic() { - } - - /** This function is called once when the robot is first started up. */ - @Override - public void simulationInit() { - } - - /** This function is called periodically whilst in simulation. */ - @Override - public void simulationPeriodic() { - } -} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java deleted file mode 100644 index fdf7e9d..0000000 --- a/src/main/java/frc/robot/RobotContainer.java +++ /dev/null @@ -1,103 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -package frc.robot; - -import com.pathplanner.lib.auto.NamedCommands; - -import edu.wpi.first.wpilibj.GenericHID.RumbleType; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.OperatorConstants; -import frc.robot.commands.AutoShootCommandChassisTurret; -import frc.robot.commands.AutoTurretCommand; -import frc.robot.commands.AutoTurretShootCommand; -import frc.robot.commands.Reverse; -import frc.robot.commands.SetDeflectorCommand; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.IntakeSubsystem; -import frc.robot.subsystems.TurretSubsystem; - -/** - * This class is where the bulk of the robot should be declared. Since - * Command-based is a "declarative" paradigm, very little robot logic should - * actually be handled in the {@link Robot} periodic methods (other than the - * scheduler calls). Instead, the structure of the robot (including subsystems, - * commands, and trigger mappings) should be declared here. - */ -public class RobotContainer { - // The robot's subsystems and commands are defined here... - // Replace with CommandPS4Controller or CommandJoystick if needed - - private final CommandXboxController m_driverController - = new CommandXboxController(OperatorConstants.kDriverControllerPort); - - // private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort); - public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController); - - public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); - - public final TurretSubsystem turretSubsystem = new TurretSubsystem(); - - public final HopperSubsystem hopperSubsystem = new HopperSubsystem(); - - /** - * The container for the robot. Contains subsystems, OI devices, and - * commands. - */ - public RobotContainer() { - - // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); - // turretSubsystem.homeTurret(); - // Configure the trigger bindings - configureBindings(); - - NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); - NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID())); - NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); - - turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); - } - - /** - * Use this method to define your trigger->command mappings. Triggers can be - * created via the - * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor - * with an arbitrary predicate, or via the named factories in {@link - * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link - * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller - * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight - * joysticks}. - * - */ - private void configureBindings() { - // m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); - // m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1)); - // m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); - // m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); - - //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); - m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); - m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID()))); - m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); - m_driverController.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem))); - m_driverController.x().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem))); - m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID())); - m_driverController.y().onTrue(intakeSubsystem.deploy()); - } - - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - // An example command will be run in autonomous - return Commands.parallel(intakeSubsystem.deploy(), Commands.run(() -> { - turretSubsystem.homeTurret(); - }, turretSubsystem), driveSubsystem.getAutoCommand()); - } -} diff --git a/src/main/java/frc/robot/Utils.java b/src/main/java/frc/robot/Utils.java deleted file mode 100644 index 4a0e8c8..0000000 --- a/src/main/java/frc/robot/Utils.java +++ /dev/null @@ -1,173 +0,0 @@ -package frc.robot; - -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import frc.robot.Constants; -import frc.robot.Constants.ShootingRegion; -import frc.robot.Constants.ShootingRegionDimensions; - -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.units.measure.Angle; - -public class Utils { - - /** - * Calculates the needed angle of the turret for a distance from the HUB. - * @param distanceToTag - * @return number of rotations of the turret, robot relative - */ - public static double calculateTurretAngleFromCameraTagDistance(double distanceToTag){ - - // Calculate turret Angle - double cameraDistanceToTarget = distanceToTag + .6; - double cameraToShootDistance = 0.26035; - // a^2 + b^2 = c^2 - double shooterDistanceToTarget = Math - .sqrt(Math.pow(cameraDistanceToTarget, 2) + Math.pow(cameraToShootDistance, 2)); - double angleAtShooter = Math.acos(cameraToShootDistance / shooterDistanceToTarget); - double robotTurretAngle = (Math.PI / 2) - angleAtShooter; - double robotTurretRotations = (robotTurretAngle / Math.PI); - - return robotTurretRotations; - } - - - - /** - * Determines the region for the robot based on its location and alliance. - * Assumes the robot is a 27" square. Thresholds based on observations from simulator. - * @param robotPose: the robot's pose - * @param alliance: the red/blue alliance of the robot, as a sanity check - * @return the robot's shooting region - */ - public static ShootingRegion findRobotShootingRegion(Pose3d robotPose, Alliance alliance){ - ShootingRegion region = Constants.ShootingRegion.NON_SHOOTING_REGION; // the default return value if robot isn't in a valid region - double robotX = robotPose.getX(); - double robotY = robotPose.getY(); - - // Receommended: Add a sanity check for invalid robot poses. - - if (alliance == Alliance.Blue) { - if (robotX < Constants.ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX) { - region = Constants.ShootingRegion.BLUE_OWN_ALLIANCE_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN && - robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX && - robotY > Constants.ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN) { - region = Constants.ShootingRegion.BLUE_LEFT_NEUTRAL_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN && - robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX && - robotY < Constants.ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX) { - region = Constants.ShootingRegion.BLUE_RIGHT_NEUTRAL_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN && - robotY > Constants.ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN) { - region = Constants.ShootingRegion.BLUE_LEFT_OPPONENT_ALLIANCE_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN && - robotY < Constants.ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX) { - region = Constants.ShootingRegion.BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE; - } - } - else if (alliance == Alliance.Red) { - if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN) { - region = Constants.ShootingRegion.RED_OWN_ALLIANCE_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN && - robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX && - robotY < Constants.ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX) { - region = Constants.ShootingRegion.RED_LEFT_NEUTRAL_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN && - robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX && - robotY > Constants.ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN) { - region = Constants.ShootingRegion.RED_RIGHT_NEUTRAL_ZONE; - } - else if (robotX < Constants.ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX && - robotY < Constants.ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX) { - region = Constants.ShootingRegion.RED_LEFT_OPPONENT_ALLIANCE_ZONE; - } - else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN && - robotY > Constants.ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN) { - region = Constants.ShootingRegion.RED_RIGHT_OPPONENT_ALLIANCE_ZONE; - } - } - - Logger.recordOutput("Utils-ShootingRegion", region); - - return region; - } - - public static double getHoodAngleForDistance(double distanceInMeters){ - if(distanceInMeters >= 4){ - return 200; - } - return 0; - } - - public static double getLauncherRPMForDistance(double distanceInMeters){ - return Math.min((667.557*distanceInMeters) + 1500.699, 5000); - } - - /** - * Determines the appropriate shooting target for the robot based on its alliance - * and its current region on the field. There are 10 possible targets: - * Scoring hub, 2x passing from Neutral Zone, 2x passing from opponent's Alliance Zone, - * and these exist for both red and blue alliances. - * Right/left are from driver's perspective. - * @param region: the identifier of the robot's current field region - * @param alliance: the red/blue alliance of the robot, as a sanity check - * @return the shooting target for a robot with the provided properties. Returns all-zero - * Pose3d object if the region/alliance combination is invalid. - */ - public static Pose3d findShootingTarget(ShootingRegion region, Alliance alliance){ - - Pose3d shootingTarget = new Pose3d(); - if (alliance == Alliance.Blue) { - switch (region) { - case BLUE_OWN_ALLIANCE_ZONE: - shootingTarget = Constants.FieldPoses.BLUE_HUB_POSE; - break; - case BLUE_LEFT_NEUTRAL_ZONE: - shootingTarget = Constants.FieldPoses.BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE; - break; - case BLUE_RIGHT_NEUTRAL_ZONE: - shootingTarget = Constants.FieldPoses.BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE; - break; - case BLUE_LEFT_OPPONENT_ALLIANCE_ZONE: - shootingTarget = Constants.FieldPoses.BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE; - break; - case BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE: - shootingTarget = Constants.FieldPoses.BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE; - break; - default: - break; - } - } - else if (alliance == Alliance.Red) { - switch (region) { - case RED_OWN_ALLIANCE_ZONE: - shootingTarget = Constants.FieldPoses.RED_HUB_POSE; - break; - case RED_LEFT_NEUTRAL_ZONE: - shootingTarget = Constants.FieldPoses.RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE; - break; - case RED_RIGHT_NEUTRAL_ZONE: - shootingTarget = Constants.FieldPoses.RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE; - break; - case RED_LEFT_OPPONENT_ALLIANCE_ZONE: - shootingTarget = Constants.FieldPoses.RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE; - break; - case RED_RIGHT_OPPONENT_ALLIANCE_ZONE: - shootingTarget = Constants.FieldPoses.RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE; - break; - default: - break; - } - } - return shootingTarget; - } - -} diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java deleted file mode 100644 index 8ba867b..0000000 --- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java +++ /dev/null @@ -1,154 +0,0 @@ -package frc.robot.commands; - -import java.util.Arrays; -import java.util.List; - -import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers; -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.units.Units; -import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants; -import frc.robot.Utils; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.TurretSubsystem; - -public class AutoShootCommandChassisTurret extends Command{ - - // For Chassis Control - private DriveSubsystem driveSubsystem; - - private HopperSubsystem hopperSubsystem; - private TurretSubsystem turretSubsystem; - - private PIDController cameraAutoCenterController; - private PIDController deadreckoningAutoCenterController; - - private int[] tagFilters; - - private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded); - - private Pose3d closestTag; - - private final double chassisRotateSpeed = Math.PI * 0.1; - - public AutoShootCommandChassisTurret(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem) - { - this.driveSubsystem = driveSubsystem; - this.hopperSubsystem = hopperSubsystem; - this.turretSubsystem = turretSubsystem; - - this.addRequirements(driveSubsystem, hopperSubsystem, turretSubsystem); - - cameraAutoCenterController = new PIDController(0.15, 0.0, 0.0); - cameraAutoCenterController.setTolerance(0.2); // Units degrees - cameraAutoCenterController.setSetpoint(0); - - - deadreckoningAutoCenterController = new PIDController(Math.PI * 0.1, 0, 0.0); - deadreckoningAutoCenterController.setTolerance(0.2); // Units is rotations - deadreckoningAutoCenterController.enableContinuousInput(-Math.PI, Math.PI); - } - - @Override - public void initialize() { - DriverStation.getAlliance().ifPresent((aliance) -> { - if (aliance == Alliance.Blue) { - tagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS; - } else { - tagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS; - } - }); - - turretSubsystem.setLauncher(3000); - turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE); - hopperSubsystem.spindexerOn(); - cameraAutoCenterController.calculate(-100); - - // Change to HUB tracking pipeline - LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_3D_PIPELINE_NUMBER); - LimelightHelpers.SetFiducialIDFiltersOverride(Constants.CameraConstanst.BACK_CAMERA_NAME, tagFilters); - - Pose3d botPose = driveSubsystem.getBotPose(); - // Find closest target to us - List tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()).toList(); - closestTag = botPose.nearest(tagPoses); - Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closestTag); - - Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d()); - Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta); - - deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.kZero).getRadians()); - } - - @Override - public void execute() { - // Need to compute shoot speed and angle - - Logger.recordOutput("AutoAlign-CenteringError", cameraAutoCenterController.getError()); - - // No april tag in camera view. Rotate towards our theoretical closest tag - if(!LimelightHelpers.getTV(Constants.CameraConstanst.BACK_CAMERA_NAME)){ - Logger.recordOutput("AutoAlignState-Tracking", "Deadreckoning"); - - Pose3d botPose = driveSubsystem.getBotPose(); - //driveSubsystem.rotateChassis(-deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); - } - else // We have an april tag, center it to the camera frame - { - Logger.recordOutput("AutoAlignState-Tracking", "Camera"); - // [tx, ty, tz, pitch, yaw, roll] - double[] targetsPose = LimelightHelpers.getTargetPose_CameraSpace(Constants.CameraConstanst.BACK_CAMERA_NAME); - if(targetsPose.length >= 1){ - Logger.recordOutput("AutoAlign-Target Distance", targetsPose[2]); - - // Calculate turret Angle - double turretAngle = Utils.calculateTurretAngleFromCameraTagDistance(targetsPose[2]) * Constants.ShooterConstants.TURRET_GEAR_RATIO; - turretSubsystem.setTurretMotorRotation(-turretAngle); - - driveSubsystem.rotateChassis(-cameraAutoCenterController.calculate(targetsPose[0])); // This may need to be negated - } - } - - // If robot is centered on HUB and shooter is up to speed. Run the kicker - if(turretSubsystem.isLauncherUpToSpeed() && cameraAutoCenterController.atSetpoint()){ - Logger.recordOutput("AutoAlignState-Shoot", "FIRE!"); - hopperSubsystem.feedKicker(); - }else{ - Logger.recordOutput("AutoAlignState-Shoot", "Waiting"); - } - } - - @Override - public boolean isFinished() { - return false; - } - - @Override - public void end(boolean interrupted) { - turretSubsystem.setLauncher(0); - - hopperSubsystem.stopKicker(); - hopperSubsystem.spindexerOff(); - - driveSubsystem.stopDrive(); - - LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_LOCALIZATION_PIPELINE_NUMBER); - } - -} diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurretPathPlanner.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurretPathPlanner.java deleted file mode 100644 index 683a056..0000000 --- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurretPathPlanner.java +++ /dev/null @@ -1,130 +0,0 @@ -package frc.robot.commands; - -import java.util.Arrays; -import java.util.List; - -import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers; -import org.littletonrobotics.junction.Logger; - -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.path.PathConstraints; -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; -import frc.robot.Constants; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.TurretSubsystem; - -public class AutoShootCommandChassisTurretPathPlanner extends Command { - - // For Chassis Control - private DriveSubsystem driveSubsystem; - - private HopperSubsystem hopperSubsystem; - private TurretSubsystem turretSubsystem; - - private int[] tagFilters; - - private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded); - - private Pose3d closestTag; - private Pose2d targetPPPose; - - private Command pathFollowCommand; - - public AutoShootCommandChassisTurretPathPlanner(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, - TurretSubsystem turretSubsystem) { - this.driveSubsystem = driveSubsystem; - this.hopperSubsystem = hopperSubsystem; - this.turretSubsystem = turretSubsystem; - - this.addRequirements(driveSubsystem, hopperSubsystem, turretSubsystem); - - } - - @Override - public void initialize() { - - DriverStation.getAlliance().ifPresent((aliance) -> { - Pose3d targetHub; - if (aliance == Alliance.Blue) { - tagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS; - targetHub = Constants.FieldPoses.BLUE_HUB_POSE; - } else { - tagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS; - targetHub = Constants.FieldPoses.RED_HUB_POSE; - } - - Pose3d botPose = driveSubsystem.getBotPose(); - // Find closest target to us - List tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()) - .toList(); - closestTag = botPose.nearest(tagPoses); - Logger.recordOutput("AutoAlignPP-ClosestAprilTagPose", closestTag); - - Translation2d delta = botPose.getTranslation().toTranslation2d() - .minus(closestTag.getTranslation().toTranslation2d()); - Logger.recordOutput("AutoAlignPP-ClosestAprilTagTransform", delta); - - // Add 180 because we want the back of the robot to face the HUB - // deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.k180deg).getRadians()); - - // Translate back 1 meter from HUB - Translation2d newTrans = targetHub.getTranslation().toTranslation2d() - .plus(new Translation2d(1.5, delta.getAngle())); - targetPPPose = new Pose2d(newTrans, delta.getAngle()); - Logger.recordOutput("AutoAlignPP-PPTargetPose", targetPPPose); - - pathFollowCommand = AutoBuilder.pathfindToPose(targetPPPose, - new PathConstraints(Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY, - Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY_ACCEL, - Constants.RobotChassisLimits.MAX_ROBOT_ANGULAR_VELOCITY, - Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY_ACCEL)); - - CommandScheduler.getInstance().schedule(pathFollowCommand); - }); - - turretSubsystem.setLauncher(5500); - hopperSubsystem.spindexerOn(); - - } - - @Override - public void execute() { - - // If robot is centered on HUB and shooter is up to speed. Run the kicker - if (turretSubsystem.isLauncherUpToSpeed() && pathFollowCommand.isFinished()) { - Logger.recordOutput("AutoAlignState-Shoot", "FIRE!"); - hopperSubsystem.feedKicker(); - } else { - Logger.recordOutput("AutoAlignState-Shoot", "Waiting"); - } - } - - @Override - public boolean isFinished() { - return false; - } - - @Override - public void end(boolean interrupted) { - CommandScheduler.getInstance().cancel(pathFollowCommand); - turretSubsystem.setLauncher(0); - - hopperSubsystem.stopKicker(); - hopperSubsystem.spindexerOff(); - - driveSubsystem.stopDrive(); - - LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, - Constants.CameraConstanst.BACK_LOCALIZATION_PIPELINE_NUMBER); - } - -} diff --git a/src/main/java/frc/robot/commands/AutoTurretCommand.java b/src/main/java/frc/robot/commands/AutoTurretCommand.java deleted file mode 100644 index b0c5da9..0000000 --- a/src/main/java/frc/robot/commands/AutoTurretCommand.java +++ /dev/null @@ -1,96 +0,0 @@ -package frc.robot.commands; - -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.units.Units; -import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants; -import frc.robot.Constants.ShootingRegion; -import frc.robot.Utils; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.TurretSubsystem; - -public class AutoTurretCommand extends Command { - - private final Translation2d CENTER_TURRET_TO_ROBOT = new Translation2d(-0.1335024, -0.1824736); - - private TurretSubsystem turretSubsystem; - private DriveSubsystem driveSubsystem; - - private Alliance alliance; - - public AutoTurretCommand(TurretSubsystem turretSubsystem, DriveSubsystem driveSubsystem) { - this.turretSubsystem = turretSubsystem; - this.driveSubsystem = driveSubsystem; - - addRequirements(turretSubsystem); // Not adding drive as we don't wan't the drive command to be de-scheduled - } - - @Override - public void initialize() { - // Perform auto-home - turretSubsystem.homeTurret(); - - DriverStation.getAlliance().ifPresent((aliance) -> { - if (aliance == Alliance.Blue) { - turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE); - aliance = Alliance.Blue; - } else { - turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE); - aliance = Alliance.Red; - } - }); - - } - - @Override - public void execute() { - - ShootingRegion shootingRegion = Utils.findRobotShootingRegion(driveSubsystem.getBotPose(), DriverStation.getAlliance().get()); - - if(shootingRegion != ShootingRegion.NON_SHOOTING_REGION){ - Pose3d targetPose = Utils.findShootingTarget(shootingRegion, DriverStation.getAlliance().get()); - - turretSubsystem.setTurretTargetPose(targetPose); - } - - Logger.recordOutput("AutoTurret-ScoringTarget", turretSubsystem.getTurretTargetPose()); - - Pose3d botPose = driveSubsystem.getBotPose(); - Pose3d turretPose = botPose.plus(new Transform3d(new Translation3d(CENTER_TURRET_TO_ROBOT), - new Rotation3d(Rotation2d.fromRotations(turretSubsystem.getTurretAngleRobotRelative() + 0.5)))); - Logger.recordOutput("AutoTurret-TurretPose", turretPose); - - Translation2d targetTranslation = turretSubsystem.getTurretTargetPose().getTranslation().toTranslation2d().minus(turretPose.getTranslation().toTranslation2d()); - Logger.recordOutput("AutoTurret-Translation", targetTranslation); - - if(turretSubsystem.isTurretReady()){ - turretSubsystem.setTurretFieldRelative(botPose, targetTranslation.getAngle().getRotations()); - // turretSubsystem.setTurretRobotRelative(0.25); - // turretSubsystem.setTurretMotorRotation(0); - } - - } - - @Override - public boolean isFinished() { - return false; - } - - @Override - public void end(boolean interrupted) { - } - -} diff --git a/src/main/java/frc/robot/commands/AutoTurretShootCommand.java b/src/main/java/frc/robot/commands/AutoTurretShootCommand.java deleted file mode 100644 index 33e9a0b..0000000 --- a/src/main/java/frc/robot/commands/AutoTurretShootCommand.java +++ /dev/null @@ -1,90 +0,0 @@ -package frc.robot.commands; - -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.units.Units; -import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants; -import frc.robot.Utils; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.IntakeSubsystem; -import frc.robot.subsystems.TurretSubsystem; - -public class AutoTurretShootCommand extends Command{ - - private HopperSubsystem hopperSubsystem; - private TurretSubsystem turretSubsystem; - private IntakeSubsystem intakeSubsystem; - private DriveSubsystem driveSubsystem; - - private Command waitCommand = Commands.waitSeconds(1.5); - - private Alliance alliance; - public AutoTurretShootCommand(HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem, IntakeSubsystem intakeSubsystem, DriveSubsystem driveSubsystem){ - this.hopperSubsystem = hopperSubsystem; - this.turretSubsystem = turretSubsystem; - this.intakeSubsystem = intakeSubsystem; - this.driveSubsystem = driveSubsystem; - - addRequirements(hopperSubsystem, intakeSubsystem); - } - - @Override - public void initialize() { - hopperSubsystem.spindexerOn(); - CommandScheduler.getInstance().schedule(waitCommand); - alliance = DriverStation.getAlliance().get(); - Logger.recordOutput("AutoTurretShoot-State", "SHOOTING"); - } - - @Override - public void execute() { - double distance = turretSubsystem.getTurretTargetPose().toPose2d().getTranslation().getDistance(driveSubsystem.getBotPose().getTranslation().toTranslation2d()); - Logger.recordOutput("AutoTurretShoot-DistanceToTarget(Meters)", distance); - - turretSubsystem.setTargetElevation(Utils.getHoodAngleForDistance(distance)); - turretSubsystem.setLauncher(Utils.getLauncherRPMForDistance(distance)); - - if(turretSubsystem.isLauncherUpToSpeed() && waitCommand.isFinished()){ - hopperSubsystem.feedKicker(); - }else{ - hopperSubsystem.stopKicker(); - } - } - - @Override - public boolean isFinished() { - return false; - } - - @Override - public void end(boolean interrupted) { - waitCommand.cancel(); - hopperSubsystem.spindexerOff(); - hopperSubsystem.stopKicker(); - - turretSubsystem.setLauncher(0); - turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE); - - Logger.recordOutput("AutoTurretShoot-State", "NOT SHOOTING"); - - DriverStation.getAlliance().ifPresent((aliance) -> { - if (aliance == Alliance.Blue) { - turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE); - } else { - turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE); - } - }); - - // turretSubsystem.setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY - } - -} diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java deleted file mode 100644 index 90030cd..0000000 --- a/src/main/java/frc/robot/commands/Autos.java +++ /dev/null @@ -1,12 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -public final class Autos { - - private Autos() { - throw new UnsupportedOperationException("This is a utility class!"); - } -} diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java deleted file mode 100644 index 7481d3c..0000000 --- a/src/main/java/frc/robot/commands/ExampleCommand.java +++ /dev/null @@ -1,43 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import frc.robot.subsystems.ExampleSubsystem; -import edu.wpi.first.wpilibj2.command.Command; - -/** An example command that uses an example subsystem. */ -public class ExampleCommand extends Command { - @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) - private final ExampleSubsystem m_subsystem; - - /** - * Creates a new ExampleCommand. - * - * @param subsystem The subsystem used by this command. - */ - public ExampleCommand(ExampleSubsystem subsystem) { - m_subsystem = subsystem; - // Use addRequirements() here to declare subsystem dependencies. - addRequirements(subsystem); - } - - // Called when the command is initially scheduled. - @Override - public void initialize() {} - - // Called every time the scheduler runs while the command is scheduled. - @Override - public void execute() {} - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) {} - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/commands/Reverse.java b/src/main/java/frc/robot/commands/Reverse.java deleted file mode 100644 index d42a108..0000000 --- a/src/main/java/frc/robot/commands/Reverse.java +++ /dev/null @@ -1,57 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -package frc.robot.commands; - -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.HopperSubsystem; -import frc.robot.subsystems.IntakeSubsystem; - -/** - * An example command that uses an example subsystem. - */ -public class Reverse extends Command { - - private IntakeSubsystem intakeSubsystem; - private HopperSubsystem hopperSubsystem; - private XboxController m_XboxController; - - /** - * Creates a new ExampleCommand. - * - * @param subsystem The subsystem used by this command. - */ - public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem, XboxController m_XboxController) { - this.intakeSubsystem = intakeSubsystem; - this.hopperSubsystem = hopperSubsystem; - this.m_XboxController = m_XboxController; - } - - // Called when the command is initially scheduled. - @Override - public void initialize() { - } - - // Called every time the scheduler runs while the command is scheduled. - @Override - public void execute() { - intakeSubsystem.reverseIntake(); - hopperSubsystem.spindexerReverse(); - hopperSubsystem.reverseKicker(); - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - hopperSubsystem.stopKicker(); - hopperSubsystem.spindexerOff(); - intakeSubsystem.stopIntake(m_XboxController); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/commands/SetDeflectorCommand.java b/src/main/java/frc/robot/commands/SetDeflectorCommand.java deleted file mode 100644 index 6a46473..0000000 --- a/src/main/java/frc/robot/commands/SetDeflectorCommand.java +++ /dev/null @@ -1,31 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import frc.robot.subsystems.TurretSubsystem; -import edu.wpi.first.wpilibj2.command.Command; - -/** An example command that uses an example subsystem. **/ -public class SetDeflectorCommand extends Command { - private final TurretSubsystem m_subsystem; - private double deployAngle; - - public SetDeflectorCommand(TurretSubsystem subsystem, double deployAngle) { - m_subsystem = subsystem; - this.deployAngle = deployAngle; - } - - // Called when the command is initially scheduled. - @Override - public void initialize() { - m_subsystem.setTargetElevation(deployAngle); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return true; - } -} diff --git a/src/main/java/frc/robot/commands/ZoneCheck.java b/src/main/java/frc/robot/commands/ZoneCheck.java deleted file mode 100644 index 8213473..0000000 --- a/src/main/java/frc/robot/commands/ZoneCheck.java +++ /dev/null @@ -1,86 +0,0 @@ -package frc.robot.commands; - -import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers; -import org.littletonrobotics.junction.Logger; - -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants; -import frc.robot.subsystems.DriveSubsystem; - -public class ZoneCheck extends Command { - private Zone zone; - private DriveSubsystem driveSubsystem; - - public ZoneCheck(DriveSubsystem driveSubsystem) - { - this.driveSubsystem = driveSubsystem; - } - - public enum Zone { - Blue, - Red, - Neutral, - INIT; - } - - @Override - public void initialize() { - zone = Zone.INIT; - } - - @Override - public void execute() { - getZone(); - Logger.recordOutput("FieldZone", zone); - DriverStation.getAlliance().ifPresent((aliance) -> { - if (aliance == Alliance.Blue) { - switch (zone) { - case Blue: - System.out.println("BLUE"); - break; - case Neutral: - System.out.println("NEUTRAL"); - break; - case Red: - System.out.println("RED"); - break; - default: - System.out.println("****"); - } - } else { - switch (zone) { - case Blue: - System.out.println("BLUE"); - break; - case Neutral: - System.out.println("NEUTRAL"); - break; - case Red: - System.out.println("RED"); - break; - default: - System.out.println("****"); - } - } - }); - } - - @Override - public boolean isFinished() { - return false; - } - - private void getZone() { - if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.RED_ZONE_COOR[0]) { - zone = Zone.Red; - } else if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.NEUTRAL_ZONE_COOR[0]) { - zone = Zone.Neutral; - } else { - zone = Zone.Blue; - } - } -} diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java deleted file mode 100644 index e2700c2..0000000 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ /dev/null @@ -1,280 +0,0 @@ -package frc.robot.subsystems; - -import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat; - -import org.fairportrobotics.frc.posty.TestableSubsystem; -import org.fairportrobotics.frc.posty.test.PostTest; -import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveBuilder; -import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveDriveSystem; -import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule; -import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers; -import org.littletonrobotics.junction.Logger; - -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.config.PIDConstants; -import com.pathplanner.lib.config.RobotConfig; -import com.pathplanner.lib.controllers.PPHolonomicDriveController; -import com.pathplanner.lib.util.PathPlannerLogging; - -import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.RobotState; -import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.robot.Constants; - -public class DriveSubsystem extends TestableSubsystem { - - private SendableChooser autoChooser; - - private SwerveBuilder swerveBuilder = new SwerveBuilder(); - public SwerveDriveSystem driveSystem; - - private double driveP = 0.1; - private double driveI = 0.0; - private double driveD = 0.01; - private double driveKV = 0.2; - - private double steerP = 20; - private double steerI = 0; - private double steerD = 0.0; - private double steerKV = 0; - - public DriveSubsystem(CommandXboxController xboxController) { - - driveSystem = swerveBuilder - .withCanbusName("Drive") - .withPigeonId(Constants.ExtraIDEntities.PIGEON_ID) - .withMaxLinearVelocity(Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY) - .withMaxAngularVelocity(Constants.RobotChassisLimits.MAX_ROBOT_ANGULAR_VELOCITY) - .withSwerveModule( - swerveBuilder.new SwerveModuleBuilder() - .withDriveMotorId(Constants.SwerveDriveIDs.FRONT_LEFT_DRIVE_ID) - .withDriveKP(driveP) - .withDriveKI(driveI) - .withDriveKD(driveD) - .withDriveKV(driveKV) - .withSteerMotorId(Constants.SwerveDriveIDs.FRONT_LEFT_STEER_ID) - .withSteerKP(steerP) - .withSteerKI(steerI) - .withSteerKD(steerD) - .withSteerKV(steerKV) - // If the offsets don't work, contact Tyler W or Dom G - .withSteerOffset(Constants.SwerveDriveOffsets.FRONT_LEFT_MOTOR_OFFSET) - .withSteerEncoderId(Constants.SwerveDriveIDs.FRONT_LEFT_ENCODER_ID) - .withModuleLocation(new Translation2d(1, 1)) - .withModuleName("Front Left") - .withGearRatio(8.14) - .withWheelDiameter(0.1016) - .build()) - .withSwerveModule( - swerveBuilder.new SwerveModuleBuilder() - .withDriveMotorId(Constants.SwerveDriveIDs.FRONT_RIGHT_DRIVE_ID) - .withDriveKP(driveP) - .withDriveKI(driveI) - .withDriveKD(driveD) - .withDriveKV(driveKV) - .withDriveInverted() - .withSteerMotorId(Constants.SwerveDriveIDs.FRONT_RIGHT_STEER_ID) - .withSteerKP(steerP) - .withSteerKI(steerI) - .withSteerKD(steerD) - .withSteerKV(steerKV) - .withSteerOffset(Constants.SwerveDriveOffsets.FRONT_RIGHT_MOTOR_OFFSET) - .withSteerEncoderId(Constants.SwerveDriveIDs.FRONT_RIGHT_ENCODER_ID) - .withModuleLocation(new Translation2d(1, -1)) - .withModuleName("Front Right") - .withGearRatio(8.14) - .withWheelDiameter(0.1016) - .build()) - .withSwerveModule( - swerveBuilder.new SwerveModuleBuilder() - .withDriveMotorId(Constants.SwerveDriveIDs.BACK_LEFT_DRIVE_ID) - .withDriveKP(driveP) - .withDriveKI(driveI) - .withDriveKD(driveD) - .withDriveKV(driveKV) - .withSteerMotorId(Constants.SwerveDriveIDs.BACK_LEFT_STEER_ID) - .withSteerKP(steerP) - .withSteerKI(steerI) - .withSteerKD(steerD) - .withSteerKV(steerKV) - .withSteerOffset(Constants.SwerveDriveOffsets.BACK_LEFT_MOTOR_OFFSET) - .withSteerEncoderId(Constants.SwerveDriveIDs.BACK_LEFT_ENCODER_ID) - .withModuleLocation(new Translation2d(-1, 1)) - .withModuleName("Back Left") - .withGearRatio(8.14) - .withWheelDiameter(0.1016) - .build()) - .withSwerveModule( - swerveBuilder.new SwerveModuleBuilder() - .withDriveMotorId(Constants.SwerveDriveIDs.BACK_RIGHT_DRIVE_ID) - .withDriveKP(driveP) - .withDriveKI(driveI) - .withDriveKD(driveD) - .withDriveKV(driveKV) - .withDriveInverted() - .withSteerMotorId(Constants.SwerveDriveIDs.BACK_RIGHT_STEER_ID) - .withSteerKP(steerP) - .withSteerKI(steerI) - .withSteerKD(steerD) - .withSteerKV(steerKV) - .withSteerOffset(Constants.SwerveDriveOffsets.BACK_RIGHT_MOTOR_OFFSET) - .withSteerEncoderId(Constants.SwerveDriveIDs.BACK_RIGHT_ENCODER_ID) - .withModuleLocation(new Translation2d(-1, -1)) - .withModuleName("Back Right") - .withGearRatio(8.14) - .withWheelDiameter(0.1016) - .build()) - .build(); - - // Set vision measurement confidence values - driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 0.1)); - - this.setDefaultCommand(Commands.run(new Runnable() { - - @Override - public void run() { - driveSystem.setChassisSpeedsFromJoystickFieldRelative( - -(xboxController.getLeftY() * Math.abs(xboxController.getLeftY())), - -(xboxController.getLeftX() * Math.abs(xboxController.getLeftX())), - -(xboxController.getRawAxis(4) * Math.abs(xboxController.getRawAxis(4)))); - - Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates()); - Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates()); - } - - }, this)); - - RobotConfig config; - try { - config = RobotConfig.fromGUISettings(); - - AutoBuilder.configure( - driveSystem::getRobotPose2d, - driveSystem::setPose2d, - driveSystem::getRobotRelativeSpeeds, - (speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(-speeds.vxMetersPerSecond, -speeds.vyMetersPerSecond, -speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());}, - new PPHolonomicDriveController( - new PIDConstants(5, 0, 0), - new PIDConstants(Math.PI, 0, 0)), - config, - () -> { - var alliance = DriverStation.getAlliance(); - if (alliance.isPresent()) { - return alliance.get() == DriverStation.Alliance.Red; - } - return false; - }, - this); - - autoChooser = AutoBuilder.buildAutoChooser(); - autoChooser.setDefaultOption("Do Nothing", Commands.none()); - SmartDashboard.putData("Auto Chooser", autoChooser); - - // PathPlannerLogging.setLogActivePathCallback((List pose) -> {}); - PathPlannerLogging.setLogTargetPoseCallback((Pose2d targetPose) -> { Logger.recordOutput("PathPlanner-TargetPose", targetPose);}); - - } catch (Exception e) { - e.printStackTrace(); - } - - - - } - - @Override - public void periodic() { - super.periodic(); - driveSystem.periodic(); - - Logger.recordOutput("RobotPose", driveSystem.getRobotPose3d()); - - LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.FRONT_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0); - LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.BACK_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0); - - // MegaTag 2 impl - if(RobotState.isDisabled()){ - LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 1); - LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 1); - }else{ - LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 4); - LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 4); - } - - LimelightHelpers.PoseEstimate frontTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.FRONT_CAMERA_NAME); - LimelightHelpers.PoseEstimate backTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.BACK_CAMERA_NAME); - - if(frontTag.tagCount >= 2){ - driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontTag.pose), frontTag.timestampSeconds); - Logger.recordOutput("FrontPose-Estimate", frontTag.pose); - Logger.recordOutput("FrontPose-IsMegaTag2", frontTag.isMegaTag2); - } - - if(backTag.tagCount >= 2){ - driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backTag.pose), backTag.timestampSeconds); - Logger.recordOutput("BackPose-Estimate", backTag.pose); - Logger.recordOutput("BackPose-IsMegaTag2", frontTag.isMegaTag2); - } - - - // MegaTag 1 Impl - // LimelightHelpers.PoseEstimate frontCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.FRONT_CAMERA_NAME); - // if (frontCameraPose.tagCount >= 2) { - // driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontCameraPose.pose), frontCameraPose.timestampSeconds); - // Logger.recordOutput("FrontPoseEstimate", frontCameraPose.pose); - // } - // LimelightHelpers.PoseEstimate backCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME); - // if (backCameraPose.tagCount >= 2) { - // driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backCameraPose.pose), backCameraPose.timestampSeconds); - // Logger.recordOutput("BackPoseEstimate", backCameraPose.pose); - // } - } - - @Override - public void simulationPeriodic() { - super.simulationPeriodic(); - driveSystem.simulationPeriodic(); - } - - public Command getAutoCommand() { - return autoChooser.getSelected(); - } - - public void stopDrive() { - driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0, 0, 0, driveSystem.getGyro().getRotation2d()), Translation2d.kZero); - } - - public void rotateChassis(double rotSpeed) { - driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0, 0, rotSpeed, driveSystem.getGyro().getRotation2d()), Translation2d.kZero); - } - - public Pose3d getBotPose() { - return driveSystem.getRobotPose3d(); - } - - @PostTest() - public void DriveSubsystem_CanDevicesConnected() { - - SwerveModule[] modules = driveSystem.getModules(); - - for (int i = 0; i < modules.length; i++) { - assertThat(modules[i].getDriveMotor().isConnected()) - .as(modules[i].getModuleName() + " drive motor is not connected").isTrue(); - assertThat(modules[i].getSteerMotor().isConnected()) - .as(modules[i].getModuleName() + " steer motor is not connected").isTrue(); - assertThat(modules[i].getSteerEncoder().isConnected()) - .as(modules[i].getModuleName() + " CANCoder is not connected").isTrue(); - } - - assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue(); - } - -} diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java deleted file mode 100644 index 07e3657..0000000 --- a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java +++ /dev/null @@ -1,60 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import org.fairportrobotics.frc.posty.TestableSubsystem; -import org.fairportrobotics.frc.posty.test.PostTest; -import static org.fairportrobotics.frc.posty.assertions.Assertions.*; - -import edu.wpi.first.wpilibj2.command.Command; - -public class ExampleSubsystem extends TestableSubsystem { - /** Creates a new ExampleSubsystem. */ - public ExampleSubsystem() {} - - /** - * Example command factory method. - * - * @return a command - */ - public Command exampleMethodCommand() { - // Inline construction of command goes here. - // Subsystem::RunOnce implicitly requires `this` subsystem. - return runOnce( - () -> { - /* one-time action goes here */ - }); - } - - /** - * An example method querying a boolean state of the subsystem (for example, a digital sensor). - * - * @return value of some boolean subsystem state, such as a digital sensor. - */ - public boolean exampleCondition() { - // Query some boolean state, such as a digital sensor. - return false; - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - } - - @Override - public void simulationPeriodic() { - // This method will be called once per scheduler run during simulation - } - - @PostTest(name = "A friendly name", enabled = true) - public void myFailingPostTest(){ - assertThat(true).isFalse(); - } - - @PostTest(enabled = true) - public void myPassingPostTest(){ - assertThat("Hello World").endWith("World"); - } -} diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java deleted file mode 100644 index f345f67..0000000 --- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java +++ /dev/null @@ -1,114 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -package frc.robot.subsystems; - -import org.fairportrobotics.frc.posty.TestableSubsystem; -import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat; -import org.fairportrobotics.frc.posty.test.PostTest; -import org.littletonrobotics.junction.Logger; - -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.VelocityVoltage; -import com.ctre.phoenix6.hardware.TalonFX; - -import edu.wpi.first.units.Units; -import edu.wpi.first.units.measure.AngularVelocity; -import edu.wpi.first.wpilibj.GenericHID.RumbleType; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants; - -public class HopperSubsystem extends TestableSubsystem { - - private TalonFX spindexerMotor; - - private TalonFX kickerMotor; - private VelocityVoltage kickerControl = new VelocityVoltage(0); - private StatusSignal kickerVelocity; - - /** - * Creates a new HopperSubsystem. - */ - public HopperSubsystem() { - spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID); - spindexerMotor.getConfigurator().apply( - new TalonFXConfiguration() - .withMotorOutput( - new MotorOutputConfigs() - .withInverted(Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION)) - .withSlot0( - new Slot0Configs() - .withKP(0) - .withKI(0) - .withKD(0) - .withKS(0))); - - kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID); - kickerMotor.getConfigurator().apply( - new TalonFXConfiguration() - .withMotorOutput( - new MotorOutputConfigs() - .withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION) - ) - .withSlot0(new Slot0Configs() - .withKP(0) - .withKI(0) - .withKD(0) - .withKS(0) - )); - kickerVelocity = kickerMotor.getVelocity(); - } - - public void feedKicker() { - //kickerMotor.setControl(kickerControl.withVelocity(1000)); - kickerMotor.set(0.75); - } - - public void reverseKicker() { - //kickerMotor.setControl(kickerControl.withVelocity(-500)); - kickerMotor.set(-0.5); - } - - public void stopKicker() { - kickerMotor.stopMotor(); - } - - public void spindexerOn() { - spindexerMotor.set(0.75); - } - - public void spindexerReverse() { - spindexerMotor.set(-0.75); - } - - public void spindexerOff() { - spindexerMotor.stopMotor(); - } - - public Command spinny() { - return this.runOnce(() -> { - if (spindexerMotor.get() == 0) { - spindexerOn(); - } else { - spindexerOff(); - } - }); - } - - - @Override - public void periodic() { - Logger.recordOutput("HopperSubsystem-KickerSpeed(Rotations/sec)", kickerVelocity.refresh().getValue().in(Units.RotationsPerSecond)); - } - - @PostTest(enabled = true) - public void hopperSystem_CANDevicesConnected() { - assertThat(kickerMotor.isConnected()).as("Kicker motor not connected!").isTrue(); - assertThat(spindexerMotor.isConnected()).as("Spindexer motor not connected!").isTrue(); - } - -} diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java deleted file mode 100644 index a9042a6..0000000 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ /dev/null @@ -1,93 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -package frc.robot.subsystems; - -import org.fairportrobotics.frc.posty.TestableSubsystem; -import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat; -import org.fairportrobotics.frc.posty.test.PostTest; -import static org.fairportrobotics.frc.robolib.motors.Utils.SetMotorDirection; - -import com.ctre.phoenix.motorcontrol.LimitSwitchNormal; -import com.ctre.phoenix.motorcontrol.LimitSwitchSource; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; -import com.ctre.phoenix6.hardware.TalonFX; - -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.GenericHID.RumbleType; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants; - -public class IntakeSubsystem extends TestableSubsystem { - - /** - * Creates a new ExampleSubsystem. - */ - - private TalonFX intakeMotor; - private WPI_TalonSRX deployMotor; - - public IntakeSubsystem() { - intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID); - SetMotorDirection(intakeMotor, Constants.IntakeConstants.INTAKE_MOTOR_DIRECTION); - - deployMotor = new WPI_TalonSRX(Constants.IntakeConstants.DEPLOY_MOTOR_ID); - deployMotor.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen); - deployMotor.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen); - deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED); - } - - public Command deploy() { - return Commands.sequence( - Commands.deadline( - Commands.waitSeconds(2), - this.runOnce( - () -> { - deployMotor.set(1); - } // Bump this speed up if intake doesn't deploy - ) - ), - this.runOnce(() -> deployMotor.stopMotor()) - ); - } - - public Command resetDeploy() { - return this.runEnd(() -> deployMotor.set(-1), () -> deployMotor.stopMotor()); - } - - public void setSpeed(double speed) { - intakeMotor.set(speed); - } - - public Command stopIntake(XboxController m_XboxController) { - return this.runOnce(() -> { - intakeMotor.stopMotor(); - m_XboxController.setRumble(RumbleType.kBothRumble, .0); - }); - } - - public Command intake(XboxController m_XboxController) { - return this.runOnce(() -> { - if (intakeMotor.get() == 0) { - setSpeed(-.5); - m_XboxController.setRumble(RumbleType.kBothRumble, .5); - } else { - intakeMotor.stopMotor(); - m_XboxController.setRumble(RumbleType.kBothRumble, .0); - } - }); - } - - public Command reverseIntake() { - return this.runEnd(() -> setSpeed(.5), () -> { - intakeMotor.stopMotor(); - }); - } - - @PostTest(enabled = true) - public void IntakeSubsystem_CANDevicesConnected() { - assertThat(intakeMotor.isConnected()).as("Intake motor not connected!").isTrue(); - assertThat(deployMotor.isAlive()).as("Deploy controller not connected!").isTrue(); - } -} diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java deleted file mode 100644 index 6d6a7f4..0000000 --- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java +++ /dev/null @@ -1,318 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import org.fairportrobotics.frc.posty.TestableSubsystem; -import org.fairportrobotics.frc.posty.test.PostTest; -import org.littletonrobotics.junction.Logger; -import org.littletonrobotics.junction.ConsoleSource.RoboRIO; - -import static org.fairportrobotics.frc.posty.assertions.Assertions.*; - -import com.ctre.phoenix6.controls.PositionVoltage; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import com.ctre.phoenix6.configs.FeedbackConfigs; -import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.ForwardLimitValue; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.ReverseLimitValue; -import com.ctre.phoenix6.sim.TalonFXSimState; -import com.revrobotics.PersistMode; -import com.revrobotics.ResetMode; -import com.revrobotics.spark.ClosedLoopSlot; -import com.revrobotics.spark.FeedbackSensor; -import com.revrobotics.spark.SparkClosedLoopController; -import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.SparkBase.ControlType; -import com.revrobotics.spark.SparkLowLevel.MotorType; -import com.revrobotics.spark.config.SparkMaxConfig; - -import frc.robot.Constants; -import frc.robot.Robot; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.units.AngleUnit; -import edu.wpi.first.units.Units; -import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.wpilibj.DigitalInput; -import edu.wpi.first.wpilibj.Servo; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; - -public class TurretSubsystem extends TestableSubsystem { - public enum TurretState { - INIT, - HOMING, - READY; - } - - private final boolean LOGGING = true; - private TurretState turretState; - private DigitalInput turretLimitSwitch; - private TalonFX turretMotor; - private PositionVoltage turretControlMode = new PositionVoltage(0); - private TalonFXSimState turretSim; - private StatusSignal turretMotorPosition; - private StatusSignal turretMotorForwardLimit; - private StatusSignal turretMotorReverseLimit; - private StatusSignal turretPositionError; - private double forwardLimit = 0; - private double reverseLimit = 0; - - private SparkMax launcherMotor; - private SparkClosedLoopController launcherControler; - - private double turretOffsetInRotations = 0; - - private Servo hood; - - private Pose3d turretTarget; - - public TurretSubsystem() { - - // Turret configuration - turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL); - turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID); - turretMotor.getConfigurator().apply( - new TalonFXConfiguration() - .withSlot0( - new Slot0Configs() - .withKP(6) - .withKI(0) - .withKD(0.3) - .withKS(0) - ) - .withMotorOutput( - new MotorOutputConfigs() - .withInverted(InvertedValue.Clockwise_Positive) - ) - .withCurrentLimits( - new CurrentLimitsConfigs() - .withStatorCurrentLimit(50) - ) - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs().withForwardSoftLimitEnable(false).withReverseSoftLimitEnable(false)) - .withFeedback( - new FeedbackConfigs() - .withFeedbackRotorOffset(0) - ) - ); - turretMotorPosition = turretMotor.getPosition(); - turretMotorForwardLimit = turretMotor.getForwardLimit(); - turretMotorReverseLimit = turretMotor.getReverseLimit(); - turretPositionError = turretMotor.getClosedLoopError(); - - turretSim = turretMotor.getSimState(); - - // Launcher configuration - launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless); - SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO); - config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED); - config.voltageCompensation(10); - config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001 - config.closedLoop.feedForward.kS(0.2).kV(0.000).kA(0.000); - // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0); - config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); - config.closedLoop.positionWrappingEnabled(false); - // config.closedLoopRampRate(0.5); - // config.smartCurrentLimit(5, 50); - launcherMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); - launcherControler = launcherMotor.getClosedLoopController(); - - // Hood configuration - hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL); - turretState = TurretState.INIT; - } - - public void setLauncher(double speed) { - if(speed == 0) - { - launcherMotor.stopMotor(); - return; - } - launcherControler.setSetpoint(speed, ControlType.kVelocity, ClosedLoopSlot.kSlot0); - } - - public boolean isLauncherUpToSpeed() { - // Valid if velcity is within 10% of setpoint. - // May need to lower this - return true; - // return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.03; - } - - public void setTargetElevation(double elev) - { - double pos = Math.abs((elev - 300)/300); - Logger.recordOutput("ShooterHood-Angle", pos); - hood.set(pos); - } - - public Command revSpeedCommand() - { - return this.runOnce(() -> setLauncher(-.5)); - } - - public Command setShooter(int speedRPM){ - return Commands.runEnd(() -> { - setLauncher(speedRPM); - }, () -> { - launcherMotor.stopMotor(); - }, this); - } - - public void homeTurret() - { - if(turretState != TurretState.INIT){ - return; - } - turretMotor.set(Constants.ShooterConstants.HOMING_SPEED); - turretState = TurretState.HOMING; - } - - public boolean isTurretReady(){ - return turretState == TurretState.READY; - } - - public void turretRotateDir(double speed) - { - turretMotor.set(speed); - } - - public double getTurretAngleRobotRelative() - { - return getTurretMotorPosition() / Constants.ShooterConstants.TURRET_GEAR_RATIO; - } - - public void setTurretTargetPose(Pose3d targetPose){ - turretTarget = targetPose; - } - - public Pose3d getTurretTargetPose(){ - return turretTarget; - } - - private double getTurretMotorPosition(){ - return turretMotorPosition.refresh().getValueAsDouble() - turretOffsetInRotations; - } - - @Override - public void periodic() { - if (turretState == TurretState.HOMING) { - if (turretLimitSwitch.get()) { // Turret has tripped the switch - turretMotor.stopMotor(); - turretOffsetInRotations = (turretMotorPosition.refresh().getValueAsDouble() - 1.323); - if (!Robot.isReal()) { - turretOffsetInRotations = 0; // Flip turret around - } - turretState = TurretState.READY; - forwardLimit = (1.5 + turretOffsetInRotations); - reverseLimit = (-1.5 + turretOffsetInRotations); - Logger.recordOutput("TurretSubsystem-TurretForwardLimit", forwardLimit); - Logger.recordOutput("TurretSubsystem-TurretReverseLimit", reverseLimit); - turretMotor.getConfigurator().apply( - new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitEnable(true) - .withForwardSoftLimitThreshold(forwardLimit) - .withReverseSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseLimit)); - // setTurretRobotRelative(0); - // setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY - } - } - - if (LOGGING) { - Logger.recordOutput("TurretSubsystem-TurretLimitSwitch", turretLimitSwitch.get()); - Logger.recordOutput("TurretSubsystem-Launcher Speed (RPM)", launcherMotor.getEncoder().getVelocity()); - Logger.recordOutput("TurretSubsystem-TurretState", turretState); - Logger.recordOutput("TurretSubsystem-TurretPositionRobotRelative", getTurretAngleRobotRelative()); - Logger.recordOutput("TurretSubsystem-TurretMotorPositionWithOffset", getTurretMotorPosition()); - Logger.recordOutput("TurretSubsystem-TurretMotorPositionRaw", - turretMotorPosition.refresh().getValue().in(Units.Rotations)); - Logger.recordOutput("TurretSubsystem-TurretRequestedPosRaw", - turretControlMode.getPositionMeasure().in(Units.Rotations)); - Logger.recordOutput("TurretSubsystem-TurretRequestedPos", getRequestedPosTurretRelative()); - Logger.recordOutput("TurretSubsystem-TurretOffset", turretOffsetInRotations); - Logger.recordOutput("TurretSubsystem-TurretForwardLimitHit", turretMotorForwardLimit.refresh().getValue()); - Logger.recordOutput("TurretSubsystem-TurretReverseLimitHit", turretMotorReverseLimit.refresh().getValue()); - Logger.recordOutput("TurretSubsystem-TurretPositionError", turretPositionError.refresh().getValueAsDouble()); - Logger.recordOutput("TurretSubsystem-LauncherSetpoint(RPM)", launcherControler.getSetpoint()); - } - - } - - public void setTurretFieldRelative(Pose3d robotPose, double pos) - { - if(turretState != TurretState.READY) - { - // Not ready to set angle - return; - } - - double correctedPos = -pos; // Flip angle to match CCW positive. Add 0.5 to flip around - - double robotRotations = robotPose.getRotation().toRotation2d().getRotations(); - - Rotation2d turretAngle = Rotation2d.fromRotations(correctedPos).plus(Rotation2d.fromRotations(robotRotations)).minus(Rotation2d.fromRotations(0.5)); - - Logger.recordOutput("TurretSubsystem-TurretFieldTarget", turretAngle.getRotations()); - - setTurretRobotRelative(((turretAngle.getRotations()))); - } - - public void setTurretRobotRelative(double pos) - { - if(turretState != TurretState.READY) - { - // Not ready to set angle - return; - } - - double correctedPos = -pos; // Flip angle to match CCW positive - - setTurretMotorRotation(correctedPos * Constants.ShooterConstants.TURRET_GEAR_RATIO); - } - - public void setTurretMotorRotation(double pos){ - double posWithOffset = pos + turretOffsetInRotations; - - Logger.recordOutput("Blah", posWithOffset); - - if(Robot.isSimulation()){ - if(posWithOffset >= forwardLimit){ - turretSim.setForwardLimit(true); - } else { - turretSim.setForwardLimit(false); - } - - if(posWithOffset <= reverseLimit){ - turretSim.setReverseLimit(true); - } else { - turretSim.setReverseLimit(false); - } - } - - turretMotor.setControl(turretControlMode.withPosition(posWithOffset)); - turretSim.setRawRotorPosition(-posWithOffset); - } - - public boolean isTurretAtTarget(){ - return Math.abs(turretPositionError.refresh().getValueAsDouble()) <= 0.1; - } - - private double getRequestedPosTurretRelative() { - return (turretControlMode.getPositionMeasure().in(Units.Rotations) - turretOffsetInRotations) / Constants.ShooterConstants.TURRET_GEAR_RATIO; - } - - @PostTest() - public void TurretSubsystem_CANDevicesConnected(){ - assertThat(launcherMotor.getFaults().can).as("Launcher motor not connected!").isFalse(); - assertThat(turretMotor.isConnected()).as("Turret motor not connected!").isTrue(); - } - -} diff --git a/utils.py b/utils.py new file mode 100644 index 0000000..2e8e116 --- /dev/null +++ b/utils.py @@ -0,0 +1,167 @@ +""" +utils.py – pure math utilities for Castor 2026 (Python/MagicBot port). + +Direct translation of Utils.java. No framework dependencies. +""" + +import math + +from wpilib import DriverStation +from wpimath.geometry import Pose3d + +from constants import FieldPoses, ShootingRegion, ShootingRegionDimensions + + +def calculate_turret_angle_from_camera_tag_distance(distance_to_tag: float) -> float: + """ + Calculates the turret rotation (in rotations, robot-relative) needed + to aim at the HUB given the camera's measured distance to the tag. + + :param distance_to_tag: camera distance to the AprilTag (metres) + :return: turret angle in rotations (robot-relative) + """ + camera_distance_to_target = distance_to_tag + 0.6 + camera_to_shoot_distance = 0.26035 + + # Pythagorean theorem + shooter_distance_to_target = math.sqrt( + camera_distance_to_target**2 + camera_to_shoot_distance**2 + ) + angle_at_shooter = math.acos(camera_to_shoot_distance / shooter_distance_to_target) + robot_turret_angle = (math.pi / 2) - angle_at_shooter + robot_turret_rotations = robot_turret_angle / math.pi + + return robot_turret_rotations + + +def find_robot_shooting_region( + robot_pose: Pose3d, + alliance: DriverStation.Alliance, +) -> ShootingRegion: + """ + Determines the shooting region for the robot based on its pose and alliance. + + :param robot_pose: current robot pose + :param alliance: robot's alliance (Blue or Red) + :return: the matching ShootingRegion enum value + """ + region = ShootingRegion.NON_SHOOTING_REGION + robot_x = robot_pose.X() + robot_y = robot_pose.Y() + + # Local aliases to keep condition lines under 120 chars + D = ShootingRegionDimensions + in_neutral_x = D.NEUTRAL_ZONE_REGION_X_MIN < robot_x < D.NEUTRAL_ZONE_REGION_X_MAX + + if alliance == DriverStation.Alliance.kBlue: + if robot_x < ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX: + region = ShootingRegion.BLUE_OWN_ALLIANCE_ZONE + elif ( + in_neutral_x + and robot_y > ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN + ): + region = ShootingRegion.BLUE_LEFT_NEUTRAL_ZONE + elif ( + in_neutral_x + and robot_y < ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX + ): + region = ShootingRegion.BLUE_RIGHT_NEUTRAL_ZONE + elif ( + robot_x > ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN + and robot_y > ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN + ): + region = ShootingRegion.BLUE_LEFT_OPPONENT_ALLIANCE_ZONE + elif ( + robot_x > ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN + and robot_y < ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX + ): + region = ShootingRegion.BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE + + elif alliance == DriverStation.Alliance.kRed: + if robot_x > ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN: + region = ShootingRegion.RED_OWN_ALLIANCE_ZONE + elif ( + in_neutral_x + and robot_y < ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX + ): + region = ShootingRegion.RED_LEFT_NEUTRAL_ZONE + elif ( + in_neutral_x + and robot_y > ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN + ): + region = ShootingRegion.RED_RIGHT_NEUTRAL_ZONE + elif ( + robot_x < ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX + and robot_y < ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX + ): + region = ShootingRegion.RED_LEFT_OPPONENT_ALLIANCE_ZONE + elif ( + robot_x > ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN + and robot_y > ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN + ): + region = ShootingRegion.RED_RIGHT_OPPONENT_ALLIANCE_ZONE + + return region + + +def get_hood_angle_for_distance(distance_meters: float) -> float: + """ + Returns the hood angle for a given distance. + + :param distance_meters: distance to target in metres + :return: hood servo angle + """ + if distance_meters >= 4: + return 200.0 + return 0.0 + + +def get_launcher_rpm_for_distance(distance_meters: float) -> float: + """ + Returns the launcher RPM for a given distance, capped at 5000 RPM. + + :param distance_meters: distance to target in metres + :return: launcher RPM + """ + return min((667.557 * distance_meters) + 1500.699, 5000.0) + + +def find_shooting_target( + region: ShootingRegion, + alliance: DriverStation.Alliance, +) -> Pose3d: + """ + Determines the appropriate shooting target for the robot's current region + and alliance. + + :param region: the robot's current ShootingRegion + :param alliance: the robot's alliance (Blue or Red) + :return: target Pose3d, or all-zero Pose3d if region/alliance is invalid + """ + target = Pose3d() + + if alliance == DriverStation.Alliance.kBlue: + if region == ShootingRegion.BLUE_OWN_ALLIANCE_ZONE: + target = FieldPoses.BLUE_HUB_POSE + elif region == ShootingRegion.BLUE_LEFT_NEUTRAL_ZONE: + target = FieldPoses.BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE + elif region == ShootingRegion.BLUE_RIGHT_NEUTRAL_ZONE: + target = FieldPoses.BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE + elif region == ShootingRegion.BLUE_LEFT_OPPONENT_ALLIANCE_ZONE: + target = FieldPoses.BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE + elif region == ShootingRegion.BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE: + target = FieldPoses.BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE + + elif alliance == DriverStation.Alliance.kRed: + if region == ShootingRegion.RED_OWN_ALLIANCE_ZONE: + target = FieldPoses.RED_HUB_POSE + elif region == ShootingRegion.RED_LEFT_NEUTRAL_ZONE: + target = FieldPoses.RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE + elif region == ShootingRegion.RED_RIGHT_NEUTRAL_ZONE: + target = FieldPoses.RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE + elif region == ShootingRegion.RED_LEFT_OPPONENT_ALLIANCE_ZONE: + target = FieldPoses.RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE + elif region == ShootingRegion.RED_RIGHT_OPPONENT_ALLIANCE_ZONE: + target = FieldPoses.RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE + + return target diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json deleted file mode 100644 index b4e470d..0000000 --- a/vendordeps/AdvantageKit.json +++ /dev/null @@ -1,35 +0,0 @@ -{ - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "26.0.2", - "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2026", - "mavenUrls": [ - "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" - ], - "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", - "javaDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-java", - "version": "26.0.2" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-wpilibio", - "version": "26.0.2", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [] -} \ No newline at end of file diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json deleted file mode 100644 index 4875107..0000000 --- a/vendordeps/ChoreoLib2026.json +++ /dev/null @@ -1,44 +0,0 @@ -{ - "fileName": "ChoreoLib2026.json", - "name": "ChoreoLib", - "version": "2026.0.2", - "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", - "frcYear": "2026", - "mavenUrls": [ - "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json", - "javaDependencies": [ - { - "groupId": "choreo", - "artifactId": "ChoreoLib-java", - "version": "2026.0.2" - }, - { - "groupId": "com.google.code.gson", - "artifactId": "gson", - "version": "2.11.0" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "choreo", - "artifactId": "ChoreoLib-cpp", - "version": "2026.0.2", - "libName": "ChoreoLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/vendordeps/PathplannerLib-2026.1.2.json b/vendordeps/PathplannerLib-2026.1.2.json deleted file mode 100644 index f72fa41..0000000 --- a/vendordeps/PathplannerLib-2026.1.2.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "PathplannerLib-2026.1.2.json", - "name": "PathplannerLib", - "version": "2026.1.2", - "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2026", - "mavenUrls": [ - "https://3015rangerrobotics.github.io/pathplannerlib/repo" - ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", - "javaDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-java", - "version": "2026.1.2" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2026.1.2", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/vendordeps/Phoenix5-5.36.0.json b/vendordeps/Phoenix5-5.36.0.json deleted file mode 100644 index 9a27e47..0000000 --- a/vendordeps/Phoenix5-5.36.0.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-5.36.0.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.36.0", - "frcYear": "2026", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json", - "requires": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-frc2026-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2026-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2026-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.36.0" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.36.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.36.0", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.36.0", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - 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"binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordeps/Phoenix6-26.1.2.json b/vendordeps/Phoenix6-26.1.2.json deleted file mode 100644 index dcf2db8..0000000 --- a/vendordeps/Phoenix6-26.1.2.json +++ /dev/null @@ -1,449 +0,0 @@ -{ - "fileName": "Phoenix6-26.1.2.json", - "name": "CTRE-Phoenix (v6)", - "version": "26.1.2", - "frcYear": "2026", - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2026-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "26.1.2" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "26.1.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.1.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "26.1.2", - 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], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "26.1.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "26.1.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.1.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.1.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "26.1.2", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.1.2", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "26.1.2", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - 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"sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.1.2", - "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": "26.1.2", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json deleted file mode 100644 index c6b1b9e..0000000 --- a/vendordeps/REVLib.json +++ /dev/null @@ -1,133 +0,0 @@ -{ - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2026.0.5", - "frcYear": "2026", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2026.0.5" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2026.0.5", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibBackendDriver", - "version": "2026.0.5", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.5", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2026.0.5", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2026.0.5", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibBackendDriver", - "version": "2026.0.5", - "libName": "BackendDriver", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.5", - "libName": "REVLibWpi", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json deleted file mode 100644 index d90630e..0000000 --- a/vendordeps/WPILibNewCommands.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -}