Structure for sub-module

.github/workflows/gradle-publish.yml

@@ -39,10 +39,10 @@ jobs:
 
     # The USERNAME and TOKEN need to correspond to the credentials environment variables used in
     # the publishing section of your build.gradle
-    - name: Publish to GitHub Packages
+    # - name: Publish to GitHub Packages
-      uses: gradle/gradle-build-action@0d13054264b0bb894ded474f08ebb30921341cee
+    #   uses: gradle/gradle-build-action@0d13054264b0bb894ded474f08ebb30921341cee
-      with:
+    #   with:
-        arguments: -Prelease publish
+    #     arguments: -Prelease publish
-      env:
+    #   env:
-        USERNAME: ${{ github.actor }}
+    #     USERNAME: ${{ github.actor }}
-        TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    #     TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -2,6 +2,9 @@
 /build/
 /lib/bin
 
+.vscode
+.settings
+
 # Ignore Gradle GUI config
 gradle-app.setting
 

.project

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>RoboLib</name>
+	<comment>Project RoboLib created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1741394171792</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>

.vscode/settings.json

@@ -1,3 +0,0 @@
-{
-    "java.configuration.updateBuildConfiguration": "automatic"
-}

gradle.properties

@@ -1,4 +0,0 @@
-wpiVersion = 2025.+
-ctreVersion = 5.+
-photonVisionVersion = v2024.+
-advantageKitVersion = 2.2.1

lib/build.gradle

@@ -6,10 +6,17 @@
  * User Manual available at https://docs.gradle.org/7.4.2/userguide/building_java_projects.html
  */
 
+import org.gradle.internal.os.OperatingSystem
+
 plugins {
     // Apply the java-library plugin for API and implementation separation.
     id 'java'
-    id 'edu.wpi.first.GradleRIO' version "${wpiVersion}"
+    id "edu.wpi.first.GradleRIO" version "${wpiVersion}"
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
 }
 
 repositories {
@@ -21,49 +28,26 @@ repositories {
     maven {url "https://maven.photonvision.org/repository/snapshots"}
     maven {url "https://maven.photonvision.org/repository/internal"}
     maven {url "https://maven.ctr-electronics.com/release/"}
-
-    maven {
-        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
-        credentials {
-            username = "Mechanical-Advantage-Bot"
-            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
-        }
-    }
 }
 
 dependencies {
     // Use JUnit Jupiter for testing.
     testImplementation 'org.junit.jupiter:junit-jupiter:5.8.1'
 
-    // This dependency is used internally, and not exposed to consumers on their own compile classpath.
+    // WPI Lib
-    implementation 'com.google.guava:guava:30.1.1-jre'
+    implementation "edu.wpi.first.cscore:cscore-java:$wpiVersion"
-    implementation "edu.wpi.first.cscore:cscore-java:${wpiVersion}"
+    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpiVersion"
-    implementation "edu.wpi.first.cameraserver:cameraserver-java:${wpiVersion}"
+    implementation "edu.wpi.first.ntcore:ntcore-java:$wpiVersion"
-    implementation "edu.wpi.first.ntcore:ntcore-java:${wpiVersion}"
+    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpiVersion"
-    implementation "edu.wpi.first.wpilibj:wpilibj-java:${wpiVersion}"
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpiVersion"
-    implementation "edu.wpi.first.wpiutil:wpiutil-java:${wpiVersion}"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$wpiVersion"
-    implementation "edu.wpi.first.wpimath:wpimath-java:${wpiVersion}"
+    implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpiVersion"
-    implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:${wpiVersion}"
+    implementation "edu.wpi.first.hal:hal-java:$wpiVersion"
-    implementation "edu.wpi.first.hal:hal-java:${wpiVersion}"
+    implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:$wpiVersion"
-    implementation "edu.wpi.first.apriltag:apriltag-java:${wpiVersion}"
-    implementation "org.ejml:ejml-simple:0.38"
-    implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
-    implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
-    implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
-    implementation 'edu.wpi.first.thirdparty.frc2022.opencv:opencv-java:4.5.2-1'
 
-    // CTRE Phoenix
+    // CTRE Phoenix 6
-    implementation "com.ctre.phoenix:api-java:${ctreVersion}"
+    implementation "com.ctre.phoenix6:wpiapi-java:${ctreVersion}"
-    implementation "com.ctre.phoenix:wpiapi-java:${ctreVersion}"
 
-    // PhotonVision
-    implementation "org.photonvision:photonlib-java:${photonVisionVersion}"
-    implementation "org.photonvision:photontargeting-java:${photonVisionVersion}"
-
-    // AdvantageKit
-    implementation "org.littletonrobotics.akit.junction:wpilib-shim:${advantageKitVersion}"
-    implementation "org.littletonrobotics.akit.junction:junction-core:${advantageKitVersion}"
-    implementation "org.littletonrobotics.akit.conduit:conduit-api:${advantageKitVersion}"
 }
 
 tasks.named('test') {

lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/AprilTags.java

@@ -1,114 +0,0 @@
-package com.fairportrobotics.frc.poe.CameraTracking;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import org.photonvision.PhotonCamera;
-import org.photonvision.targeting.PhotonTrackedTarget;
-
-import edu.wpi.first.math.geometry.Transform3d;
-
-public class AprilTags implements Cloneable { 
-    // an ArrayList to store the cameras
-    public final ArrayList<PhotonCamera> cameras = new ArrayList<>();
-    public final ArrayList<PhotonTrackedTarget> frozenResults = new ArrayList<>();
-    public boolean frozen = false;
-
-    public AprilTags(String...cameraNames) {
-        for(String cameraName : cameraNames) {
-            cameras.add(new PhotonCamera(cameraName));
-        }
-    }
-
-    //Method to get a list of all targets without any filtering
-    public List<PhotonTrackedTarget> getAllTargets() {
-        return frozen ? frozenResults : cameras.stream().flatMap((camera) -> camera.getLatestResult().getTargets().stream()).toList();
-    }
-
-    // Method to get a list of all targets with duplicates removed
-    public List<PhotonTrackedTarget> getTargets() {
-        List<PhotonTrackedTarget> targets = new ArrayList<>();
-
-        for(PhotonTrackedTarget target : getAllTargets()) {
-            boolean toAdd = true;
-            List<PhotonTrackedTarget> tempTargets = targets;
-            // check if the target is already in the list and if it has a higher pose ambiguity
-            for(PhotonTrackedTarget arTarget : targets) {
-                if(target.getFiducialId() == arTarget.getFiducialId() && target.getPoseAmbiguity() < arTarget.getPoseAmbiguity()) {
-                    // if it does, remove it from the list
-                    tempTargets.remove(arTarget);
-                    break;
-                } else if(target.getFiducialId() == arTarget.getFiducialId()) {
-                    // if the target is already in the list and has the same ID, don't add it
-                    toAdd = false;
-                    break;
-                }
-            }
-            if(toAdd) { tempTargets.add(target); }
-            targets = tempTargets;
-        }
-        
-
-        return targets;
-    }
-
-    // method to check if any camera has any targets
-    public boolean hasTargets() {
-        return getAllTargets().size() != 0;
-    }      
-
-    // method to get the closest target
-    public PhotonTrackedTarget getClosestTarget() {
-        if(!hasTargets()) { return null; }
-        PhotonTrackedTarget closestTarget = null;
-        for(PhotonTrackedTarget target : getTargets()) {
-            if(closestTarget == null || calculateDistance(closestTarget.getBestCameraToTarget()) > calculateDistance(target.getBestCameraToTarget())) { closestTarget = target; }
-        }
-        return closestTarget;
-    }
-
-    // method to get the target with the lowest pose ambiguity
-    public PhotonTrackedTarget getLowestAmbiguityTarget() {
-        if(!hasTargets()) { return null; }
-        PhotonTrackedTarget lowestAmbiguity = null;
-        for(PhotonTrackedTarget target : getTargets()) {
-            // check if the target has a lower pose ambiguity than the current lowest ambiguity target
-            if(lowestAmbiguity == null || lowestAmbiguity.getPoseAmbiguity() > target.getPoseAmbiguity()) { lowestAmbiguity = target; }
-        }
-        return lowestAmbiguity;
-    }
-
-    private double calculateDistance(Transform3d t) {
-        return Math.sqrt(t.getX()*t.getX() + t.getY()*t.getY());
-    }
-
-    /*
-     * In cases where data needs to be referenced more than once, use this function
-     * to keep the data consistent and prevent any errors.
-     * 
-     * Very Important!
-     */
-    public void freeze() {
-        frozenResults.addAll(getAllTargets());
-        frozen = true;
-    }
-
-    //Unfreeze opposite of freeze
-    public void unFreeze() {
-        frozenResults.clear();
-        frozen = false;
-    }
-
-
-    // There might be a case where you need this so I'm keeping it
-    public Object cloneAndFreeze() {  
-        try{  
-            AprilTags clone = (AprilTags) super.clone();
-            clone.freeze();
-            return clone;  
-        }catch(Exception e){ 
-            return null; 
-        }
-    }
-
-}

lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/RobotFieldPosition.java

@@ -1,93 +0,0 @@
-package com.fairportrobotics.frc.poe.CameraTracking;
-
-import java.io.IOException;
-import java.util.Optional;
-
-import org.photonvision.PhotonCamera;
-import org.photonvision.PhotonPoseEstimator;
-import org.photonvision.PhotonPoseEstimator.PoseStrategy;
-import org.photonvision.EstimatedRobotPose;
-
-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.Transform3d;
-
-public class RobotFieldPosition {
-    AprilTagFieldLayout layout;
-    PhotonPoseEstimator photonPoseEstimator;
-    PhotonCamera camera;
-    Optional<EstimatedRobotPose> frozenPose;
-    boolean frozen = false;
-
-    /*
-     * Example of Transform3d:
-     * 
-     * Transform3d robotToCam = new Transform3d(new Translation3d(0.5, 0.0, 0.5),
-     * new Rotation3d(0,0,0));
-     * Cam mounted facing forward, half a meter forward of center, half a meter up
-     * from center.
-     */
-    public RobotFieldPosition(String camera, Transform3d robotToCam, String layoutResourceFile) throws IOException {
-        layout = AprilTagFieldLayout.loadFromResource(layoutResourceFile);
-
-        PhotonCamera cam = new PhotonCamera(camera);
-        photonPoseEstimator = new PhotonPoseEstimator(layout, PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCam);
-    }
-
-    public RobotFieldPosition(String camera, Transform3d robotToCam, String layoutResourceFile, PoseStrategy strategy) throws IOException {
-        layout = AprilTagFieldLayout.loadFromResource(layoutResourceFile);
-
-        PhotonCamera cam = new PhotonCamera(camera);
-        photonPoseEstimator = new PhotonPoseEstimator(layout, strategy, cam, robotToCam);
-    }
-
-    public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFields fields) throws IOException {
-        layout = AprilTagFieldLayout.loadFromResource(fields.m_resourceFile);
-
-        PhotonCamera cam = new PhotonCamera(camera);
-        photonPoseEstimator = new PhotonPoseEstimator(layout, PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCam);
-    }
-
-    public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFields fields, PoseStrategy strategy) throws IOException {
-        layout = AprilTagFieldLayout.loadFromResource(fields.m_resourceFile);
-
-        PhotonCamera cam = new PhotonCamera(camera);
-        photonPoseEstimator = new PhotonPoseEstimator(layout, strategy, cam, robotToCam);
-    }
-
-    public RobotFieldPosition(String camera, Transform3d robotToCam, AprilTagFieldLayout layout, PoseStrategy strategy) throws IOException {
-        this.layout = layout;
-
-        PhotonCamera cam = new PhotonCamera(camera);
-        photonPoseEstimator = new PhotonPoseEstimator(layout, strategy, cam, robotToCam);
-    }
-
-    public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
-        return frozen ? frozenPose : photonPoseEstimator.update();
-    }
-
-    public void setLastPose(Pose2d pose) {
-        photonPoseEstimator.setLastPose(pose);
-    }
-
-    public PhotonPoseEstimator getPhotonPoseEstimator(){
-        return photonPoseEstimator;
-    }
-
-    public PhotonCamera getPhotonCamera(){
-        return camera;
-    }
-
-    // For when you want it to stay the same across lines
-    public void freeze() {
-        frozen = true;
-        frozenPose = photonPoseEstimator.update();
-    }
-
-    public void unfreeze() {
-        frozen = false;
-    }
-
-
-}

lib/src/main/java/com/fairportrobotics/frc/poe/CameraTracking/WPILIB/WPI_AprilTagPoseEstimator.java

@@ -1,92 +0,0 @@
-package com.fairportrobotics.frc.poe.CameraTracking.WPILIB;
-
-import java.io.IOException;
-import java.util.Optional;
-
-import org.opencv.core.Mat;
-
-import edu.wpi.first.apriltag.AprilTagDetection;
-import edu.wpi.first.apriltag.AprilTagDetector;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.apriltag.AprilTagPoseEstimator;
-import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config;
-import edu.wpi.first.cscore.VideoCamera;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.vision.VisionPipeline;
-import edu.wpi.first.vision.VisionRunner;
-
-public class WPI_AprilTagPoseEstimator {
-
-    private final AprilTagDetector aprilTagDetector;
-    private final AprilTagPoseEstimator aprilTagPoseEstimator;
-    private AprilTagFieldLayout aprilTagFieldLayout;
-    private Pose3d estimatedPose = new Pose3d();
-
-    private VisionRunner<AprilTagsDetectorPipeline> visionRunner;
-
-    public WPI_AprilTagPoseEstimator(VideoCamera imageSource) {
-        aprilTagDetector = new AprilTagDetector();
-        aprilTagDetector.addFamily("tag16h5");
-        AprilTagPoseEstimator.Config poseEstimatorConfig = new Config(0.203, 0, 0, 0, 0);
-        aprilTagPoseEstimator = new AprilTagPoseEstimator(poseEstimatorConfig);
-
-        try {
-            aprilTagFieldLayout = new AprilTagFieldLayout(AprilTagFields.kDefaultField.m_resourceFile);
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
-
-        visionRunner = new VisionRunner<AprilTagsDetectorPipeline>(imageSource, new AprilTagsDetectorPipeline(), new VisionSystemCallback());
-    }
-
-    public void runDetectorPipeline(){
-        new Thread(() -> {
-            try{
-                visionRunner.runForever();
-            } catch (Exception e){
-                e.printStackTrace();
-            }
-        }).start();
-    }
-
-    public Pose3d getEstimatedGlobalPose() {
-        return estimatedPose;
-    }
-
-    private final class AprilTagsDetectorPipeline implements VisionPipeline {
-
-        private Pose3d estPose = new Pose3d();
-
-        @Override
-        public void process(Mat image) {
-            AprilTagDetection[] aprilTags = aprilTagDetector.detect(image);
-
-            for (AprilTagDetection aprilTag : aprilTags) {
-                Transform3d tagRelativeToRobot = aprilTagPoseEstimator.estimate(aprilTag);
-                Optional<Pose3d> tagRelativeToFieldOptional = aprilTagFieldLayout.getTagPose(aprilTag.getId());
-
-                if (tagRelativeToFieldOptional.isPresent()) {
-                    Pose3d tagRelativeToFieldPose = tagRelativeToFieldOptional.get();
-                    Pose3d estimatedFieldPos = tagRelativeToFieldPose.plus(tagRelativeToRobot);
-                    // Logger.getInstance().recordOutput("April Tag Pose", tagRelativeToFieldPose);
-                    estPose = estimatedFieldPos;
-                }
-            }
-        }
-
-        public Pose3d getEstimatedPose(){
-            return estPose;
-        }
-
-    }
-
-    private final class VisionSystemCallback implements VisionRunner.Listener<AprilTagsDetectorPipeline> {
-        @Override
-        public void copyPipelineOutputs(AprilTagsDetectorPipeline pipeline) {
-            estimatedPose = pipeline.getEstimatedPose();
-        }
-    }
-
-}

lib/src/main/java/com/fairportrobotics/frc/poe/Library.java

@@ -1,10 +0,0 @@
-/*
- * This Java source file was generated by the Gradle 'init' task.
- */
-package com.fairportrobotics.frc.poe;
-
-public class Library {
-    public boolean someLibraryMethod() {
-        return true;
-    }
-}

lib/src/main/java/org/fairportrobotics/frc/robolib/DriveSystems/SwerveDrive/SwerveDriveSubsystem.java

@@ -1,4 +1,4 @@
-package com.fairportrobotics.frc.poe.DriveSystems.SwerveDrive;
+package org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 

lib/src/main/java/org/fairportrobotics/frc/robolib/controllers/lighting/ArduinoLightingController.java

@@ -1,4 +1,4 @@
-package com.fairportrobotics.frc.poe.controllers.lighting;
+package org.fairportrobotics.frc.robolib.controllers.lighting;
 
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;

lib/src/main/java/org/fairportrobotics/frc/robolib/sensors/colorsensors/TCS34725.java

@@ -1,4 +1,4 @@
-package com.fairportrobotics.frc.poe.sensors.colorsensors;
+package org.fairportrobotics.frc.robolib.sensors.colorsensors;
 
 import edu.wpi.first.wpilibj.I2C;
 

lib/src/test/java/org/fairportrobotics/frc/robolib/LibraryTest.java

@@ -1,14 +1,13 @@
 /*
  * This Java source file was generated by the Gradle 'init' task.
  */
-package com.fairportrobotics.frc.poe;
+package com.fairportrobotics.frc.robolib;
 
 import org.junit.jupiter.api.Test;
 import static org.junit.jupiter.api.Assertions.*;
 
 class LibraryTest {
     @Test void someLibraryMethodReturnsTrue() {
-        Library classUnderTest = new Library();
+        assertTrue(true);
-        assertTrue(classUnderTest.someLibraryMethod(), "someLibraryMethod should return 'true'");
     }
 }