Merge pull request #4 from FairportRobotics/tyler

Auto publish when merge to main

.github/workflows/gradle-publish.yml

@@ -10,6 +10,8 @@ name: Gradle Package
 on:
   release:
     types: [created]
+  push:
+    branches: ["main"]
 
 jobs:
   build:
@@ -22,10 +24,10 @@ jobs:
 
     steps:
     - uses: actions/checkout@v3
-    - name: Set up JDK 11
+    - name: Set up JDK 17
       uses: actions/setup-java@v3
       with:
-        java-version: '11'
+        java-version: '17'
         distribution: 'temurin'
         server-id: github # Value of the distributionManagement/repository/id field of the pom.xml
         settings-path: ${{ github.workspace }} # location for the settings.xml file

lib/publish.gradle

@@ -4,7 +4,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2023.1.0'
+def pubVersion = '2023.1.2'
 
 def outputsFolder = file("$buildDir/allOutputs")
 

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

@@ -9,7 +9,7 @@ import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 import org.photonvision.EstimatedRobotPose;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Transform3d;
 
 public class RobotFieldPosition {
@@ -17,22 +17,43 @@ public class RobotFieldPosition {
     PhotonPoseEstimator photonPoseEstimator;
 
     /*
-        Example of Transform3d: 
+     * Example of Transform3d:
-
+     * 
-        Transform3d robotToCam = new Transform3d(new Translation3d(0.5, 0.0, 0.5), new Rotation3d(0,0,0)); 
+     * Transform3d robotToCam = new Transform3d(new Translation3d(0.5, 0.0, 0.5),
-        Cam mounted facing forward, half a meter forward of center, half a meter up from center.
+     * 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, PoseStrategy.LOWEST_AMBIGUITY, 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, PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCam);
+    }
+
     public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
         return photonPoseEstimator.update();
     }
 
-
 }

lib/src/main/java/com/fairportrobotics/frc/poe/controllers/lighting/ArduinoLightingController.java

@@ -0,0 +1,62 @@
+package com.fairportrobotics.frc.poe.controllers.lighting;
+
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import edu.wpi.first.wpilibj.SerialPort;
+
+
+public class ArduinoLightingController {
+    
+    final SerialPort bus;
+    final Pattern colorPattern = Pattern.compile("\\d{9}");
+    private final String NULL_COLOR = "000000000";
+    private final String RAINBOW_VALUE =  NULL_COLOR + "254";
+    private final String SHIFT_VALUE = NULL_COLOR + "251";
+    private final String SHIFT_WRAP_VALUE = NULL_COLOR + "250";
+
+    public ArduinoLightingController(int baudRate, SerialPort.Port port) {
+        this.bus = new SerialPort(baudRate, port);
+    }
+
+    private boolean validateColor(String colorValue) {
+        Matcher m = colorPattern.matcher(colorValue);
+        return m.find();
+    }
+    private int executeColor(String colorValue, String command) {
+        if ( validateColor(colorValue) ) {
+            return bus.writeString( colorValue + command );
+        }
+        return 0;
+    }
+
+    public int fillAll(String colorValue) {
+        return executeColor(colorValue, "255");
+    }
+
+    public int fillRainbow() {
+        return bus.writeString(RAINBOW_VALUE);
+    }
+
+    public int switchGradient(String colorValue) {
+        return executeColor(colorValue, "253");
+    }
+
+    public int fillShift(String colorValue) {
+        return executeColor(colorValue, "252");
+    }
+
+    public int shift() {
+        return bus.writeString(SHIFT_VALUE);
+    }
+
+    public int shiftWrap() {
+        return bus.writeString(SHIFT_WRAP_VALUE);
+    }
+
+    public int flash(String colorValue) {
+        return executeColor(colorValue, "249");
+    }
+
+
+}