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 SpeedController K_TRACK_WIDTH; - - public static final int FRONT_LEFT_MOTOR = 0; - public static final int MIDDLE_LEFT_MOTOR = 1; - public static final int BACK_LEFT_MOTOR = 2; - public static final int FRONT_RIGHT_MOTOR = 3; - public static final int MIDDLE_RIGHT_MOTOR = 4; - public static final int BACK_RIGHT_MOTOR = 5; - - public static final int DRIVER_CONTROLLER = 0; - - public static final double TURN_RATE = 0.5; -} - - - diff --git a/drivetrain-testing-Imported/src/main/java/frc/robot/Main.java b/drivetrain-testing-Imported/src/main/java/frc/robot/Main.java deleted file mode 100644 index 8776e5d..0000000 --- a/drivetrain-testing-Imported/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/drivetrain-testing-Imported/src/main/java/frc/robot/Robot.java b/drivetrain-testing-Imported/src/main/java/frc/robot/Robot.java deleted file mode 100644 index b31bfdc..0000000 --- a/drivetrain-testing-Imported/src/main/java/frc/robot/Robot.java +++ /dev/null @@ -1,95 +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.TimedRobot; -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 TimedRobot { - private Command m_autonomousCommand; - - private RobotContainer m_robotContainer; - - /** - * This function is run when the robot is first started up and should be used for any - * initialization code. - */ - @Override - public void robotInit() { - // Instantiate our RobotContainer. This will perform all our button bindings, and put our - // autonomous chooser on the dashboard. - m_robotContainer = new RobotContainer(); - } - - /** - * This function is called every robot packet, 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() {} - - @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) { - m_autonomousCommand.schedule(); - } - } - - /** 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() {} -} diff --git a/drivetrain-testing-Imported/src/main/java/frc/robot/RobotContainer.java b/drivetrain-testing-Imported/src/main/java/frc/robot/RobotContainer.java deleted file mode 100644 index 65664f9..0000000 --- a/drivetrain-testing-Imported/src/main/java/frc/robot/RobotContainer.java +++ /dev/null @@ -1,56 +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.GenericHID; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.RunCommand; -import frc.robot.commands.ExampleCommand; -import frc.robot.subsystems.ExampleSubsystem; -import frc.robot.subsystems.drivetrain.DrivetrainSubsystem; - - -/** - * 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 button mappings) should be declared here. - */ -public class RobotContainer { - // The robot's subsystems and commands are defined here... - - private final DrivetrainSubsystem m_drivetrainSubsystem = new DrivetrainSubsystem(); - - private final XboxController m_driverController = new XboxController(Constants.DRIVER_CONTROLLER); - - /** The container for the robot. Contains subsystems, OI devices, and commands. */ - public RobotContainer() { - // Configure the button bindings - configureButtonBindings(); - - m_drivetrainSubsystem.setDefaultCommand(new RunCommand(() -> { - m_drivetrainSubsystem.drive(m_driverController.getRightY(), m_driverController.getRightX()); - }, m_drivetrainSubsystem)); - } - - /** - * Use this method to define your button->command mappings. Buttons can be created by - * instantiating a {@link GenericHID} or one of its subclasses ({@link - * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link - * edu.wpi.first.wpilibj2.command.button.JoystickButton}. - */ - private void configureButtonBindings() {} - - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - // An ExampleCommand will run in autonomous - return m_autoCommand; - } -} diff --git a/drivetrain-testing-Imported/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/drivetrain-testing-Imported/src/main/java/frc/robot/subsystems/ExampleSubsystem.java deleted file mode 100644 index f5e9470..0000000 --- a/drivetrain-testing-Imported/src/main/java/frc/robot/subsystems/ExampleSubsystem.java +++ /dev/null @@ -1,22 +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 edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class ExampleSubsystem extends SubsystemBase { - /** Creates a new ExampleSubsystem. */ - public ExampleSubsystem() {} - - @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 - } -} diff --git a/drivetrain-testing-Imported/vendordeps/REVLib.json b/drivetrain-testing-Imported/vendordeps/REVLib.json deleted file mode 100644 index 997e2a4..0000000 --- a/drivetrain-testing-Imported/vendordeps/REVLib.json +++ /dev/null @@ -1,73 +0,0 @@ -{ - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2022.1.1", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2022.1.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2022.1.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxaarch64bionic", - "linuxx86-64", - "linuxathena", - "linuxraspbian", - "osxx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2022.1.1", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxaarch64bionic", - "linuxx86-64", - "linuxathena", - "linuxraspbian", - "osxx86-64" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2022.1.1", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxaarch64bionic", - "linuxx86-64", - "linuxathena", - "linuxraspbian", - "osxx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/drivetrain-testing-Imported/vendordeps/WPILibNewCommands.json b/drivetrain-testing-Imported/vendordeps/WPILibNewCommands.json deleted file mode 100644 index d7bd9b0..0000000 --- a/drivetrain-testing-Imported/vendordeps/WPILibNewCommands.json +++ /dev/null @@ -1,37 +0,0 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "2020.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "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": [ - "linuxathena", - "linuxraspbian", - "linuxaarch64bionic", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxx86-64" - ] - } - ] -} diff --git a/drivetrain-testing/.gitignore b/drivetrain-testing/.gitignore index 3322773..9535c83 100644 --- a/drivetrain-testing/.gitignore +++ b/drivetrain-testing/.gitignore @@ -1,161 +1,162 @@ -# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode - -### C++ ### -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app - -### Java ### -# Compiled class file -*.class - -# Log file -*.log - -# BlueJ files -*.ctxt - -# Mobile Tools for Java (J2ME) -.mtj.tmp/ - -# Package Files # -*.jar -*.war -*.nar -*.ear -*.zip -*.tar.gz -*.rar - -# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml -hs_err_pid* - -### Linux ### -*~ - -# temporary files which can be created if a process still has a handle open of a deleted file -.fuse_hidden* - -# KDE directory preferences -.directory - -# Linux trash folder which might appear on any partition or disk -.Trash-* - -# .nfs files are created when an open file is removed but is still being accessed -.nfs* - -### macOS ### -# General -.DS_Store -.AppleDouble -.LSOverride - -# Icon must end with two \r -Icon - -# Thumbnails -._* - -# Files that might appear in the root of a volume -.DocumentRevisions-V100 -.fseventsd -.Spotlight-V100 -.TemporaryItems -.Trashes -.VolumeIcon.icns -.com.apple.timemachine.donotpresent - -# Directories potentially created on remote AFP share -.AppleDB -.AppleDesktop -Network Trash Folder -Temporary Items -.apdisk - -### VisualStudioCode ### -.vscode/* -!.vscode/settings.json -!.vscode/tasks.json -!.vscode/launch.json -!.vscode/extensions.json - -### Windows ### -# Windows thumbnail cache files -Thumbs.db -ehthumbs.db -ehthumbs_vista.db - -# Dump file -*.stackdump - -# Folder config file -[Dd]esktop.ini - -# Recycle Bin used on file shares -$RECYCLE.BIN/ - -# Windows Installer files -*.cab -*.msi -*.msix -*.msm -*.msp - -# Windows shortcuts -*.lnk - -### Gradle ### -.gradle -/build/ - -# Ignore Gradle GUI config -gradle-app.setting - -# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) -!gradle-wrapper.jar - -# Cache of project -.gradletasknamecache - -# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 -# gradle/wrapper/gradle-wrapper.properties - -# # VS Code Specific Java Settings -.classpath -.project -.settings/ -bin/ -imgui.ini - - -# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# Simulation GUI and other tools window save file +*-window.json diff --git a/drivetrain-testing-Imported/.idea/.gitignore b/drivetrain-testing/.idea/.gitignore similarity index 100% rename from drivetrain-testing-Imported/.idea/.gitignore rename to drivetrain-testing/.idea/.gitignore diff --git a/drivetrain-testing-Imported/.idea/compiler.xml b/drivetrain-testing/.idea/compiler.xml similarity index 100% rename from drivetrain-testing-Imported/.idea/compiler.xml rename to drivetrain-testing/.idea/compiler.xml diff --git a/drivetrain-testing-Imported/.idea/gradle.xml b/drivetrain-testing/.idea/gradle.xml similarity index 100% rename from drivetrain-testing-Imported/.idea/gradle.xml rename to drivetrain-testing/.idea/gradle.xml diff --git a/drivetrain-testing-Imported/.idea/jarRepositories.xml b/drivetrain-testing/.idea/jarRepositories.xml similarity index 100% rename from drivetrain-testing-Imported/.idea/jarRepositories.xml rename to drivetrain-testing/.idea/jarRepositories.xml diff --git a/drivetrain-testing-Imported/.idea/libraries/konstant.xml b/drivetrain-testing/.idea/libraries/konstant.xml similarity index 100% rename from drivetrain-testing-Imported/.idea/libraries/konstant.xml rename to drivetrain-testing/.idea/libraries/konstant.xml diff --git a/drivetrain-testing-Imported/.idea/misc.xml b/drivetrain-testing/.idea/misc.xml similarity index 100% rename from drivetrain-testing-Imported/.idea/misc.xml rename to drivetrain-testing/.idea/misc.xml diff --git a/drivetrain-testing-Imported/.idea/vcs.xml b/drivetrain-testing/.idea/vcs.xml similarity index 100% rename from drivetrain-testing-Imported/.idea/vcs.xml rename to drivetrain-testing/.idea/vcs.xml diff --git a/drivetrain-testing/.vscode/launch.json b/drivetrain-testing/.vscode/launch.json index 5b804e8..c9c9713 100644 --- a/drivetrain-testing/.vscode/launch.json +++ b/drivetrain-testing/.vscode/launch.json @@ -1,21 +1,21 @@ -{ - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 - "version": "0.2.0", - "configurations": [ - - { - "type": "wpilib", - "name": "WPILib Desktop Debug", - "request": "launch", - "desktop": true, - }, - { - "type": "wpilib", - "name": "WPILib roboRIO Debug", - "request": "launch", - "desktop": false, - } - ] -} +{ + // 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/drivetrain-testing/.vscode/settings.json b/drivetrain-testing/.vscode/settings.json index 0a91062..4ed293b 100644 --- a/drivetrain-testing/.vscode/settings.json +++ b/drivetrain-testing/.vscode/settings.json @@ -1,17 +1,29 @@ -{ - "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.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/drivetrain-testing/.wpilib/wpilib_preferences.json b/drivetrain-testing/.wpilib/wpilib_preferences.json index 3684a02..707f879 100644 --- a/drivetrain-testing/.wpilib/wpilib_preferences.json +++ b/drivetrain-testing/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2021", + "projectYear": "2022", "teamNumber": 321 } \ No newline at end of file diff --git a/drivetrain-testing/WPILib-License.md b/drivetrain-testing/WPILib-License.md index ba35a02..3d5a824 100644 --- a/drivetrain-testing/WPILib-License.md +++ b/drivetrain-testing/WPILib-License.md @@ -1,24 +1,24 @@ -Copyright (c) 2009-2021 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. +Copyright (c) 2009-2021 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/drivetrain-testing/build.gradle b/drivetrain-testing/build.gradle index 22abee0..c361b42 100644 --- a/drivetrain-testing/build.gradle +++ b/drivetrain-testing/build.gradle @@ -1,79 +1,88 @@ -plugins { - id "java" - id "edu.wpi.first.GradleRIO" version "2021.3.1" -} - -sourceCompatibility = JavaVersion.VERSION_11 -targetCompatibility = JavaVersion.VERSION_11 - -def ROBOT_MAIN_CLASS = "frc.robot.Main" - -// Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project EmbeddedTools. -deploy { - targets { - roboRIO("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 = frc.getTeamNumber() - } - } - artifacts { - frcJavaArtifact('frcJava') { - targets << "roborio" - // Debug can be overridden by command line, for use with VSCode - debug = frc.getDebugOrDefault(false) - } - // Built in artifact to deploy arbitrary files to the roboRIO. - fileTreeArtifact('frcStaticFileDeploy') { - // The directory below is the local directory to deploy - files = fileTree(dir: 'src/main/deploy') - // Deploy to RoboRIO target, into /home/lvuser/deploy - targets << "roborio" - directory = '/home/lvuser/deploy' - } - } -} - -// Set this to true to enable desktop support. -def includeDesktopSupport = false - -// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 4. -dependencies { - implementation wpi.deps.wpilib() - nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio) - nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) - - - implementation wpi.deps.vendor.java() - nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio) - nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) - - testImplementation 'junit:junit:4.12' - - // Enable simulation gui support. Must check the box in vscode to enable support - // upon debugging - simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) - simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, false) - - // Websocket extensions require additional configuration. - // simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, false) - // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, false) -} - -// Simulation configuration (e.g. environment variables). -sim { - // Sets the websocket client remote host. - // envVar "HALSIMWS_HOST", "10.0.0.2" -} - -// 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) } } - manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) -} +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2022.2.1" +} + +sourceCompatibility = JavaVersion.VERSION_11 +targetCompatibility = JavaVersion.VERSION_11 + +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' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 4. +dependencies { + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + 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 'junit:junit:4.12' +} + +// 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) } } + 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) diff --git a/drivetrain-testing/gradle/wrapper/gradle-wrapper.jar b/drivetrain-testing/gradle/wrapper/gradle-wrapper.jar index cc4fdc2..7454180 100644 Binary files a/drivetrain-testing/gradle/wrapper/gradle-wrapper.jar and b/drivetrain-testing/gradle/wrapper/gradle-wrapper.jar differ diff --git a/drivetrain-testing/gradle/wrapper/gradle-wrapper.properties b/drivetrain-testing/gradle/wrapper/gradle-wrapper.properties index 2afdcb0..f959987 100644 --- a/drivetrain-testing/gradle/wrapper/gradle-wrapper.properties +++ b/drivetrain-testing/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,5 @@ -#Fri Oct 21 16:21:05 EDT 2022 -distributionBase=GRADLE_USER_HOME -distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.1-bin.zip -distributionPath=permwrapper/dists -zipStorePath=permwrapper/dists -zipStoreBase=GRADLE_USER_HOME +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/drivetrain-testing/gradlew b/drivetrain-testing/gradlew old mode 100755 new mode 100644 index 2fe81a7..c53aefa --- a/drivetrain-testing/gradlew +++ b/drivetrain-testing/gradlew @@ -1,7 +1,7 @@ -#!/usr/bin/env sh +#!/bin/sh # -# Copyright 2015 the original author or authors. +# 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. @@ -17,78 +17,113 @@ # ############################################################################## -## -## Gradle start up script for UN*X -## +# +# 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/master/subprojects/plugins/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 -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi +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 -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >/dev/null -APP_HOME="`pwd -P`" -cd "$SAVED" >/dev/null + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` +APP_BASE_NAME=${0##*/} # 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"' # Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" +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 - ;; - MINGW* ) - msys=true - ;; - NONSTOP* ) - nonstop=true - ;; +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="$JAVA_HOME/jre/sh/java" + JAVACMD=$JAVA_HOME/jre/sh/java else - JAVACMD="$JAVA_HOME/bin/java" + JAVACMD=$JAVA_HOME/bin/java fi if [ ! -x "$JAVACMD" ] ; then die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME @@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the location of your Java installation." fi else - JAVACMD="java" + JAVACMD=java which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the @@ -105,79 +140,95 @@ location of your Java installation." fi # Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac fi -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -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 [ "$cygwin" = "true" -o "$msys" = "true" ] ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - JAVACMD=`cygpath --unix "$JAVACMD"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi +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 - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" + 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 - i=`expr $i + 1` + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg done - case $i in - 0) set -- ;; - 1) set -- "$args0" ;; - 2) set -- "$args0" "$args1" ;; - 3) set -- "$args0" "$args1" "$args2" ;; - 4) set -- "$args0" "$args1" "$args2" "$args3" ;; - 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac fi -# Escape application args -save () { - for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done - echo " " -} -APP_ARGS=`save "$@"` +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# 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. +# -# Collect all arguments for the java command, following the shell quoting and substitution rules -eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" +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/drivetrain-testing/gradlew.bat b/drivetrain-testing/gradlew.bat index 24467a1..107acd3 100644 --- a/drivetrain-testing/gradlew.bat +++ b/drivetrain-testing/gradlew.bat @@ -1,100 +1,89 @@ -@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 - -@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=. -set APP_BASE_NAME=%~n0 -set APP_HOME=%DIRNAME% - -@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%" == "0" goto init - -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. - -goto fail - -:findJavaFromJavaHome -set JAVA_HOME=%JAVA_HOME:"=% -set JAVA_EXE=%JAVA_HOME%/bin/java.exe - -if exist "%JAVA_EXE%" goto init - -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. - -goto fail - -:init -@rem Get command-line arguments, handling Windows variants - -if not "%OS%" == "Windows_NT" goto win9xME_args - -:win9xME_args -@rem Slurp the command line arguments. -set CMD_LINE_ARGS= -set _SKIP=2 - -:win9xME_args_slurp -if "x%~1" == "x" goto execute - -set CMD_LINE_ARGS=%* - -: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 %CMD_LINE_ARGS% - -:end -@rem End local scope for the variables with windows NT shell -if "%ERRORLEVEL%"=="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! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega +@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 + +@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=. +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%" == "0" goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +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%"=="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! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/drivetrain-testing/settings.gradle b/drivetrain-testing/settings.gradle index 4ee6ec2..c363694 100644 --- a/drivetrain-testing/settings.gradle +++ b/drivetrain-testing/settings.gradle @@ -1,27 +1,27 @@ -import org.gradle.internal.os.OperatingSystem - -pluginManagement { - repositories { - mavenLocal() - gradlePluginPortal() - String frcYear = '2021' - 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 - } - } -} +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2022' + 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 + } + } +} diff --git a/drivetrain-testing-Imported/simgui-ds.json b/drivetrain-testing/simgui-ds.json similarity index 100% rename from drivetrain-testing-Imported/simgui-ds.json rename to drivetrain-testing/simgui-ds.json diff --git a/drivetrain-testing-Imported/simgui.json b/drivetrain-testing/simgui.json similarity index 100% rename from drivetrain-testing-Imported/simgui.json rename to drivetrain-testing/simgui.json diff --git a/drivetrain-testing/src/main/java/frc/robot/Constants.java b/drivetrain-testing/src/main/java/frc/robot/Constants.java index 84c1178..46ca94d 100644 --- a/drivetrain-testing/src/main/java/frc/robot/Constants.java +++ b/drivetrain-testing/src/main/java/frc/robot/Constants.java @@ -4,8 +4,6 @@ package frc.robot; -import edu.wpi.first.wpilibj.SpeedController; - /** * 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 @@ -15,15 +13,17 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - - public static SpeedController K_TRACK_WIDTH; - public static final int FRONT_LEFT_MOTOR = 0; public static final int MIDDLE_LEFT_MOTOR = 1; - public static final int BACK_LEFT_MOTOR = 3; - public static final int FRONT_RIGHT_MOTOR = 4; - public static final int MIDDLE_RIGHT_MOTOR = 5; - public static final int BACK_RIGHT_MOTOR = 6; + public static final int BACK_LEFT_MOTOR = 2; + public static final int FRONT_RIGHT_MOTOR = 3; + public static final int MIDDLE_RIGHT_MOTOR = 4; + public static final int BACK_RIGHT_MOTOR = 5; + public static final int DRIVER_CONTROLLER = 0; + + public static final double TURN_RATE = 0.5; } + + diff --git a/drivetrain-testing/src/main/java/frc/robot/RobotContainer.java b/drivetrain-testing/src/main/java/frc/robot/RobotContainer.java index f18779d..5d125fc 100644 --- a/drivetrain-testing/src/main/java/frc/robot/RobotContainer.java +++ b/drivetrain-testing/src/main/java/frc/robot/RobotContainer.java @@ -4,11 +4,12 @@ package frc.robot; -import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; -import frc.robot.commands.ExampleCommand; -import frc.robot.subsystems.ExampleSubsystem; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.RunCommand; +import frc.robot.commands.AutoCommand; +import frc.robot.subsystems.drivetrain.Drivetrain; + /** * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -18,14 +19,21 @@ */ public class RobotContainer { // The robot's subsystems and commands are defined here... - private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); - private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem); + private final Drivetrain m_drivetrain = new Drivetrain(); + + private final XboxController m_driverController = new XboxController(Constants.DRIVER_CONTROLLER); + + private Command m_autoCommand = new AutoCommand(m_drivetrain); /** The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { // Configure the button bindings configureButtonBindings(); + + m_drivetrain.setDefaultCommand(new RunCommand(() -> { + m_drivetrain.drive(m_driverController.getRightY(), m_driverController.getRightX()); + }, m_drivetrain)); } /** diff --git a/drivetrain-testing-Imported/src/main/java/frc/robot/commands/ExampleCommand.java b/drivetrain-testing/src/main/java/frc/robot/commands/AutoCommand.java similarity index 68% rename from drivetrain-testing-Imported/src/main/java/frc/robot/commands/ExampleCommand.java rename to drivetrain-testing/src/main/java/frc/robot/commands/AutoCommand.java index abd6a0e..15a001a 100644 --- a/drivetrain-testing-Imported/src/main/java/frc/robot/commands/ExampleCommand.java +++ b/drivetrain-testing/src/main/java/frc/robot/commands/AutoCommand.java @@ -4,23 +4,22 @@ package frc.robot.commands; -import frc.robot.subsystems.ExampleSubsystem; +import frc.robot.subsystems.drivetrain.Drivetrain; import edu.wpi.first.wpilibj2.command.CommandBase; -/** An example command that uses an example subsystem. */ -public class ExampleCommand extends CommandBase { +public class AutoCommand extends CommandBase { @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) - private final ExampleSubsystem m_subsystem; + private final Drivetrain drivetrain; /** - * Creates a new ExampleCommand. + * Creates a new AutoCommand. * - * @param subsystem The subsystem used by this command. + * @param drivetrain The drivetrain used by this command. */ - public ExampleCommand(ExampleSubsystem subsystem) { - m_subsystem = subsystem; + public AutoCommand(Drivetrain drivetrain) { + this.drivetrain = drivetrain; // Use addRequirements() here to declare subsystem dependencies. - addRequirements(subsystem); + addRequirements(drivetrain); } // Called when the command is initially scheduled. diff --git a/drivetrain-testing-Imported/src/main/java/frc/robot/subsystems/drivetrain/DrivetrainSubsystem.java b/drivetrain-testing/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java similarity index 79% rename from drivetrain-testing-Imported/src/main/java/frc/robot/subsystems/drivetrain/DrivetrainSubsystem.java rename to drivetrain-testing/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java index 944e694..c7b21d5 100644 --- a/drivetrain-testing-Imported/src/main/java/frc/robot/subsystems/drivetrain/DrivetrainSubsystem.java +++ b/drivetrain-testing/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java @@ -1,25 +1,14 @@ package frc.robot.subsystems.drivetrain; import edu.wpi.first.wpilibj.drive.DifferentialDrive; -// import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; -// doesnt work for some unknown reason -// import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; - import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -import edu.wpi.first.wpilibj.AnalogGyro; -import edu.wpi.first.wpilibj.Encoder; -import edu.wpi.first.wpilibj.SpeedController; -import edu.wpi.first.wpilibj.SpeedControllerGroup; - - - -public class DrivetrainSubsystem extends SubsystemBase { +public class Drivetrain extends SubsystemBase { private CANSparkMax frontLeft = new CANSparkMax(Constants.FRONT_LEFT_MOTOR, MotorType.kBrushless); private CANSparkMax frontRight = new CANSparkMax(Constants.FRONT_RIGHT_MOTOR, MotorType.kBrushless); @@ -33,7 +22,7 @@ public class DrivetrainSubsystem extends SubsystemBase { private final DifferentialDrive diffDrive = new DifferentialDrive(left, right); - public DrivetrainSubsystem() { + public Drivetrain() { left.setInverted(false); right.setInverted(true); diff --git a/drivetrain-testing/src/main/java/frc/robot/subsystems/drivetrain/DrivetrainSubsystem.java b/drivetrain-testing/src/main/java/frc/robot/subsystems/drivetrain/DrivetrainSubsystem.java deleted file mode 100644 index c3b299a..0000000 --- a/drivetrain-testing/src/main/java/frc/robot/subsystems/drivetrain/DrivetrainSubsystem.java +++ /dev/null @@ -1,57 +0,0 @@ -package frc.robot.subsystems.drivetrain; - -import edu.wpi.first.wpilibj.drive.DifferentialDrive; -// import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; - - -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants; -// doesnt work for some unknown reason -// import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; - -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; - -import edu.wpi.first.wpilibj.AnalogGyro; -import edu.wpi.first.wpilibj.Encoder; -import edu.wpi.first.wpilibj.SpeedController; -import edu.wpi.first.wpilibj.SpeedControllerGroup; - - - -public class DrivetrainSubsystem extends SubsystemBase { - - private CANSparkMax frontLeft = new CANSparkMax(Constants.FRONT_LEFT_MOTOR, MotorType.kBrushless); - private CANSparkMax frontRight = new CANSparkMax(Constants.FRONT_RIGHT_MOTOR, MotorType.kBrushless); - private CANSparkMax middleLeft = new CANSparkMax(Constants.MIDDLE_LEFT_MOTOR, MotorType.kBrushless); - private CANSparkMax middleRight = new CANSparkMax(Constants.MIDDLE_RIGHT_MOTOR, MotorType.kBrushless); - private CANSparkMax backLeft = new CANSparkMax(Constants.BACK_LEFT_MOTOR, MotorType.kBrushless); - private CANSparkMax backRight = new CANSparkMax(Constants.BACK_RIGHT_MOTOR, MotorType.kBrushless); - - private SpeedControllerGroup left = new SpeedControllerGroup(frontLeft, middleLeft, backLeft); - private SpeedControllerGroup right = new SpeedControllerGroup(frontRight, middleRight, backRight); - - -private final DifferentialDrive diffDrive = new DifferentialDrive(left, right); - - public DrivetrainSubsystem() { - this.left.setInverted(false); - this.right.setInverted(true); - - frontLeft.setIdleMode(IdleMode.kBrake); - frontRight.setIdleMode(IdleMode.kBrake); - middleLeft.setIdleMode(IdleMode.kBrake); - middleRight.setIdleMode(IdleMode.kBrake); - backLeft.setIdleMode(IdleMode.kBrake); - backRight.setIdleMode(IdleMode.kBrake); - - - } - - - public void drive(double xSpeed, double ySpeed) { - diffDrive.tankDrive(xSpeed, ySpeed); - } - -} diff --git a/drivetrain-testing/vendordeps/WPILibNewCommands.json b/drivetrain-testing/vendordeps/WPILibNewCommands.json index 9a22dbd..d7bd9b0 100644 --- a/drivetrain-testing/vendordeps/WPILibNewCommands.json +++ b/drivetrain-testing/vendordeps/WPILibNewCommands.json @@ -1,37 +1,37 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "2020.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "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": [ - "linuxathena", - "linuxraspbian", - "linuxaarch64bionic", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxx86-64" - ] - } - ] -} +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "2020.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "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": [ + "linuxathena", + "linuxraspbian", + "linuxaarch64bionic", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxx86-64" + ] + } + ] +}