Update to 2025.0.8

Added Examples of Arm2d, Elevator2d, and Flywheel2d from porting over 2024 code

publish.gradle

@@ -5,7 +5,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2025.0.7'
+def pubVersion = '2025.0.8'
 
 def releasesRepoUrl = "$buildDir/../releases/repos"
 

releases/frc4201Codex.json

@@ -1,7 +1,7 @@
 {
     "fileName": "frc4201Codex.json",
     "name": "Codex-java",
-    "version": "2025.0.7",
+    "version": "2025.0.8",
     "frcYear": "2025",
     "uuid": "5db6a80c-246e-48c6-b629-798597b993e1",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "org.team4201",
             "artifactId": "Codex-java",
-            "version": "2025.0.7"
+            "version": "2025.0.8"
         }
     ],
     "requires": [

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-javadoc.jar.md5

@@ -0,0 +1 @@
+6d11fcc0c9505a91a71f8a423956d7e9

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-javadoc.jar.sha1

@@ -0,0 +1 @@
+ff2d3bfe1d47200847b571f4d2eab003fe20e2d4

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-javadoc.jar.sha256

@@ -0,0 +1 @@
+c85109c1d1603514fb072f511f4e83b44b524c07db3d8f741e4e7cd879160685

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-javadoc.jar.sha512

@@ -0,0 +1 @@
+3c57c1232fc5a4a249fc0df65f7ee56998a0cf2570f9dc9ac4aa58e50681964b2c69f022295ec0c6666cbe897c73098c733b9cde4c4ef014e3fa6c1d58987fee

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-sources.jar.md5

@@ -0,0 +1 @@
+15ebc82253229d71dac7d6dc099c4ca2

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-sources.jar.sha1

@@ -0,0 +1 @@
+90547d72e1f532f3097e667650360981fe0fc76d

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-sources.jar.sha256

@@ -0,0 +1 @@
+4708e8e8a939530d04155b324133c63679e636514c9669d50f0f5f2da889e638

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8-sources.jar.sha512

@@ -0,0 +1 @@
+50b86ac6e18a5c055494a9dd866c1c6756e4ab3b6957f7b4668bfd54ecfd1f15ba5aab8747771c51bb27a7ab32a88e5f8e95c1cb7183620b6b76554e2f78136f

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.jar.md5

@@ -0,0 +1 @@
+dd0d5897faecea3067ff6502c6e41925

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.jar.sha1

@@ -0,0 +1 @@
+40f79aa79e8272be5f46b598c73f214eb70d8804

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.jar.sha256

@@ -0,0 +1 @@
+cc509e2dfb9a1b4949cf9b466d42eb636b609a3fde8473d53d1a21fa204cd337

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.jar.sha512

@@ -0,0 +1 @@
+214fd63f2543793f06056d64b6b241328e60953f1011ec5804bf5aeb4ae099f155e7dc154dac6cf24549a589355c092c3a7ce345d03c57807cd6cff3f4f9cc3c

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.pom

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>org.team4201</groupId>
+  <artifactId>Codex-java</artifactId>
+  <version>2025.0.8</version>
+</project>

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.pom.md5

@@ -0,0 +1 @@
+8d259f1a73931d69e48ece2262a7c9eb

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.pom.sha1

@@ -0,0 +1 @@
+8a86d64eae0462c6af1ac5d9067b4c22b07b0a49

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.pom.sha256

@@ -0,0 +1 @@
+83cb8df8dd0d0decdc30b77eabb71a65711ee365d18e59ae6940f06ca6090bec

releases/repos/org/team4201/Codex-java/2025.0.8/Codex-java-2025.0.8.pom.sha512

@@ -0,0 +1 @@
+f79a12d1df3a0388d05fd5ced3c323619aa3bec1df67eed0bc286bf3401382cb2bcb58477bc69a4d9416ce2824e8751b921cc7d1e4a7a48d1a1b5afd96e23570

releases/repos/org/team4201/Codex-java/maven-metadata.xml

@@ -3,8 +3,8 @@
   <groupId>org.team4201</groupId>
   <artifactId>Codex-java</artifactId>
   <versioning>
-    <latest>2025.0.7</latest>
-    <release>2025.0.7</release>
+    <latest>2025.0.8</latest>
+    <release>2025.0.8</release>
     <versions>
       <version>2025.0.1</version>
       <version>2025.0.2</version>
@@ -13,7 +13,8 @@
       <version>2025.0.5</version>
       <version>2025.0.6</version>
       <version>2025.0.7</version>
+      <version>2025.0.8</version>
     </versions>
-    <lastUpdated>20250121072532</lastUpdated>
+    <lastUpdated>20250127001739</lastUpdated>
   </versioning>
 </metadata>

releases/repos/org/team4201/Codex-java/maven-metadata.xml.md5

@@ -1 +1 @@
-e74c5081964c4fd3f7d0c695f5a247bf
+97d28333094cf5f92d1695e32e54b3f1

releases/repos/org/team4201/Codex-java/maven-metadata.xml.sha1

@@ -1 +1 @@
-3d8468d1991db982ca5b5d85267496988ceed2fe
+70ff7d72fe79203e6c36a2f45cde78ddb616caf0

releases/repos/org/team4201/Codex-java/maven-metadata.xml.sha256

@@ -1 +1 @@
-3bcdd5ee374718967b46baf59668286799e137d16426d599f95ce3c377ff147f
+d44f4e8863e5bf8981a34ae7e365b870322c7a04ba3a373603e378e2668ed863

releases/repos/org/team4201/Codex-java/maven-metadata.xml.sha512

@@ -1 +1 @@
-c06792ea57f2a6168d40df85a8ca7556b28cb53a3641b0c297b47c383caa7703f1dfcf068e427b1e865f779178f7e646ec0de0325859eace1a202ba6088d9c8d
+7d6a6a0939b007e119eaac3f420ea9539dda74ef3eff501108f8608a717885e17127593a7991dca9ed243e493867c9de76bbd1018140908183e19fac6e4abebf

src/main/java/org/team4201/codex/Robot.java

@@ -1,12 +1,18 @@
 package org.team4201.codex;
 
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.smartdashboard.Field2d;
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.wpilibj.*;
+import edu.wpi.first.wpilibj.smartdashboard.*;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import org.team4201.codex.simulation.FieldSim;
+import org.team4201.codex.simulation.visualization.Arm2d;
+import org.team4201.codex.simulation.visualization.Elevator2d;
+import org.team4201.codex.simulation.visualization.Flywheel2d;
+import org.team4201.codex.simulation.visualization.configs.Arm2dConfig;
+import org.team4201.codex.simulation.visualization.configs.Elevator2dConfig;
+import org.team4201.codex.simulation.visualization.configs.Flywheel2dConfig;
+
+import static edu.wpi.first.units.Units.*;
 
 /**
  * This is NOT meant for running full robot code. It is meant for testing code that can't be easily unit tested
@@ -15,6 +21,14 @@
  */
 public class Robot extends TimedRobot {
     FieldSim fieldSim = new FieldSim();
+
+
+    Mechanism2d testBot = new Mechanism2d(30, 30);
+    MechanismRoot2d superStructureRoot = testBot.getRoot("superStructureRoot", 15, 1);
+    Elevator2d elevator2d = new Elevator2d(new Elevator2dConfig("testElevator"), superStructureRoot);
+    Arm2d arm2d = new Arm2d(new Arm2dConfig("testArm"), elevator2d.getLigament());
+    Flywheel2d flywheel2d = new Flywheel2d(new Flywheel2dConfig("testFlywheel"), arm2d.getLigament());
+
     /**
      * This function is run when the robot is first started up and should be used for any
      * initialization code.
@@ -24,6 +38,23 @@ public Robot() {
           DriverStation.reportError("Codex should not be run as robot code!", false);
           throw new RuntimeException("Codex is run as robot code!");
         }
+
+        Mechanism2d elevatorMechanism = new Mechanism2d(10, 30);
+        elevator2d.setAngle(Degree.of(90));
+        elevatorMechanism.getRoot("elevatorRoot", 5, 1).append(elevator2d.getSubElevator().getLigament());
+
+        Mechanism2d armMechanism = new Mechanism2d(15, 15);
+        arm2d.setAngle(Degree.of(90));
+        arm2d.getArmSubMechanism().getConfig().setAngleOffset(Degree.of(90));
+        armMechanism.getRoot("armRoot", 7.5, 1).append(arm2d.getArmSubMechanism().getLigament());
+
+        Mechanism2d flywheelMechanism = new Mechanism2d(5, 5);
+        flywheelMechanism.getRoot("flywheelRoot", 2.5, 2.5).append(flywheel2d.getSubFlywheel().getLigament());
+
+        SmartDashboard.putData("testBot", testBot);
+        SmartDashboard.putData("elevator", elevatorMechanism);
+        SmartDashboard.putData("arm", armMechanism);
+        SmartDashboard.putData("flywheel", flywheelMechanism);
     }
 
     /**
@@ -84,5 +115,12 @@ public void simulationInit() {}
 
     /** This function is called periodically whilst in simulation. */
     @Override
-    public void simulationPeriodic() {}
+    public void simulationPeriodic() {
+        System.out.println("Elevator2d Height: " + elevator2d.getLigament().getLength());
+        System.out.println("Arm2d Angle: " + arm2d.getLigament().getAngle());
+        System.out.println("Flywheel2d Angle: " + flywheel2d.getLigament().getAngle());
+        arm2d.update(Radians.of(Math.sin(Timer.getFPGATimestamp() %  (2 * Math.PI))));
+        elevator2d.update(Inches.of(Math.abs(Math.sin(Timer.getFPGATimestamp() % (2 * Math.PI))) * 24));
+        flywheel2d.update(RotationsPerSecond.of(6 * Timer.getFPGATimestamp()));
+    }
 }

src/main/java/org/team4201/codex/simulation/visualization/Arm2d.java

@@ -1,63 +1,165 @@
 package org.team4201.codex.simulation.visualization;
 
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
 import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
-import edu.wpi.first.wpilibj.util.Color8Bit;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismObject2d;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
+import org.team4201.codex.simulation.visualization.configs.Arm2dConfig;
+
+import static edu.wpi.first.units.Units.*;
 
 /**
  *  Class to represent an arm using {@link Mechanism2d}
  *  */
 public class Arm2d implements AutoCloseable {
+  private final Arm2dConfig m_config;
   private final MechanismLigament2d m_arm2d;
-  private final Color8Bit m_ligamentColor = new Color8Bit(235, 137, 52);
-  private final String m_name;
+  private MechanismObject2d m_parentObject;
+  private Arm2d m_subArm2d;
 
   /**
    * Create a new {@link Arm2d} instance
    *
-   * @param name The name of the object (Must be unique across all {@link Mechanism2d} objects)
+   * @param config The {@link Arm2dConfig} that defines the Arm2d parameters
    */
-  public Arm2d(String name) {
-    m_name = name;
+  public Arm2d(Arm2dConfig config) {
+    this(config, null);
+  }
+
+  /**
+   * Create a new {@link Arm2d} instance
+   *
+   * @param config The {@link Arm2dConfig} that defines the Arm2d parameters
+   * @param parentObject The {@link MechanismObject2d} (Either a {@link MechanismRoot2d} or
+   *                     {@link MechanismLigament2d})the Arm2d attaches to
+   */
+  public Arm2d(Arm2dConfig config, MechanismLigament2d parentObject) {
+    m_config = config;
 
     // Create a "line" to represent the arm.
     // We will use this to show its current position
-    m_arm2d = new MechanismLigament2d(m_name, 0, 0);
+    m_arm2d = new MechanismLigament2d(m_config.m_name,
+            m_config.m_initialLength.in(Inches),
+            m_config.m_initialAngle.in(Degrees),
+            m_config.m_initialWidth.in(Inches),
+            m_config.m_color);
+
+    if (parentObject != null) {
+      m_parentObject = parentObject;
+
+      Arm2dConfig armSubConfig = m_config.clone();
+      armSubConfig.m_name = armSubConfig.m_name + "_sub";
+      m_subArm2d = new Arm2d(armSubConfig);
+      m_parentObject.append(m_arm2d);
+    }
+  }
+
+  /**
+   *  Get the {@link Arm2d}'s {@link Arm2dConfig}
+   *
+   * @return {@link Arm2dConfig}
+   */
+  public Arm2dConfig getConfig() {
+    return m_config;
   }
 
   /**
    * Get the {@link Arm2d}'s {@link MechanismLigament2d}
    *
    * @return {@link MechanismLigament2d}
    */
-  public MechanismLigament2d getArmLigament() {
+  public MechanismLigament2d getLigament() {
     return m_arm2d;
   }
 
+  /**
+   * Get the {@link Arm2d}'s parent {@link MechanismObject2d}. Returns null if it doesn't exist.
+   *
+   * @return {@link MechanismObject2d}
+   */
+  public MechanismObject2d getParentObject() {
+    return m_parentObject;
+  }
+
+  /**
+   * Get the {@link Arm2d}'s subMechanism. For displaying the mechanism by itself.
+   *
+   * @return {@link Arm2d}
+   */
+  public Arm2d getArmSubMechanism() {
+    return m_subArm2d;
+  }
+  /**
+   * Set the {@link Arm2d}'s {@link Angle}.
+   *
+   * @param angle Angle of the Arm2d
+   */
+  public void setAngle(Angle angle) {
+    setAngle(angle, angle);
+  }
+
+  /**
+   * Set the {@link Arm2d}'s {@link Angle}. This function is used if you want a separate orientation for
+   * the standalone display of the Arm2d.
+   *
+   * @param angle Angle of the Arm2d
+   * @param subAngle Angle of the Arm2d's subMechanism.
+   */
+  public void setAngle(Angle angle, Angle subAngle) {
+    m_arm2d.setAngle(angle.in(Degrees));
+
+    if (m_subArm2d != null) {
+      m_subArm2d.getLigament().setAngle(subAngle.in(Degrees));
+    }
+  }
+
+  /**
+   * Update the {@link Arm2d}'s position relative to its attachment point
+   *
+   * @param angle The angle to set the Arm2d to.
+   */
+  public void update(Angle angle) {
+    update(angle, RotationsPerSecond.of(0));
+  }
+
   /**
    * Update the {@link Arm2d}'s position relative to its attachment point
    *
-   * @param angle The angle to set the {@link Arm2d} to.
+   * @param angle The angle to set the Arm2d to.
+   * @param velocity The velocity of the Arm2d. Used to change the color of the Arm2d for visualization.
    */
-  public void update(double angle) {
-    update(angle, 0);
+  public void update(Angle angle, AngularVelocity velocity) {
+    update(angle, RotationsPerSecond.of(0), m_config.m_initialLength);
   }
 
   /**
    * Update the {@link Arm2d}'s position relative to its attachment point
    *
-   * @param angle The angle to set the {@link Arm2d} to.
-   * @param velocity The velocity of the {@link Arm2d}. Used to change the color of the {@link Arm2d} for visualization.
+   * @param angle The angle to set the Arm2d to.
+   * @param velocity The velocity of the Arm2d. Used to change the color of the Arm2d for visualization.
+   * @param length The length of the Arm2d. By default, it will use its initial length.
    */
-  public void update(double angle, double velocity) {
-//    m_arm2d.setAngle(307.5 - m_armJoint2d.getAngle() - angle);
+  public void update(Angle angle, AngularVelocity velocity, Distance length) {
+    m_arm2d.setLength(length.in(Inches));
+    m_arm2d.setAngle(m_config.m_angleOffset.minus(angle).in(Degrees));
 
     // Update the ligament color based on the module's current speed for easier visualization
-    VisualizationUtils.updateMotorColor(m_arm2d, velocity, m_ligamentColor);
+    VisualizationUtils.updateMotorColor(m_arm2d, velocity.in(RotationsPerSecond), m_config.m_color);
+
+    if(m_subArm2d != null) {
+      m_subArm2d.update(angle, velocity, length);
+    }
   }
 
   @Override
   public void close() throws Exception {
     m_arm2d.close();
+
+    if(m_subArm2d != null) {
+      m_subArm2d.close();
+    }
   }
 }