diff --git a/.github/workflows/Build_and_Simulate.yml b/.github/workflows/Build_and_Simulate.yml new file mode 100644 index 0000000..0afbdc1 --- /dev/null +++ b/.github/workflows/Build_and_Simulate.yml @@ -0,0 +1,51 @@ +# This is a basic workflow to build robot code. + +name: Build_and_Simulate + +# Controls when the action will run. Triggers the workflow on push or pull request +# events but only for the main branch. +on: + push: + branches: [ main ] + pull_request: + branches: [ main ] + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + BuildSim: + # The type of runner that the job will run on + runs-on: ubuntu-latest + + # This grabs the WPILib docker container + container: wpilib/roborio-cross-ubuntu:2024-22.04 + + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v4 + + # Declares the repository safe and not under dubious ownership. + - name: Add repository to git safe directories + run: git config --global --add safe.directory $GITHUB_WORKSPACE + + # Grant execute permission for gradlew + - name: Grant execute permission for gradlew + run: chmod +x gradlew + + + # Runs a single command using the runners shell + - name: Build robot code + run: ./gradlew build + + - name: Simulate Robot Code + id: Simulation + continue-on-error: true + run: | + timeout 15s ./gradlew simulateJava + + - name: Check if simulation was able to run for full time or if it exited early + run: | + exit $Code + env: + Code: ${{steps.simulation.outcome == 'failure' && '0' || '1'}} diff --git a/.vscode/settings.json b/.vscode/settings.json index 612cdd0..cfb9086 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -56,5 +56,6 @@ "edu.wpi.first.math.proto.*", "edu.wpi.first.math.**.proto.*", "edu.wpi.first.math.**.struct.*", - ] + ], + "java.format.settings.url": "eclipse-formatter.xml" } diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 diff --git a/simgui-ds.json b/simgui-ds.json index 73cc713..9b518cc 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -15,9 +15,13 @@ "decayRate": 0.0, "incKey": 82, "keyRate": 0.009999999776482582 + }, + { + "decKey": 75, + "incKey": 76 } ], - "axisCount": 3, + "axisCount": 5, "buttonCount": 4, "buttonKeys": [ 90, @@ -42,12 +46,10 @@ { "axisConfig": [ { - "decKey": 74, - "incKey": 76 + "decKey": 74 }, { - "decKey": 73, - "incKey": 75 + "decKey": 73 } ], "axisCount": 2, @@ -88,5 +90,16 @@ "buttonCount": 0, "povCount": 0 } + ], + "robotJoysticks": [ + { + "guid": "030000005e0400008e02000014010000" + }, + { + "guid": "030000004c050000c405000000000000" + }, + { + "useGamepad": true + } ] } diff --git a/src/main/deploy/swerve/neo/controllerproperties.json b/src/main/deploy/swerve/neo/controllerproperties.json new file mode 100644 index 0000000..669097e --- /dev/null +++ b/src/main/deploy/swerve/neo/controllerproperties.json @@ -0,0 +1,8 @@ +{ + "angleJoystickRadiusDeadband": 0.5, + "heading": { + "p": 0.4, + "i": 0, + "d": 0.01 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/backleft.json b/src/main/deploy/swerve/neo/modules/backleft.json new file mode 100644 index 0000000..6c6c7d9 --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/backleft.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 7, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 8, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 12, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": 6.504, + "location": { + "front": -12, + "left": 12 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/backright.json b/src/main/deploy/swerve/neo/modules/backright.json new file mode 100644 index 0000000..4f9f082 --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/backright.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 5, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 6, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 11, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -18.281, + "location": { + "front": -12, + "left": -12 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/frontleft.json b/src/main/deploy/swerve/neo/modules/frontleft.json new file mode 100644 index 0000000..a3ef16b --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/frontleft.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 4, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 3, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 9, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -114.609, + "location": { + "front": 12, + "left": 12 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/frontright.json b/src/main/deploy/swerve/neo/modules/frontright.json new file mode 100644 index 0000000..b60f22f --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/frontright.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 2, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 1, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 10, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -50.977, + "location": { + "front": 12, + "left": -12 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/physicalproperties.json b/src/main/deploy/swerve/neo/modules/physicalproperties.json new file mode 100644 index 0000000..d7ae5ab --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/physicalproperties.json @@ -0,0 +1,23 @@ +{ + "conversionFactors": { + "angle": { + "gearRatio": 12.8, + "factor": 0 + }, + "drive": { + "gearRatio": 8.14, + "diameter": 4, + "factor": 0 + } + }, + "currentLimit": { + "drive": 40, + "angle": 20 + }, + "rampRate": { + "drive": 0.25, + "angle": 0.25 + }, + "wheelGripCoefficientOfFriction": 1.19, + "optimalVoltage": 12 +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/pidfproperties.json b/src/main/deploy/swerve/neo/modules/pidfproperties.json new file mode 100644 index 0000000..b494bce --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/pidfproperties.json @@ -0,0 +1,16 @@ +{ + "drive": { + "p": 0.00023, + "i": 0.0000002, + "d": 1, + "f": 0, + "iz": 0 + }, + "angle": { + "p": 0.0020645, + "i": 0, + "d": 0, + "f": 0.001, + "iz": 0 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/swervedrive.json b/src/main/deploy/swerve/neo/swervedrive.json new file mode 100644 index 0000000..fb2b0b8 --- /dev/null +++ b/src/main/deploy/swerve/neo/swervedrive.json @@ -0,0 +1,14 @@ +{ + "imu": { + "type": "pigeon2", + "id": 13, + "canbus": "canivore" + }, + "invertedIMU": true, + "modules": [ + "frontleft.json", + "frontright.json", + "backleft.json", + "backright.json" + ] +} \ No newline at end of file diff --git a/src/main/java/com/spartronics4915/frc2025/Constants.java b/src/main/java/com/spartronics4915/frc2025/Constants.java index 2e0afec..9e35e0e 100644 --- a/src/main/java/com/spartronics4915/frc2025/Constants.java +++ b/src/main/java/com/spartronics4915/frc2025/Constants.java @@ -1,5 +1,46 @@ +// 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 com.spartronics4915.frc2025; -public class Constants { +import edu.wpi.first.math.util.Units; + +/** + * The Constants class provides a convenient place for teams to hold robot-wide + * numerical or boolean + * constants. This class should not be used for any other purpose. All constants + * should be declared + * globally (i.e. public static). Do not put anything functional in this class. + * + *

+ * It is advised to statically import this class (or one of its inner classes) + * wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + public static final class OI { + public static final int kDriverControllerPort = 0; + public static final int kOperatorControllerPort = 1; + + public static final double kStickDeadband = 0.05; + + public static final double kDriverTriggerDeadband = 0.3; + public static final double kOperatorTriggerDeadband = 0.3; + } + + public static final class Drive { + public static final double kTrackWidth = Units.inchesToMeters(22.475); + public static final double kWheelbase = Units.inchesToMeters(22.475); + public static final double kChassisRadius = Math.hypot( + kTrackWidth / 2, kWheelbase / 2); + + public static final double kMaxSpeed = Units.feetToMeters(15.1); + public static final double kMaxAngularSpeed = kMaxSpeed * Math.PI / kChassisRadius; + + } + public static class OperatorConstants { + public static final int kDriverControllerPort = 0; + } } diff --git a/src/main/java/com/spartronics4915/frc2025/Main.java b/src/main/java/com/spartronics4915/frc2025/Main.java index 19aead9..9de2677 100644 --- a/src/main/java/com/spartronics4915/frc2025/Main.java +++ b/src/main/java/com/spartronics4915/frc2025/Main.java @@ -6,9 +6,19 @@ import edu.wpi.first.wpilibj.RobotBase; +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ public final class Main { private Main() {} + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ public static void main(String... args) { RobotBase.startRobot(Robot::new); } diff --git a/src/main/java/com/spartronics4915/frc2025/Robot.java b/src/main/java/com/spartronics4915/frc2025/Robot.java index bfa4cc4..9fb4134 100644 --- a/src/main/java/com/spartronics4915/frc2025/Robot.java +++ b/src/main/java/com/spartronics4915/frc2025/Robot.java @@ -4,70 +4,103 @@ package com.spartronics4915.frc2025; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +/** + * The methods in this class are called automatically 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 Main.java file in the project. + */ public class Robot extends TimedRobot { private Command m_autonomousCommand; - private RobotContainer m_robotContainer; + private final RobotContainer m_robotContainer; - @Override - public void robotInit() { + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + public Robot() { + // 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 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ @Override public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, running already-scheduled commands, removing finished or interrupted commands, + // and running subsystem periodic() methods. This must be called from the robot's periodic + // block in order for anything in the Command-based framework to work. CommandScheduler.getInstance().run(); } + /** This function is called once each time the robot enters Disabled mode. */ @Override public void disabledInit() {} @Override public void disabledPeriodic() {} - @Override - public void disabledExit() {} - + /** 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 autonomousExit() {} - @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 teleopExit() {} - @Override public void testInit() { + // Cancels all running commands at the start of test mode. CommandScheduler.getInstance().cancelAll(); } + /** This function is called periodically during test mode. */ @Override public void testPeriodic() {} + /** This function is called once when the robot is first started up. */ + @Override + public void simulationInit() { + + DriverStation.silenceJoystickConnectionWarning(true); + } + + /** This function is called periodically whilst in simulation. */ @Override - public void testExit() {} + public void simulationPeriodic() {} + } diff --git a/src/main/java/com/spartronics4915/frc2025/RobotContainer.java b/src/main/java/com/spartronics4915/frc2025/RobotContainer.java index 64aae19..e520cc3 100644 --- a/src/main/java/com/spartronics4915/frc2025/RobotContainer.java +++ b/src/main/java/com/spartronics4915/frc2025/RobotContainer.java @@ -4,17 +4,110 @@ package com.spartronics4915.frc2025; +import com.spartronics4915.frc2025.Constants.OperatorConstants; +import com.spartronics4915.frc2025.commands.Autos; +import com.spartronics4915.frc2025.commands.SwerveTeleopCommand; +import com.spartronics4915.frc2025.commands.vision.AimAndDriveBase; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; +import com.spartronics4915.frc2025.subsystems.vision.NoteLocatorSim; +import com.spartronics4915.frc2025.subsystems.vision.TargetDetectorInterface; + +import java.io.File; + +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a + * "declarative" paradigm, very little robot logic should actually be handled in + * the {@link Robot} + * periodic methods (other than the scheduler calls). Instead, the structure of + * the robot (including + * subsystems, commands, and trigger mappings) should be declared here. + */ public class RobotContainer { + // The robot's subsystems and commands are defined here... + public final SwerveSubsystem swerveSubsystem = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), + "swerve/neo")); + + private final CommandXboxController driverController = new CommandXboxController( + OperatorConstants.kDriverControllerPort); + + public final TargetDetectorInterface noteDetector; + + public final SwerveTeleopCommand swerveTeleopCommand = new SwerveTeleopCommand(swerveSubsystem, driverController); + // Replace with CommandPS4Controller or CommandJoystick if needed + + private final SendableChooser autoChooser; + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ public RobotContainer() { + + if (RobotBase.isSimulation()) { + noteDetector = new NoteLocatorSim(swerveSubsystem); + } else { + noteDetector = null; + } + + // Configure the trigger bindings configureBindings(); + + // Need to initialize this here after vision is configured. + // Need to clean up initialization flow to make it more clear + autoChooser = buildAutoChooser(); + } - private void configureBindings() {} + /** + * Use this method to define your trigger->command mappings. Triggers can be + * created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with + * an arbitrary + * predicate, or via the named factories in {@link + * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for + * {@link + * CommandXboxController + * Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller + * PS4} controllers or + * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight + * joysticks}. + */ + private void configureBindings() { + driverController.a().whileTrue(new AimAndDriveBase(noteDetector, swerveSubsystem, + driverController.getHID(), 16, 360)); + + swerveSubsystem.setDefaultCommand(swerveTeleopCommand); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ public Command getAutonomousCommand() { - return Commands.print("No autonomous command configured"); + + // return Autos.driveToNote(swerveSubsystem, noteDetector); + return autoChooser.getSelected(); + } + + private SendableChooser buildAutoChooser() { + SendableChooser chooser = new SendableChooser(); + + chooser.setDefaultOption("None", Commands.none()); + chooser.addOption("DriveToNote", Autos.driveToNote(swerveSubsystem, noteDetector)); + SmartDashboard.putData("Auto Chooser", chooser); + + return chooser; + } + } diff --git a/src/main/java/com/spartronics4915/frc2025/commands/Autos.java b/src/main/java/com/spartronics4915/frc2025/commands/Autos.java new file mode 100644 index 0000000..ed1ae46 --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/commands/Autos.java @@ -0,0 +1,29 @@ +// 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 com.spartronics4915.frc2025.commands; + +import com.spartronics4915.frc2025.commands.vision.AimDriveToTargetWIthTimeout; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; +import com.spartronics4915.frc2025.subsystems.vision.TargetDetectorInterface; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; +import edu.wpi.first.wpilibj2.command.Command; + +public final class Autos { + /** Example static factory for an autonomous command. */ + public static Command moveToPointAuto(SwerveSubsystem swerve) { + + Translation2d targetPose = new Translation2d(2.9, 7); + Constraints driveConstraints = new Constraints(2, 2); + return new DriveToPointCommand(targetPose, driveConstraints, + 0.2, 0.1, swerve); + } + + public static Command driveToNote(SwerveSubsystem swerve, TargetDetectorInterface detector) { + + return new AimDriveToTargetWIthTimeout(detector, swerve, 4, 0.5, 180).andThen(swerve.stopChassisCommand()); + } + +} diff --git a/src/main/java/com/spartronics4915/frc2025/commands/DriveToPointCommand.java b/src/main/java/com/spartronics4915/frc2025/commands/DriveToPointCommand.java new file mode 100644 index 0000000..a9b6604 --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/commands/DriveToPointCommand.java @@ -0,0 +1,93 @@ +package com.spartronics4915.frc2025.commands; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.TrapezoidProfile.State; +import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; +import edu.wpi.first.wpilibj2.command.Command; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; + +public class DriveToPointCommand extends Command { + + private final Translation2d targetPoint; + private final TrapezoidProfile translationProfile; + private final SwerveSubsystem swerve; + private final double closeEnoughThreshold; + private double velocitySetpoint; + private boolean nearGoal; + private final double minimumSpeed; + + /* + * Command that uses a trapezoidal profile to drive to a point in a smooth + * fashion. + */ + + public DriveToPointCommand(Translation2d targetPoint, Constraints translationContraints, + double closeEnoughThreshold, double minimumSpeed, + SwerveSubsystem swerve) { + this.targetPoint = targetPoint; + this.translationProfile = new TrapezoidProfile(translationContraints); + this.swerve = swerve; + this.closeEnoughThreshold = closeEnoughThreshold; + this.minimumSpeed = minimumSpeed; + + velocitySetpoint = 0; + nearGoal = false; + + addRequirements(swerve); + } + + @Override + public void initialize() { + + velocitySetpoint = 0; + nearGoal = false; + } + + @Override + public void execute() { + + Pose2d currPose = swerve.getPose(); + Translation2d translationToTarget = targetPoint.minus(currPose.getTranslation()); + double distanceRemaining = translationToTarget.getNorm(); + + if((distanceRemaining < closeEnoughThreshold) || nearGoal) { + + nearGoal = true; + return; + } + // ChassisSpeeds currChassisSpeeds = swerve.getFieldVelocity(); + // double currVelocity = Math.hypot(currChassisSpeeds.vxMetersPerSecond, + // currChassisSpeeds.vyMetersPerSecond); + + final double dT = 1 / 50.; + + State goalState = new State(distanceRemaining, 0); + State currentState = new State(0, velocitySetpoint); + State outputState = translationProfile.calculate(dT, currentState, goalState); + + double driveVelocity = outputState.velocity; + + if(driveVelocity < minimumSpeed) { + driveVelocity = minimumSpeed; + } + + Translation2d driveTranslation = translationToTarget.div(translationToTarget.getNorm()) + .times(driveVelocity); + + ChassisSpeeds newChassisSpeeds = new ChassisSpeeds(driveTranslation.getX(), + driveTranslation.getY(), 0); + + swerve.driveFieldOriented(newChassisSpeeds); + velocitySetpoint = outputState.velocity; + } + + @Override + public boolean isFinished() { + + return nearGoal; + } + +} diff --git a/src/main/java/com/spartronics4915/frc2025/commands/SwerveTeleopCommand.java b/src/main/java/com/spartronics4915/frc2025/commands/SwerveTeleopCommand.java new file mode 100644 index 0000000..73fbc9b --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/commands/SwerveTeleopCommand.java @@ -0,0 +1,87 @@ +package com.spartronics4915.frc2025.commands; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import com.spartronics4915.frc2025.Constants.Drive; +import com.spartronics4915.frc2025.Constants.OI; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; + +public class SwerveTeleopCommand extends Command { + + private final SwerveSubsystem swerveSubsystem; + private final CommandXboxController driverController; + private boolean useFieldRelative; + + public SwerveTeleopCommand(SwerveSubsystem swerveSubsystem, CommandXboxController driverController) { + + this.swerveSubsystem = swerveSubsystem; + this.driverController = driverController; + + setFieldRelative(true); + addRequirements(swerveSubsystem); + + } + + static public ChassisSpeeds computeVelocitiesFromController(XboxController driverController) { + + ChassisSpeeds cs = new ChassisSpeeds(); + + // Need to verify that we are using the right axes. + final double inputxraw = driverController.getLeftY() * -1.0; + final double inputyraw = driverController.getLeftX() * -1.0; + final double inputomegaraw; + if (RobotBase.isSimulation()) { + inputomegaraw = driverController.getRawAxis(3) * -1.0; + } else { + inputomegaraw = driverController.getRightY() * -1.0; // consider changing from angular velocity + // control to direct angle control + } + + final double inputx = applyResponseCurve(MathUtil.applyDeadband(inputxraw, OI.kStickDeadband)); + final double inputy = applyResponseCurve(MathUtil.applyDeadband(inputyraw, OI.kStickDeadband)); + final double inputomega = applyResponseCurve(MathUtil.applyDeadband(inputomegaraw, OI.kStickDeadband)); + + cs.vxMetersPerSecond = inputx * Drive.kMaxSpeed; + cs.vyMetersPerSecond = inputy * Drive.kMaxSpeed; + cs.omegaRadiansPerSecond = inputomega * Drive.kMaxAngularSpeed; + + return cs; + } + + @Override + public void execute() { + + ChassisSpeeds cs = computeVelocitiesFromController(driverController.getHID()); + + boolean useFieldRelative = getFieldRelative(); + if (DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red + && useFieldRelative) { + cs.vxMetersPerSecond = -cs.vxMetersPerSecond; + cs.vyMetersPerSecond = -cs.vyMetersPerSecond; + } + + if (useFieldRelative) { + swerveSubsystem.driveFieldOriented(cs); + } else { + swerveSubsystem.drive(cs); + } + } + + static private double applyResponseCurve(double x) { + return Math.signum(x) * Math.pow(x, 2); + } + + public void setFieldRelative(boolean fieldRelative) { + useFieldRelative = fieldRelative; + } + + public boolean getFieldRelative() { + return useFieldRelative; + } +} diff --git a/src/main/java/com/spartronics4915/frc2025/commands/vision/AimAndDriveBase.java b/src/main/java/com/spartronics4915/frc2025/commands/vision/AimAndDriveBase.java new file mode 100644 index 0000000..dcbb62d --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/commands/vision/AimAndDriveBase.java @@ -0,0 +1,59 @@ +package com.spartronics4915.frc2025.commands.vision; + +import java.util.Optional; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import com.spartronics4915.frc2025.commands.SwerveTeleopCommand; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; +import com.spartronics4915.frc2025.subsystems.vision.TargetDetectorInterface; +import com.spartronics4915.frc2025.subsystems.vision.TargetDetectorInterface.Detection; + +public class AimAndDriveBase extends Command { + + private final TargetDetectorInterface targetDetector; + private final SwerveSubsystem swerveSubsystem; + private final PIDController pidController; + private final double maxRotVelocity; + private final XboxController driverController; + + public AimAndDriveBase(TargetDetectorInterface targetDetector, SwerveSubsystem swerveSubsystem, + XboxController driverController, + double kP, double maxRotVelocity) { + + this.targetDetector = targetDetector; + this.swerveSubsystem = swerveSubsystem; + this.pidController = new PIDController(kP, 0, 0); + this.maxRotVelocity = maxRotVelocity; + this.driverController = driverController; + } + + @Override + public void execute() { + + ChassisSpeeds cs = SwerveTeleopCommand.computeVelocitiesFromController(driverController); + Optional detection = targetDetector.getClosestVisibleTarget(); + + // Set the rotational velocity to zero because it will be replaced later. + // If there is no detection, it will drive forward + cs.omegaRadiansPerSecond = 0; + + if(detection.isPresent()) { + + double tx; + + tx = detection.get().tx(); + double angleVelocity = pidController.calculate(tx, 0); + angleVelocity = MathUtil.clamp(angleVelocity, -this.maxRotVelocity, this.maxRotVelocity); + SmartDashboard.putNumber("angleVelocity", angleVelocity); + double inputRotVelocity = angleVelocity / 180 * Math.PI; + cs.omegaRadiansPerSecond = inputRotVelocity; + } + + swerveSubsystem.drive(cs); + } +} diff --git a/src/main/java/com/spartronics4915/frc2025/commands/vision/AimDriveToTargetWIthTimeout.java b/src/main/java/com/spartronics4915/frc2025/commands/vision/AimDriveToTargetWIthTimeout.java new file mode 100644 index 0000000..97ed3b6 --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/commands/vision/AimDriveToTargetWIthTimeout.java @@ -0,0 +1,120 @@ +package com.spartronics4915.frc2025.commands.vision; + +import java.util.Optional; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; +import com.spartronics4915.frc2025.subsystems.vision.TargetDetectorInterface; +import com.spartronics4915.frc2025.subsystems.vision.TargetDetectorInterface.Detection; + +public class AimDriveToTargetWIthTimeout extends Command { + + private final TargetDetectorInterface targetDetector; + private final double timeoutThreshold; + private Timer timeoutTimer; + private final SwerveSubsystem swerveSubsystem; + private boolean finished; + private Rotation2d lastHeadingSetpoint; + private final PIDController pidController; + private final double maxRotVelocity; + + // The default behavior is that the command will keep driving towards the last + // detected location + // if the detection is lost, until the timeout. At the timeout, it just exits, + // no new drive commands + // are issued. It is up to the following command to issue the next step to the + // robot. + + // TODO: Add a max velocity magnitude to clamp. + + public AimDriveToTargetWIthTimeout(TargetDetectorInterface targetDetector, SwerveSubsystem swerveSubsystem, + double kP, double timeoutThreshold, double maxRotVelocity) { + + this.targetDetector = targetDetector; + this.timeoutThreshold = timeoutThreshold; + this.swerveSubsystem = swerveSubsystem; + this.pidController = new PIDController(kP, 0, 0); + this.maxRotVelocity = maxRotVelocity; + + timeoutTimer = new Timer(); + finished = false; + + addRequirements(swerveSubsystem); + } + + @Override + public void initialize() { + timeoutTimer.stop(); + timeoutTimer.reset(); + + lastHeadingSetpoint = null; + } + + @Override + public boolean isFinished() { + return finished; + } + + @Override + public void execute() { + + Optional detection = targetDetector.getClosestVisibleTarget(); + if (lastHeadingSetpoint == null) { + lastHeadingSetpoint = swerveSubsystem.getPose().getRotation(); + } + + Rotation2d currHeadingSetpoint; + double tx; + if (finished) { + return; + } + + if (detection.isEmpty()) { + + timeoutTimer.start(); + // If the timer is running and has passed the threshold, return. + if (timeoutTimer.hasElapsed(timeoutThreshold)) { + finished = true; + return; + } else { + // Otherwise, don't update the setpoint, that way the motion continues smoothly + // until we + // reacquire + + currHeadingSetpoint = lastHeadingSetpoint; + tx = currHeadingSetpoint.minus(swerveSubsystem.getPose().getRotation()).getDegrees(); + } + } else { + + tx = detection.get().tx(); + + currHeadingSetpoint = swerveSubsystem.getPose().getRotation().plus(Rotation2d.fromDegrees(tx)); + lastHeadingSetpoint = currHeadingSetpoint; + + double angleVelocity = pidController.calculate(tx, 0); + + angleVelocity = MathUtil.clamp(angleVelocity, -this.maxRotVelocity, this.maxRotVelocity); + + double inputAngleVelocity = angleVelocity / 180 * Math.PI; + + swerveSubsystem.drive(new ChassisSpeeds(computeForwardVelocity(), 0, inputAngleVelocity)); + + if (timeoutTimer.isRunning()) { + // If it is not empty, we can reset the timeout timer. Because we got a + // detection + timeoutTimer.stop(); + timeoutTimer.reset(); + } + } + + } + + public double computeForwardVelocity() { + return 1; + } +} diff --git a/src/main/java/com/spartronics4915/frc2025/subsystems/SwerveSubsystem.java b/src/main/java/com/spartronics4915/frc2025/subsystems/SwerveSubsystem.java new file mode 100644 index 0000000..857b978 --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/subsystems/SwerveSubsystem.java @@ -0,0 +1,82 @@ +package com.spartronics4915.frc2025.subsystems; + +import java.io.File; +import java.io.IOException; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import swervelib.SwerveDrive; +import swervelib.parser.SwerveParser; +import com.spartronics4915.frc2025.Constants.Drive; + +import static edu.wpi.first.units.Units.Meter; + +public class SwerveSubsystem extends SubsystemBase { + + private final SwerveDrive swerveDrive; + + public SwerveSubsystem(File directory) { + + try { + swerveDrive = new SwerveParser(directory).createSwerveDrive(Drive.kMaxSpeed, + new Pose2d(new Translation2d(Meter.of(2), + Meter.of(5)), + Rotation2d.fromDegrees(180))); + + } catch (IOException e) { + throw new RuntimeException(e); + } + swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot + // via angle. + swerveDrive.setCosineCompensator(false);// !SwerveDriveTelemetry.isSimulation); // Disables cosine compensation + // for simulations since it causes discrepancies not seen in real life. + swerveDrive.setAngularVelocityCompensation(true, + true, + 0.1); // Correct for skew that gets worse as angular velocity increases. Start with a + // coefficient of 0.1. + swerveDrive.setModuleEncoderAutoSynchronize(false, + 1); // Enable if you want to resynchronize your absolute encoders and motor encoders + // periodically when they are not moving. + swerveDrive.pushOffsetsToEncoders(); // Set the absolute encoder to be used over the internal encoder and push + // the offsets onto it. Throws warning if not possible + + swerveDrive.resetOdometry(new Pose2d(1.5, 5, Rotation2d.fromDegrees(45))); + + } + + // External API for sending explicit driving commands to the swerve drive + public void drive(ChassisSpeeds chassisSpeeds) { + + swerveDrive.drive(chassisSpeeds); + } + + public void driveFieldOriented(ChassisSpeeds chassisSpeeds) { + swerveDrive.driveFieldOriented(chassisSpeeds); + } + + public Pose2d getPose() { + + return swerveDrive.getPose(); + } + + public ChassisSpeeds getFieldVelocity() { + + return swerveDrive.getFieldVelocity(); + } + + public void stopChassis() { + + drive(new ChassisSpeeds()); + } + + public Command stopChassisCommand() { + + return Commands.runOnce(() -> stopChassis(), this); + } + +} diff --git a/src/main/java/com/spartronics4915/frc2025/subsystems/vision/NoteLocatorSim.java b/src/main/java/com/spartronics4915/frc2025/subsystems/vision/NoteLocatorSim.java new file mode 100644 index 0000000..c8d10b6 --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/subsystems/vision/NoteLocatorSim.java @@ -0,0 +1,96 @@ +package com.spartronics4915.frc2025.subsystems.vision; + +import java.util.ArrayList; +import java.util.List; +import java.util.OptionalDouble; +// import java.util.Random; +import java.util.Optional; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import com.spartronics4915.frc2025.subsystems.SwerveSubsystem; + +public class NoteLocatorSim implements TargetDetectorInterface { + + // private final Random random = new Random(); + + SwerveSubsystem swerveDrive; + final static ArrayList noteLocations = new ArrayList<>(List.of(new Translation2d(2.9, 7), + new Translation2d(2.9, 5.5), new Translation2d(2.9, 4.1))); + + public NoteLocatorSim(SwerveSubsystem swerveDrive) { + this.swerveDrive = swerveDrive; + } + + public Optional getClosestVisibleTarget() { + + double minDist = 1e6; + Pose2d currPose = swerveDrive.getPose(); + Translation2d currPosition = currPose.getTranslation(); + + final double MAX_DEGREES = 27; + final double ROBOT_HEIGHT = 0.3; // Meters + // final double VERT_TOP_VISIBILITY_THRESH = -20; // Degrees + final double VERT_BOT_VISIBILITY_THRESH = -40; // Degrees + Optional bestNote = Optional.empty(); + + for (Translation2d currNoteLoc : noteLocations) { + Translation2d botNoteVec = currNoteLoc.minus(currPosition); + Rotation2d botNoteAngle = botNoteVec.getAngle(); + Rotation2d viewCenterNoteAngle = currPose.getRotation().minus(botNoteAngle); + Rotation2d vertAngle = new Rotation2d(botNoteVec.getNorm(), -ROBOT_HEIGHT); + double dist = botNoteVec.getNorm(); + + if (Math.abs(viewCenterNoteAngle.getDegrees()) > MAX_DEGREES) { + continue; + } + + double vertAngleDegrees = vertAngle.getDegrees(); + if ((vertAngleDegrees < VERT_BOT_VISIBILITY_THRESH)) { + continue; + } + + if (dist < minDist) { + + bestNote = Optional + .of(new Detection(viewCenterNoteAngle.getDegrees(), vertAngle.getDegrees(), dist)); + minDist = dist; + } + // System.out.println("view center: " + viewCenterNoteAngle.getDegrees() + " " + + // "vert: " + // + vertAngle.getDegrees() + " " + currPosition + " " + currNoteLoc); + + } + + // if (bestNote.isPresent()) { + // double prob = random.nextDouble(); + + // if (prob < 0.25) { + // System.out.println("Dropped out"); + // bestNote = Optional.empty(); + // } + // } + + return bestNote; + } + + // Assuming that we don't care about Ty, just return a constant value. + + public double getTy() { + return 10; + + } + + // Finds the angle from the center of the closest note. Will filter over 27 + // degrees + // TODO: This still needs to be completed. + + public OptionalDouble getTx() { + // final double MAX_ANGLE_DEGREES = 27; + + return OptionalDouble.of(10); + + } + +} diff --git a/src/main/java/com/spartronics4915/frc2025/subsystems/vision/TargetDetectorInterface.java b/src/main/java/com/spartronics4915/frc2025/subsystems/vision/TargetDetectorInterface.java new file mode 100644 index 0000000..85e1f93 --- /dev/null +++ b/src/main/java/com/spartronics4915/frc2025/subsystems/vision/TargetDetectorInterface.java @@ -0,0 +1,11 @@ +package com.spartronics4915.frc2025.subsystems.vision; + +import java.util.Optional; + +public interface TargetDetectorInterface { + + public static record Detection(double tx, double ty, double estimatedDistance) {}; + + public Optional getClosestVisibleTarget(); + +} diff --git a/vendordeps/PathplannerLib-2025.1.1.json b/vendordeps/PathplannerLib-2025.1.1.json new file mode 100644 index 0000000..6322388 --- /dev/null +++ b/vendordeps/PathplannerLib-2025.1.1.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2025.1.1.json", + "name": "PathplannerLib", + "version": "2025.1.1", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2025", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2025.1.1" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2025.1.1", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix5-5.35.0.json b/vendordeps/Phoenix5-5.35.0.json new file mode 100644 index 0000000..e2e3247 --- /dev/null +++ b/vendordeps/Phoenix5-5.35.0.json @@ -0,0 +1,171 @@ +{ + "fileName": "Phoenix5-5.35.0.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.35.0", + "frcYear": "2025", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-frc2025-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + }, + { + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.35.0" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.35.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.35.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.35.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.35.0", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.35.0", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.35.0", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.35.0", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.35.0", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.35.0", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6-25.1.0.json b/vendordeps/Phoenix6-25.1.0.json new file mode 100644 index 0000000..473f6a8 --- /dev/null +++ b/vendordeps/Phoenix6-25.1.0.json @@ -0,0 +1,389 @@ +{ + "fileName": "Phoenix6-25.1.0.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.1.0", + "frcYear": "2025", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ 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new file mode 100644 index 0000000..cde6011 --- /dev/null +++ b/vendordeps/REVLib-2025.0.0.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib-2025.0.0.json", + "name": "REVLib", + "version": "2025.0.0", + "frcYear": "2025", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2025.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2025.0.0", + "libName": "REVLib", + 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