Updating libraries and more

.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'}}

.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"
 }

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
+    }
   ]
 }

src/main/deploy/swerve/neo/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

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
+  }
+}

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
+  }
+}

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
+  }
+}

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
+  }
+}

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
+}

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
+  }
+}

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"
+  ]
+}

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.
+ *
+ * <p>
+ * 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;
+  }
 }

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.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);
   }