commit 90e033f921e5dcfbdaa4e0e500bdcfe293457f9c Author: Bradley Bickford Date: Sat Aug 2 12:41:22 2025 -0400 Initial Commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/.gitignore @@ -0,0 +1,187 @@ +# 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/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +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, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..612cdd0 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,60 @@ +{ + "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", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..4be96bc --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 9999 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 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/build.gradle b/build.gradle new file mode 100644 index 0000000..44f1061 --- /dev/null +++ b/build.gradle @@ -0,0 +1,104 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.3.2" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +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' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +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 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + 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 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// 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) } } + from sourceSets.main.allSource + 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) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..a4b76b9 Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..34bd9ce --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..f5feea6 --- /dev/null +++ b/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# 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. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# 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/HEAD/platforms/jvm/plugins-application/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 +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 + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +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 "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$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=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( 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 + 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 + # 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 +fi + + +# 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"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$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. +# + +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/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,94 @@ +@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 +@rem SPDX-License-Identifier: Apache-2.0 +@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=. +@rem This is normally unused +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% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +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% equ 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! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..c493958 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + 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 + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc/robot/LEDAnimationKit/Animation.java b/src/main/java/frc/robot/LEDAnimationKit/Animation.java new file mode 100644 index 0000000..d714b08 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/Animation.java @@ -0,0 +1,44 @@ +package frc.robot.LEDAnimationKit; + +import edu.wpi.first.wpilibj.Timer; + +public abstract class Animation { + private boolean enabled; + private double timeDelay; + private Timer timer; + + protected LEDStrip strip; + + public Animation(LEDStrip strip, double timeDelay) { + this.strip = strip; + + timer = new Timer(); + this.timeDelay = timeDelay; + enabled = false; + } + + public boolean isEnabled() { + return enabled; + } + + public void start() { + timer.reset(); + timer.start(); + enabled = true; + } + + public void stop() { + timer.stop(); + enabled = false; + } + + public abstract boolean update(); + + protected boolean shouldUpdate() { + return enabled && timer.get() >= timeDelay; + } + + protected void resetTiming() { + timer.reset(); + } +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/AnimationManager.java b/src/main/java/frc/robot/LEDAnimationKit/AnimationManager.java new file mode 100644 index 0000000..bfd0d39 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/AnimationManager.java @@ -0,0 +1,85 @@ +package frc.robot.LEDAnimationKit; + +import java.util.ArrayList; + +import edu.wpi.first.wpilibj.Notifier; + +public class AnimationManager { + + private Notifier internalNotifier; + private ArrayList animations; + private PhysicalLEDStrip[] ledStrips; + private boolean[] updateLEDStrip; + + public AnimationManager(PhysicalLEDStrip[] ledStrips) { + this.ledStrips = ledStrips; + updateLEDStrip = new boolean[ledStrips.length]; + + for(int i = 0; i < updateLEDStrip.length; i++) { + updateLEDStrip[i] = false; + } + + internalNotifier = new Notifier(() -> { + synchronized(animations) { + for(Animation animation : animations) { + boolean shouldUpdate = animation.update(); + + if(shouldUpdate) { + int stripIndex = findStripIndex(animation.strip.getPhysicalStrip()); + + if(stripIndex != -1) { + updateLEDStrip[stripIndex] = true; + } + } + } + + for(int i = 0; i < updateLEDStrip.length; i++) { + if(updateLEDStrip[i]) { + ledStrips[i].show(); + } + + updateLEDStrip[i] = false; + } + } + }); + + animations = new ArrayList(); + } + + public void registerAnimationForUpdate(Animation animation) { + synchronized(animations) { + animations.add(animation); + } + } + + public void unregisterAnimation(Animation animation) { + synchronized(animations) { + animations.remove(animation); + } + } + + public void unregisterAnimation(int index) { + synchronized(animations) { + animations.remove(index); + } + } + + public void start(double periodSeconds) { + internalNotifier.startPeriodic(periodSeconds); + } + + public void stop() { + internalNotifier.stop(); + } + + private int findStripIndex(LEDStrip strip) { + for(int i = 0; i < ledStrips.length; i++) { + if(ledStrips[i] == strip) { + return i; + } + } + + return -1; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/LEDStrip.java b/src/main/java/frc/robot/LEDAnimationKit/LEDStrip.java new file mode 100644 index 0000000..8c84deb --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/LEDStrip.java @@ -0,0 +1,84 @@ +package frc.robot.LEDAnimationKit; + +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +/** + * An interface designed to create a common interface + * for current and future LED types. This interface can be implemented + * to wrap additional types of LEDs + */ +public interface LEDStrip { + /** + * Retrieves the number of LEDs in the strip + * + * @return An integer representing the number of LEDs in the strip + */ + public int getNumLEDs(); + + /** + * Directs the underlying physical strip to show + * the current internal buffer + */ + public void show(); + + /** + * Returns a reference to the physical LED strip + * + * @return The physical LED strip reference + */ + public LEDStrip getPhysicalStrip(); + + /** + * Sets a particular pixel using a Color object + * + * @param pixel The pixel index to set + * @param color The Color object used to specify the desired color + */ + public void setRGBColor(int pixel, Color color); + + /** + * Sets a particular pixel using a Color8Bit object + * + * @param pixel The pixel index to set + * @param color The Color8Bit object used to specify the desired color + */ + public void setRGBColor(int pixel, Color8Bit color); + + /** + * Sets a particular pixel using 8 bit r, g, and b values + * + * @param pixel The pixel index to set + * @param r The Red value of the RGB color (0 - 255) + * @param g The Green value of the RGB color (0 - 255) + * @param b The Blue value of the RGB color (0 - 255) + */ + public void setRGBColor(int pixel, int r, int g, int b); + + /** + * Sets a particular pixel using 8 bit h, s, v values + * + * @param pixel The pixel index to set + * @param h The Hue value of the HSV color (0 - 180) + * @param s The Saturation value of the HSV color (0 - 255) + * @param v The Value value of the HSV color (0 - 255) + */ + public void setHSVColor(int pixel, int h, int s, int v); + + /** + * Returns the color at a specified pixel index using a Color object + * + * @param pixel The pixel index to return the current color from + * @return The Color object representation of the specified pixel index + */ + public Color getColor(int pixel); + + /** + * Returns the color at the specified pixel index using a Color8Bit object + * + * @param pixel The pixel index to return the current color from + * @return The Color8Bit object representation of the specified pixel index + */ + public Color8Bit getColor8Bit(int pixel); + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/LEDStrip2DWrapper.java b/src/main/java/frc/robot/LEDAnimationKit/LEDStrip2DWrapper.java new file mode 100644 index 0000000..406c631 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/LEDStrip2DWrapper.java @@ -0,0 +1,104 @@ +package frc.robot.LEDAnimationKit; + +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class LEDStrip2DWrapper implements LEDStrip { + private LEDStrip strip; + private int width; + private int height; + + public LEDStrip2DWrapper(LEDStrip strip, int width, int height) { + this.strip = strip; + this.width = width; + this.height = height; + } + + @Override + public int getNumLEDs() { + return width * height; + } + + public int getWidth() { + return width; + } + + public int getHeight() { + return height; + } + + @Override + public void show() { + strip.show(); + + } + + @Override + public LEDStrip getPhysicalStrip() { + return strip.getPhysicalStrip(); + } + + public void setRGBColor(int x, int y, Color color) { + setRGBColor(translateXY(x, y), color); + } + + public void setRGBColor(int x, int y, Color8Bit color) { + setRGBColor(translateXY(x, y), color); + } + + public void setRGBColor(int x, int y, int r, int g, int b) { + setRGBColor(translateXY(x, y), r, g, b); + } + + public void setHSVColor(int x, int y, int h, int s, int v) { + setHSVColor(translateXY(x, y), h, s, v); + } + + @Override + public void setRGBColor(int pixel, Color color) { + strip.setRGBColor(pixel, color); + + } + + @Override + public void setRGBColor(int pixel, Color8Bit color) { + strip.setRGBColor(pixel, color); + } + + @Override + public void setRGBColor(int pixel, int r, int g, int b) { + strip.setRGBColor(pixel, r, g, b); + + } + + @Override + public void setHSVColor(int pixel, int h, int s, int v) { + strip.setHSVColor(pixel, h, s, v); + + } + + public Color getColor(int x, int y) { + return getColor(translateXY(x, y)); + } + + public Color8Bit getColor8Bit(int x, int y) { + return getColor8Bit(translateXY(x, y)); + } + + @Override + public Color getColor(int pixel) { + return strip.getColor(pixel); + } + + @Override + public Color8Bit getColor8Bit(int pixel) { + return strip.getColor8Bit(pixel); + } + + protected int translateXY(int x, int y) { + //TODO This should throw out of range when appropriate + //TODO Serpentine mode? + return y * width + x; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/LogicalLEDStrip.java b/src/main/java/frc/robot/LEDAnimationKit/LogicalLEDStrip.java new file mode 100644 index 0000000..09f0fca --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/LogicalLEDStrip.java @@ -0,0 +1,67 @@ +package frc.robot.LEDAnimationKit; + +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class LogicalLEDStrip implements LEDStrip{ + + private LEDStrip strip; + private int startPixel; + private int endPixel; + + public LogicalLEDStrip(LEDStrip strip, int startPixel, int endPixel) { + this.strip = strip; + this.startPixel = startPixel; + this.endPixel = endPixel; + } + + @Override + public int getNumLEDs() { + return endPixel - startPixel; + } + + @Override + public void show() { + strip.show(); + } + + @Override + public void setRGBColor(int pixel, Color color) { + strip.setRGBColor(rescaleIndex(pixel), color); + } + + @Override + public void setRGBColor(int pixel, Color8Bit color) { + strip.setRGBColor(rescaleIndex(pixel), color); + } + + @Override + public void setRGBColor(int pixel, int r, int g, int b) { + strip.setRGBColor(rescaleIndex(pixel), r, g, b); + } + + @Override + public void setHSVColor(int pixel, int h, int s, int v) { + strip.setHSVColor(rescaleIndex(pixel), h, s, v); + } + + @Override + public Color getColor(int pixel) { + return strip.getColor(rescaleIndex(pixel)); + } + + @Override + public Color8Bit getColor8Bit(int pixel) { + return strip.getColor8Bit(rescaleIndex(pixel)); + } + + //TODO This should be hardened to throw an IndexOutOfBound Exception + private int rescaleIndex(int pixel) { + return startPixel + pixel; + } + + @Override + public LEDStrip getPhysicalStrip() { + return strip.getPhysicalStrip(); + } +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/PhysicalLEDStrip.java b/src/main/java/frc/robot/LEDAnimationKit/PhysicalLEDStrip.java new file mode 100644 index 0000000..40549f8 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/PhysicalLEDStrip.java @@ -0,0 +1,73 @@ +package frc.robot.LEDAnimationKit; + +import edu.wpi.first.wpilibj.AddressableLED; +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class PhysicalLEDStrip implements LEDStrip { + + private AddressableLED led; + private AddressableLEDBuffer buffer; + + public PhysicalLEDStrip(int portNum, int numLEDs) { + led = new AddressableLED(portNum); + led.setLength(numLEDs); + + buffer = new AddressableLEDBuffer(numLEDs); + led.setData(buffer); + } + + public void start() { + led.start(); + } + + public void stop() { + led.stop(); + } + + @Override + public void show() { + led.setData(buffer); + } + + @Override + public int getNumLEDs() { + return buffer.getLength(); + } + + @Override + public void setRGBColor(int pixel, Color color) { + buffer.setLED(pixel, color); + } + + @Override + public void setRGBColor(int pixel, Color8Bit color) { + buffer.setLED(pixel, color); + } + + @Override + public void setRGBColor(int pixel, int r, int g, int b) { + buffer.setLED(pixel, new Color8Bit(r, g, b)); + } + + @Override + public void setHSVColor(int pixel, int h, int s, int v) { + buffer.setHSV(pixel, h, s, v); + } + + @Override + public Color getColor(int pixel) { + return buffer.getLED(pixel); + } + + @Override + public Color8Bit getColor8Bit(int pixel) { + return new Color8Bit(getColor(pixel)); + } + + @Override + public LEDStrip getPhysicalStrip() { + return this; + } +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/Alternate.java b/src/main/java/frc/robot/LEDAnimationKit/animations/Alternate.java new file mode 100644 index 0000000..66fcb51 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/Alternate.java @@ -0,0 +1,46 @@ +package frc.robot.LEDAnimationKit.animations; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class Alternate extends Animation { + private Color8Bit[] colors; + private int alternateSize; + private int alternateInt; + + public Alternate(LEDStrip strip, double timeDelay, Color8Bit[] colors, int alternateSize) { + super(strip, timeDelay); + this.colors = colors; + this.alternateSize = alternateSize; + alternateInt = 0; + } + + @Override + public boolean update() { + if(shouldUpdate()) { + for(int i = 0; i < strip.getNumLEDs(); i += alternateSize) { + Color8Bit targetColor = colors[((i / alternateSize) + alternateInt) % colors.length]; + + for(int j = i; j < i + alternateSize; j++) { + strip.setRGBColor(j, targetColor); + } + } + + alternateInt++; + + if(alternateInt >= colors.length) { + alternateInt = 0; + } + + resetTiming(); + + return true; + } + + return false; + } + + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/Breathing.java b/src/main/java/frc/robot/LEDAnimationKit/animations/Breathing.java new file mode 100644 index 0000000..aa78a41 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/Breathing.java @@ -0,0 +1,57 @@ +package frc.robot.LEDAnimationKit.animations; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class Breathing extends Animation{ + private Color8Bit originalColor; + private double minPercentage; + private double maxPercentage; + private double currentPercentage; + private double currentAdditive; + + public Breathing(LEDStrip strip, double timeDelay, Color8Bit originalColor, double minPercentage, double maxPercentage) { + super(strip, timeDelay); + + this.originalColor = originalColor; + this.minPercentage = minPercentage; + this.maxPercentage = maxPercentage; + currentPercentage = minPercentage; + currentAdditive = 1; + } + + @Override + public boolean update() { + if(shouldUpdate()) { + Color8Bit nextColor = new Color8Bit( + (int)(originalColor.red * currentPercentage / 100.0), + (int)(originalColor.green * currentPercentage / 100.0), + (int)(originalColor.blue * currentPercentage / 100.0)); + + for(int i = 0; i < strip.getNumLEDs(); i++) { + strip.setRGBColor(i, nextColor); + } + + currentPercentage += currentAdditive; + + if(currentAdditive > 0) { + if(currentPercentage > maxPercentage) { + currentAdditive *= -1; + } + } else { + if(currentPercentage < minPercentage) { + currentAdditive *= -1; + } + } + + resetTiming(); + + return true; + } + + return false; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/Collision.java b/src/main/java/frc/robot/LEDAnimationKit/animations/Collision.java new file mode 100644 index 0000000..ecfeb6d --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/Collision.java @@ -0,0 +1,57 @@ +package frc.robot.LEDAnimationKit.animations; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class Collision extends Animation { + private Color8Bit color1; + private Color8Bit color2; + + private int collisionInt; + + public Collision(LEDStrip strip, double timeDelay, Color8Bit color1, Color8Bit color2) { + super(strip, timeDelay); + + this.color1 = color1; + this.color2 = color2; + + collisionInt = 0; + } + + @Override + public boolean update() { + if(shouldUpdate()) { + if(collisionInt == 0) { + for(int i = 0; i < strip.getNumLEDs(); i++) { + strip.setRGBColor(i, 0, 0, 0); + } + + strip.setRGBColor(0, color1); + strip.setRGBColor(strip.getNumLEDs() - 1, color2); + + collisionInt++; + + resetTiming(); + return true; + } else if(collisionInt < strip.getNumLEDs()) { + strip.setRGBColor(collisionInt, color1); + strip.setRGBColor(strip.getNumLEDs() - collisionInt - 1, color2); + + collisionInt++; + + resetTiming(); + return true; + } else { + collisionInt = 0; + + //Don't reset timing here. + //Forces an immediate update to clear the LEDs + return false; + } + } + return false; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/ColorRandomizer.java b/src/main/java/frc/robot/LEDAnimationKit/animations/ColorRandomizer.java new file mode 100644 index 0000000..d72965a --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/ColorRandomizer.java @@ -0,0 +1,116 @@ +package frc.robot.LEDAnimationKit.animations; + +import java.util.Random; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class ColorRandomizer extends Animation { + private Color[] colors; + private Color[] fadingValues; + private Random random; + private int colorRandomizerInt; + private int fadeScale; + private boolean shouldFade; + private boolean isFading; + + public ColorRandomizer(LEDStrip strip, double timeDelay, Color8Bit[] colors, + boolean shouldFade, int fadeScale) { + super(strip, timeDelay); + + this.colors = new Color[colors.length]; + + for(int i = 0; i < colors.length; i++) { + this.colors[i] = new Color(colors[i]); + } + + random = new Random(); + + fadingValues = new Color[colors.length]; + + this.shouldFade = shouldFade; + this.fadeScale = fadeScale; + colorRandomizerInt = 0; + isFading = false; + } + + @Override + public boolean update() { + if(shouldUpdate()) { + if(shouldFade && isFading) { + if(colorRandomizerInt == 0) { + for(int i = 0; i < strip.getNumLEDs(); i++) { + Color currentColor = strip.getColor(i); + + fadingValues[i] = new Color( + currentColor.red / fadeScale, + currentColor.green / fadeScale, + currentColor.blue / fadeScale + ); + } + + colorRandomizerInt++; + } else if(colorRandomizerInt > 0 && colorRandomizerInt < fadeScale + 1) { + for(int i = 0; i < strip.getNumLEDs(); i++) { + Color currentColor = strip.getColor(i); + double nextRed = 0; + double nextGreen = 0; + double nextBlue = 0; + + if(currentColor.red == 0) { + nextRed = 0; + } else if(currentColor.red - fadingValues[i].red < 0) { + nextRed = 0; + } else { + nextRed = currentColor.red - fadingValues[i].red; + } + + if(currentColor.green == 0) { + nextGreen = 0; + } else if(currentColor.green - fadingValues[i].green < 0) { + nextGreen = 0; + } else { + nextGreen = currentColor.green - fadingValues[i].green; + } + + if(currentColor.blue == 0) { + nextBlue = 0; + } else if(currentColor.blue - fadingValues[i].blue < 0) { + nextBlue = 0; + } else { + nextBlue = currentColor.blue - fadingValues[i].blue; + } + + strip.setRGBColor(i, new Color(nextRed, nextGreen, nextBlue)); + } + + colorRandomizerInt++; + + resetTiming(); + + return true; + } else { + colorRandomizerInt = 0; + isFading = false; + } + } else { + for(int i = 0; i < strip.getNumLEDs(); i++) { + strip.setRGBColor(i, colors[random.nextInt(colors.length)]); + } + + if(shouldFade) { + isFading = true; + } + + resetTiming(); + return true; + } + } + + return false; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/CycleLight.java b/src/main/java/frc/robot/LEDAnimationKit/animations/CycleLight.java new file mode 100644 index 0000000..35b6cfc --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/CycleLight.java @@ -0,0 +1,58 @@ +package frc.robot.LEDAnimationKit.animations; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class CycleLight extends Animation { + private Color8Bit[] colors; + private int cycleLightInt; + private int currentColorIndex; + + public CycleLight(LEDStrip strip, double timeDelay, Color8Bit[] colors) { + super(strip, timeDelay); + + this.colors = colors; + + cycleLightInt = 0; + currentColorIndex = 0; + } + + @Override + public boolean update() { + if(shouldUpdate()) { + if(cycleLightInt == 0) { + for(int i = 0; i < strip.getNumLEDs(); i++) { + strip.setRGBColor(i, 0, 0, 0); + } + + strip.setRGBColor(cycleLightInt, colors[currentColorIndex]); + cycleLightInt++; + + resetTiming(); + + return true; + } else if(cycleLightInt < strip.getNumLEDs()) { + strip.setRGBColor(cycleLightInt, colors[currentColorIndex]); + cycleLightInt++; + + resetTiming(); + + return true; + } else { + cycleLightInt = 0; + + currentColorIndex++; + + if(currentColorIndex >= colors.length) { + currentColorIndex = 0; + } + } + } + + return false; + } + + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/FluidRainbow.java b/src/main/java/frc/robot/LEDAnimationKit/animations/FluidRainbow.java new file mode 100644 index 0000000..f1b6e9f --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/FluidRainbow.java @@ -0,0 +1,31 @@ +package frc.robot.LEDAnimationKit.animations; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +public class FluidRainbow extends Animation{ + + private int hsvShift; + + public FluidRainbow(LEDStrip strip, double timeDelay) { + super(strip, timeDelay); + } + + @Override + public boolean update() { + if(shouldUpdate()) { + for(int i = 0; i < strip.getNumLEDs(); i++) { + strip.setHSVColor(i, i + (hsvShift % 180), 255, 255); + } + + hsvShift++; + + resetTiming(); + + return true; + } + + return false; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/IndicatorLight.java b/src/main/java/frc/robot/LEDAnimationKit/animations/IndicatorLight.java new file mode 100644 index 0000000..d47a8d5 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/IndicatorLight.java @@ -0,0 +1,35 @@ +package frc.robot.LEDAnimationKit.animations; + +import java.util.function.Supplier; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class IndicatorLight extends Animation { + private Supplier indicatorSupplier; + private Color8Bit color; + + public IndicatorLight(LEDStrip strip, double timeDelay, Supplier indicatorSupplier, Color8Bit color) { + super(strip, timeDelay); + + this.indicatorSupplier = indicatorSupplier; + this.color = color; + } + + @Override + public boolean update() { + if(shouldUpdate()) { + for(int i = 0; i < strip.getNumLEDs(); i++) { + strip.setRGBColor(i, indicatorSupplier.get() ? new Color(color) : Color.kBlack); + } + + resetTiming(); + + return true; + } + return false; + } +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/InputMeter.java b/src/main/java/frc/robot/LEDAnimationKit/animations/InputMeter.java new file mode 100644 index 0000000..fc1df15 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/InputMeter.java @@ -0,0 +1,72 @@ +package frc.robot.LEDAnimationKit.animations; + +import java.util.function.Supplier; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip; + +import edu.wpi.first.wpilibj.util.Color; + +public class InputMeter extends Animation { + private Supplier inputSupplier; + private double minValue; + private double maxValue; + + private int yellowStartPixel; + private int redStartPixel; + + + public InputMeter(LEDStrip strip, double timeDelay, Supplier inputSupplier, + double minValue, double maxValue) { + super(strip, timeDelay); + + this.inputSupplier = inputSupplier; + this.minValue = minValue; + this.maxValue = maxValue; + + redStartPixel = (int)(strip.getNumLEDs() - Math.ceil(strip.getNumLEDs() * .1)); + yellowStartPixel = (int)(strip.getNumLEDs() - Math.ceil(strip.getNumLEDs() * .1) - Math.ceil(strip.getNumLEDs() * .2)); + } + + @Override + public boolean update() { + if(shouldUpdate()) { + int remappedInput = (int)remapInput(inputSupplier.get(), minValue, maxValue, 0, strip.getNumLEDs()-1); + + if(remappedInput > yellowStartPixel) { + for(int i = 0; i < yellowStartPixel; i++) { + strip.setRGBColor(i, Color.kGreen); + } + + if(remappedInput > redStartPixel) { + for(int i = yellowStartPixel; i < redStartPixel; i++) { + strip.setRGBColor(i, Color.kYellow); + } + + for(int i = redStartPixel; i < remappedInput; i++) { + strip.setRGBColor(i, Color.kRed); + } + } else { + for(int i = yellowStartPixel; i < remappedInput; i++) { + strip.setRGBColor(i, Color.kYellow); + } + } + } else { + for(int i = 0; i < remappedInput; i++) { + strip.setRGBColor(i, Color.kGreen); + } + } + + resetTiming(); + + return true; + } + + return false; + } + + private double remapInput(double x, double inMin, double inMax, double outMin, double outMax) { + return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/animations2D/Ricochet2D.java b/src/main/java/frc/robot/LEDAnimationKit/animations/animations2D/Ricochet2D.java new file mode 100644 index 0000000..de8f1b9 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/animations2D/Ricochet2D.java @@ -0,0 +1,56 @@ +package frc.robot.LEDAnimationKit.animations.animations2D; + +import java.util.Random; + +import frc.robot.LEDAnimationKit.Animation; +import frc.robot.LEDAnimationKit.LEDStrip2DWrapper; + +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class Ricochet2D extends Animation { + private RicochetHelper[] helpers; + private Random random; + private LEDStrip2DWrapper wrapper; + + public Ricochet2D(LEDStrip2DWrapper wrapper, double timeDelay, + int numBalls, Color8Bit[] colors) { + + super(wrapper, timeDelay); + this.wrapper = wrapper; + + helpers = new RicochetHelper[numBalls]; + random = new Random(); + + for(int i = 0; i < numBalls; i++) { + helpers[i] = new RicochetHelper(random.nextInt(wrapper.getWidth()), + random.nextInt(wrapper.getHeight()), wrapper.getWidth(), + wrapper.getHeight(), colors[random.nextInt(colors.length)]); + } + } + + @Override + public boolean update() { + if(shouldUpdate()) { + for(int i = 0; i < wrapper.getWidth(); i++) { + for(int j = 0; j < wrapper.getHeight(); j++) { + wrapper.setRGBColor(i, j, 0, 0, 0); + } + } + + for(int i = 0; i < helpers.length; i++) { + helpers[i].updatePosition(); + + wrapper.setRGBColor(helpers[i].getCurrentXPosition(), + helpers[i].getCurrentYPosition(), + helpers[i].getCurrentColor()); + } + + resetTiming(); + + return true; + } + + return false; + } + +} diff --git a/src/main/java/frc/robot/LEDAnimationKit/animations/animations2D/RicochetHelper.java b/src/main/java/frc/robot/LEDAnimationKit/animations/animations2D/RicochetHelper.java new file mode 100644 index 0000000..fec7d06 --- /dev/null +++ b/src/main/java/frc/robot/LEDAnimationKit/animations/animations2D/RicochetHelper.java @@ -0,0 +1,68 @@ +package frc.robot.LEDAnimationKit.animations.animations2D; + +import java.util.Random; + +import edu.wpi.first.wpilibj.util.Color8Bit; + +public class RicochetHelper { + private int currentX; + private int currentY; + private int width; + private int height; + private int xDirection; + private int yDirection; + private Color8Bit color; + private Random random; + + public RicochetHelper(int currentX, int currentY, int width, + int height, Color8Bit color) { + this.currentX = currentX; + this.currentY = currentY; + this.width = width; + this.height = height; + this.color = color; + + random = new Random(); + + if(currentX == 0) { + xDirection = 1; + } else if(currentX == width - 1) { + xDirection = -1; + } else { + xDirection = random.nextBoolean() ? -1 : 1; + } + + if(currentY == 0) { + yDirection = 1; + } else if(currentY == height - 1) { + yDirection = -1; + } else { + yDirection = random.nextBoolean() ? -1 : 1; + } + } + + public int getCurrentXPosition() { + return currentX; + } + + public int getCurrentYPosition() { + return currentY; + } + + public Color8Bit getCurrentColor() { + return color; + } + + public void updatePosition() { + if(currentX + xDirection >= width || currentX + xDirection < 0) { + xDirection *= -1; + } + + if(currentY + yDirection >= height || currentY + yDirection < 0) { + yDirection *= -1; + } + + currentX += xDirection; + currentY += yDirection; + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..fe215d7 --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,15 @@ +// 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; + +public final class Main { + private Main() {} + + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..b68462c --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,73 @@ +// 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; + +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + @Override + public void robotInit() { + m_robotContainer = new RobotContainer(); + } + + @Override + public void robotPeriodic() { + CommandScheduler.getInstance().run(); + } + + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + @Override + public void disabledExit() {} + + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + @Override + public void autonomousPeriodic() {} + + @Override + public void autonomousExit() {} + + @Override + public void teleopInit() { + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + @Override + public void teleopPeriodic() {} + + @Override + public void teleopExit() {} + + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } + + @Override + public void testPeriodic() {} + + @Override + public void testExit() {} +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..51272ed --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,130 @@ +// 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.shuffleboard.BuiltInWidgets; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.LEDAnimationKit.AnimationManager; +import frc.robot.LEDAnimationKit.LEDStrip; +import frc.robot.LEDAnimationKit.LogicalLEDStrip; +import frc.robot.LEDAnimationKit.PhysicalLEDStrip; +import frc.robot.LEDAnimationKit.animations.Breathing; +import frc.robot.LEDAnimationKit.animations.FluidRainbow; +import frc.robot.constants.LEDConstants; +import frc.robot.constants.OIConstants; +import frc.robot.subsystems.Drivetrain; +import frc.robot.subsystems.Pusher; +import frc.robot.subsystems.Shooter; + +public class RobotContainer { + private Drivetrain drivetrain; + private Shooter shooter; + private Pusher pusher; + + private CommandXboxController driver; + + private PhysicalLEDStrip strip; + + private LogicalLEDStrip l1; + private LogicalLEDStrip l2; + + private AnimationManager manager; + + //private FluidRainbow rainbow; + + private Breathing b1; + private Breathing b2; + + public RobotContainer() { + drivetrain = new Drivetrain(true); + shooter = new Shooter(); + pusher = new Pusher(); + + driver = new CommandXboxController(OIConstants.kDriverUSB); + + strip = new PhysicalLEDStrip( + LEDConstants.kLEDPWM, + LEDConstants.kNumLEDs + ); + strip.start(); + + //rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate); + //rainbow.start(); + l1 = new LogicalLEDStrip(strip, 0, 31); + l2 = new LogicalLEDStrip(strip, 31, 62); + + + + b1 = new Breathing( + l1, + LEDConstants.kBreathingUpdateRate, + new Color8Bit(Color.kPurple), + LEDConstants.kBreathingMinPercentage, + LEDConstants.kBreathingMaxPercentage + ); + b1.start(); + + b2 = new Breathing( + l2, + LEDConstants.kBreathingUpdateRate, + new Color8Bit(255, 64, 0), + LEDConstants.kBreathingMinPercentage, + LEDConstants.kBreathingMaxPercentage + ); + b2.start(); + + manager = new AnimationManager(new PhysicalLEDStrip[] {strip}); + //manager.registerAnimationForUpdate(rainbow); + manager.registerAnimationForUpdate(b1); + manager.registerAnimationForUpdate(b2); + manager.start(LEDConstants.kAnimationManagerUpdateRate); + + configureBindings(); + configureShuffleboard(); + + System.out.println("Setup completed"); + } + + private void configureBindings() { + drivetrain.setDefaultCommand( + drivetrain.arcadeDrive( + driver::getLeftY, + driver::getLeftX + ) + ); + + driver.start().onTrue(drivetrain.toggleSlowMode()); + + shooter.setDefaultCommand( + shooter.setSpeed( + driver::getRightTriggerAxis + ) + ); + + driver.a().onTrue(pusher.spin()); + driver.a().onFalse(pusher.stop()); + } + + private void configureShuffleboard() { + ShuffleboardTab tab = Shuffleboard.getTab("DRIVE"); + + tab.addBoolean("Slow Mode?", drivetrain::isSlowMode) + .withPosition(0, 0) + .withSize(2, 1) + .withWidget(BuiltInWidgets.kBooleanBox); + + Shuffleboard.selectTab("DRIVE"); + } + + public Command getAutonomousCommand() { + return Commands.print("No autonomous command configured"); + } +} diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java new file mode 100644 index 0000000..c7ae2d0 --- /dev/null +++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java @@ -0,0 +1,13 @@ +package frc.robot.constants; + +public class DrivetrainConstants { + public static final int kFrontLeftPWM = 0; + public static final int kRearLeftPWM = 1; + public static final int kFrontRightPWM = 2; + public static final int kRearRightPWM = 3; + + public static final double kSlowModeMultiplier = .75; + + public static final boolean kInvertForwardBackward = true; + public static final boolean kInvertLeftRight = true; +} diff --git a/src/main/java/frc/robot/constants/LEDConstants.java b/src/main/java/frc/robot/constants/LEDConstants.java new file mode 100644 index 0000000..edd4d4e --- /dev/null +++ b/src/main/java/frc/robot/constants/LEDConstants.java @@ -0,0 +1,13 @@ +package frc.robot.constants; + +public class LEDConstants { + public static final int kLEDPWM = 8; + + public static final int kNumLEDs = 19 * 2 + 12 * 2; + + public static final double kRainbowUpdateRate = .02; + public static final double kBreathingUpdateRate = .03; + public static final double kBreathingMinPercentage = 25; + public static final double kBreathingMaxPercentage = 100; + public static final double kAnimationManagerUpdateRate = .01; +} diff --git a/src/main/java/frc/robot/constants/OIConstants.java b/src/main/java/frc/robot/constants/OIConstants.java new file mode 100644 index 0000000..54d25ac --- /dev/null +++ b/src/main/java/frc/robot/constants/OIConstants.java @@ -0,0 +1,5 @@ +package frc.robot.constants; + +public class OIConstants { + public static final int kDriverUSB = 0; +} diff --git a/src/main/java/frc/robot/constants/PusherConstants.java b/src/main/java/frc/robot/constants/PusherConstants.java new file mode 100644 index 0000000..4a9cebf --- /dev/null +++ b/src/main/java/frc/robot/constants/PusherConstants.java @@ -0,0 +1,12 @@ +package frc.robot.constants; + +import edu.wpi.first.wpilibj.SerialPort; + +public class PusherConstants { + public static final int kBaudRate = 9600; + + public static final SerialPort.Port kPort = SerialPort.Port.kUSB1; + + public static final String kStopString = "s0~"; + public static final String kSpinString = "s-250~"; +} diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java new file mode 100644 index 0000000..dd74b8d --- /dev/null +++ b/src/main/java/frc/robot/constants/ShooterConstants.java @@ -0,0 +1,6 @@ +package frc.robot.constants; + +public class ShooterConstants { + public static final int kFrontShooterCAN = 1; + public static final int kRearShooterCAN = 2; +} diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java new file mode 100644 index 0000000..97f60c3 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -0,0 +1,67 @@ +package frc.robot.subsystems; + +import java.util.function.DoubleSupplier; + +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj.motorcontrol.VictorSP; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.DrivetrainConstants; + +public class Drivetrain extends SubsystemBase { + private VictorSP frontLeft; + private VictorSP rearLeft; + private VictorSP frontRight; + private VictorSP rearRight; + + private DifferentialDrive drive; + + private boolean slowMode; + + public Drivetrain(boolean slowModeAtStartup) { + frontLeft = new VictorSP(DrivetrainConstants.kFrontLeftPWM); + rearLeft = new VictorSP(DrivetrainConstants.kRearLeftPWM); + frontRight = new VictorSP(DrivetrainConstants.kFrontRightPWM); + rearRight = new VictorSP(DrivetrainConstants.kRearRightPWM); + + frontLeft.addFollower(rearLeft); + frontRight.addFollower(rearRight); + frontRight.setInverted(true); + + drive = new DifferentialDrive(frontLeft, frontRight); + + slowMode = slowModeAtStartup; + } + + public boolean isSlowMode() { + return slowMode; + } + + public Command toggleSlowMode() { + return runOnce(() -> { + slowMode = !slowMode; + }); + } + + public Command tankDrive(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) { + return run(() -> { + drive.tankDrive( + (DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * leftSpeed.getAsDouble() * (slowMode ? .75 : 1), + (DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * rightSpeed.getAsDouble() * (slowMode ? .75 : 1) + ); + }); + } + + public Command arcadeDrive(DoubleSupplier speed, DoubleSupplier rotation) { + return run(() -> { + drive.arcadeDrive( + (DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * speed.getAsDouble() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1), + (DrivetrainConstants.kInvertLeftRight ? -1 : 1) * rotation.getAsDouble() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1) + ); + }); + } + + public Command stop() { + return tankDrive(() -> 0, () -> 0); + } +} diff --git a/src/main/java/frc/robot/subsystems/Pusher.java b/src/main/java/frc/robot/subsystems/Pusher.java new file mode 100644 index 0000000..f42f484 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Pusher.java @@ -0,0 +1,34 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.SerialPort; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.PusherConstants; + +public class Pusher extends SubsystemBase { + private SerialPort pusher; + + public Pusher() { + pusher = new SerialPort( + PusherConstants.kBaudRate, + PusherConstants.kPort + ); + + pusher.writeString(PusherConstants.kStopString); + pusher.flush(); + } + + public Command spin() { + return runOnce(() -> { + pusher.writeString(PusherConstants.kSpinString); + pusher.flush(); + }); + } + + public Command stop() { + return runOnce(() -> { + pusher.writeString(PusherConstants.kStopString); + pusher.flush(); + }); + } +} diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java new file mode 100644 index 0000000..a81b0d0 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -0,0 +1,31 @@ +package frc.robot.subsystems; + +import java.util.function.DoubleSupplier; + +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkLowLevel.MotorType; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.ShooterConstants; + +public class Shooter extends SubsystemBase { + private SparkMax frontShooter; + private SparkMax rearShooter; + + public Shooter() { + frontShooter = new SparkMax(ShooterConstants.kFrontShooterCAN, MotorType.kBrushless); + rearShooter = new SparkMax(ShooterConstants.kRearShooterCAN, MotorType.kBrushless); + } + + public Command setSpeed(DoubleSupplier speed) { + return run(() -> { + frontShooter.set(speed.getAsDouble()); + rearShooter.set(speed.getAsDouble()); + }); + } + + public Command stop() { + return setSpeed(() -> 0); + } +} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..ac62be8 --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2025.0.3", + "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": "2025.0.3" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2025.0.3", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.3", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..3718e0a --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", + "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", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +}