commit 762edeba34be981a1025195d927ae999115b18e0 Author: Bradley Bickford Date: Mon Sep 21 21:05:29 2026 -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..6d2cc2f --- /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 Systemcore Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..9c005d5 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,62 @@ +{ + "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.*", + "org.wpilib.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.*", + "org.wpilib.math.proto.*", + "org.wpilib.math.**.proto.*", + "org.wpilib.math.**.struct.*", + ], + "java.debug.settings.enableRunDebugCodeLens": false, + "java.dependency.enableDependencyCheckup": false +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..14c708c --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2027_alpha7", + "teamNumber": 9999 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..eb3061b --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2026 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..dcaa3c0 --- /dev/null +++ b/build.gradle @@ -0,0 +1,107 @@ +plugins { + id "java" + id "application" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-7" +} + +java { + sourceCompatibility = JavaVersion.VERSION_25 + targetCompatibility = JavaVersion.VERSION_25 +} + +def ROBOT_MAIN_CLASS = "first.Main" + +// Define my targets (SystemCore) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + systemcore(getTargetTypeClass('SystemCore')) { + // 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.wpilib.getTeamNumber() + // Use the default systemcore host name. This must be called after setting team + // as happens on the line above + useDefaultSystemcoreHostName() + debug = project.wpilib.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) { + // Set to true to use debug including JNI, which will drastically impact performance. + debugJni = false + } + + // Static files artifact + wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava + +// Set to true to use debug for simulation including JNI +wpi.java.runSimWithDebugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// 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() + + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) + + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) + + 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() + +application.mainClass = ROBOT_MAIN_CLASS + +deployArtifact.configureApplication(application) +wpi.java.configureApplication(application) +wpi.java.configureTestTasks(test) + +jar { + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } +} + +// 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..d997cfc 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..42bb5ac --- /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-9.4.1-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..739907d --- /dev/null +++ b/gradlew @@ -0,0 +1,248 @@ +#!/bin/sh + +# +# Copyright © 2015 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/2d6327017519d23b96af35865dc997fcb544fb40/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 "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$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 "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + + + +# Determine the Java command to use to start the JVM. +if [ -n "$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 "$APP_HOME" ) + + JAVACMD=$( 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, 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=$APP_BASE_NAME" \ + -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$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..c4bdd3a --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,93 @@ +@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 + + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %* + +: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..a17bda0 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,38 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + String wpilibYear = '2027_alpha7' + File wpilibHome + def os = OperatingSystem.current() + if (os.isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } else if (os.isLinux()) { + String xdgDataHome = System.getenv('XDG_DATA_HOME') + if (xdgDataHome == null || xdgDataHome.trim().isEmpty() || !new File(xdgDataHome).isAbsolute()) { + xdgDataHome = new File(System.getProperty("user.home"), ".local/share").getPath() + } + def homeRoot = new File(xdgDataHome, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, ".wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } + def wpilibHomeMaven = new File(wpilibHome, 'maven') + maven { + name = 'wpilibHome' + url = wpilibHomeMaven + } + mavenLocal() + gradlePluginPortal() + } +} + +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..c9bc6a2 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the Systemcore 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/first/Main.java b/src/main/java/first/Main.java new file mode 100644 index 0000000..b3a3127 --- /dev/null +++ b/src/main/java/first/Main.java @@ -0,0 +1,25 @@ +// 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 first; + +import org.wpilib.framework.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(first.robot.Robot::new); + } +} diff --git a/src/main/java/first/robot/Robot.java b/src/main/java/first/robot/Robot.java new file mode 100644 index 0000000..52790c6 --- /dev/null +++ b/src/main/java/first/robot/Robot.java @@ -0,0 +1,41 @@ +// 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 first.robot; + +import org.wpilib.command3.Scheduler; +import org.wpilib.command3.button.CommandGamepad; +import org.wpilib.epilogue.Epilogue; +import org.wpilib.epilogue.Logged; +import org.wpilib.framework.OpModeRobot; + +import first.robot.constants.OIConstants; +import first.robot.mechanisms.Drivetrain; +import first.robot.mechanisms.Pusher; +import first.robot.mechanisms.Shooter; + +@Logged +public class Robot extends OpModeRobot { + public final Drivetrain drive; + public final Pusher pusher; + public final Shooter shooter; + public final CommandGamepad gamepad; + + public Robot() { + drive = new Drivetrain(true); + pusher = new Pusher(); + shooter = new Shooter(); + gamepad = new CommandGamepad(OIConstants.kDriverUSB); + + drive.setDefaultCommand(drive.idle()); + pusher.setDefaultCommand(pusher.idle()); + shooter.setDefaultCommand(shooter.idle()); + } + + @Override + public void robotPeriodic() { + Scheduler.getDefault().run(); + Epilogue.update(this); + } +} diff --git a/src/main/java/first/robot/constants/DrivetrainConstants.java b/src/main/java/first/robot/constants/DrivetrainConstants.java new file mode 100644 index 0000000..c91a120 --- /dev/null +++ b/src/main/java/first/robot/constants/DrivetrainConstants.java @@ -0,0 +1,13 @@ +package first.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/first/robot/constants/OIConstants.java b/src/main/java/first/robot/constants/OIConstants.java new file mode 100644 index 0000000..b5d8593 --- /dev/null +++ b/src/main/java/first/robot/constants/OIConstants.java @@ -0,0 +1,5 @@ +package first.robot.constants; + +public class OIConstants { + public static final int kDriverUSB = 0; +} diff --git a/src/main/java/first/robot/constants/PusherConstants.java b/src/main/java/first/robot/constants/PusherConstants.java new file mode 100644 index 0000000..810be83 --- /dev/null +++ b/src/main/java/first/robot/constants/PusherConstants.java @@ -0,0 +1,12 @@ +package first.robot.constants; + +import org.wpilib.hardware.bus.SerialPort; + +public class PusherConstants { + public static final int kBaudRate = 9600; + + public static final SerialPort.Port kPort = SerialPort.Port.USB; + + public static final String kStopString = "s0~"; + public static final String kSpinString = "s-250~"; +} diff --git a/src/main/java/first/robot/constants/ShooterConstants.java b/src/main/java/first/robot/constants/ShooterConstants.java new file mode 100644 index 0000000..b7271f0 --- /dev/null +++ b/src/main/java/first/robot/constants/ShooterConstants.java @@ -0,0 +1,9 @@ +package first.robot.constants; + +import org.wpilib.hardware.bus.CANPort; + +public class ShooterConstants { + public static final CANPort kShooterCANPort = CANPort.CAN_S0; + public static final int kFrontShooterCAN = 1; + public static final int kRearShooterCAN = 2; +} diff --git a/src/main/java/first/robot/mechanisms/Drivetrain.java b/src/main/java/first/robot/mechanisms/Drivetrain.java new file mode 100644 index 0000000..d10a4ff --- /dev/null +++ b/src/main/java/first/robot/mechanisms/Drivetrain.java @@ -0,0 +1,73 @@ +package first.robot.mechanisms; + +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; +import org.wpilib.command3.button.CommandGamepad; +import org.wpilib.drive.DifferentialDrive; +import org.wpilib.drivers.motor.VictorSP; + +import first.robot.constants.DrivetrainConstants; + +public class Drivetrain implements Mechanism { + 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 run((coroutine) -> { + slowMode = !slowMode; + }) + .named("Drivetrain.ToggleSlowMode"); + } + + public Command tankDrive(CommandGamepad gamepad) { + return runRepeatedly(() -> { + drive.tankDrive( + (DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1), + (DrivetrainConstants.kInvertLeftRight ? -1 : 1) * gamepad.getRightY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1) + ); + }) + .named("Drivetrain.TankDrive"); + } + + public Command arcadeDrive(CommandGamepad gamepad) { + return runRepeatedly(() -> { + drive.arcadeDrive( + (DrivetrainConstants.kInvertForwardBackward ? -1 : 1) * gamepad.getLeftY() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1), + (DrivetrainConstants.kInvertLeftRight ? -1 : 1) * gamepad.getLeftX() * (slowMode ? DrivetrainConstants.kSlowModeMultiplier : 1) + ); + }) + .named("Drivetrain.ArcadeDrive"); + } + + public Command stop() { + return runRepeatedly(() -> { + drive.tankDrive(0, 0); + }) + .named("Drivetrain.Stop"); + } +} diff --git a/src/main/java/first/robot/mechanisms/Pusher.java b/src/main/java/first/robot/mechanisms/Pusher.java new file mode 100644 index 0000000..9301163 --- /dev/null +++ b/src/main/java/first/robot/mechanisms/Pusher.java @@ -0,0 +1,37 @@ +package first.robot.mechanisms; + +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; +import org.wpilib.hardware.bus.SerialPort; + +import first.robot.constants.PusherConstants; + +public class Pusher implements Mechanism { + private SerialPort pusher; + + public Pusher() { + pusher = new SerialPort( + PusherConstants.kBaudRate, + PusherConstants.kPort + ); + + pusher.writeString(PusherConstants.kStopString); + pusher.flush(); + } + + public Command spin() { + return run((coroutine) -> { + pusher.writeString(PusherConstants.kSpinString); + pusher.flush(); + }) + .named("Pusher.Spin"); + } + + public Command stop() { + return run((coroutine) -> { + pusher.writeString(PusherConstants.kStopString); + pusher.flush(); + }) + .named("Pusher.Stop"); + } +} diff --git a/src/main/java/first/robot/mechanisms/Shooter.java b/src/main/java/first/robot/mechanisms/Shooter.java new file mode 100644 index 0000000..7454767 --- /dev/null +++ b/src/main/java/first/robot/mechanisms/Shooter.java @@ -0,0 +1,46 @@ +package first.robot.mechanisms; + +import java.util.function.DoubleSupplier; + +import org.wpilib.command3.Command; +import org.wpilib.command3.Mechanism; + +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkLowLevel.MotorType; + +import first.robot.constants.ShooterConstants; + +public class Shooter implements Mechanism { + private SparkMax frontShooter; + private SparkMax rearShooter; + + public Shooter() { + frontShooter = new SparkMax( + ShooterConstants.kShooterCANPort, + ShooterConstants.kFrontShooterCAN, + MotorType.kBrushless + ); + + rearShooter = new SparkMax( + ShooterConstants.kShooterCANPort, + ShooterConstants.kRearShooterCAN, + MotorType.kBrushless + ); + } + + public Command setSpeed(DoubleSupplier speed) { + return runRepeatedly(() -> { + frontShooter.setThrottle(speed.getAsDouble()); + rearShooter.setThrottle(speed.getAsDouble()); + }) + .named("Shooter.SetSpeed"); + } + + public Command stop() { + return runRepeatedly(() -> { + frontShooter.setThrottle(0); + rearShooter.setThrottle(0); + }) + .named("Shooter.Stop"); + } +} diff --git a/src/main/java/first/robot/opmodes/auto/DoNothingAuto.java b/src/main/java/first/robot/opmodes/auto/DoNothingAuto.java new file mode 100644 index 0000000..b282bbe --- /dev/null +++ b/src/main/java/first/robot/opmodes/auto/DoNothingAuto.java @@ -0,0 +1,11 @@ +package first.robot.opmodes.auto; + +import org.wpilib.opmode.Autonomous; +import org.wpilib.opmode.OpMode; + +@Autonomous +public class DoNothingAuto implements OpMode{ + public DoNothingAuto() { + + } +} diff --git a/src/main/java/first/robot/opmodes/teleop/DefaultTeleop.java b/src/main/java/first/robot/opmodes/teleop/DefaultTeleop.java new file mode 100644 index 0000000..567d0cd --- /dev/null +++ b/src/main/java/first/robot/opmodes/teleop/DefaultTeleop.java @@ -0,0 +1,26 @@ +package first.robot.opmodes.teleop; + +import org.wpilib.opmode.OpMode; +import org.wpilib.opmode.Teleop; + +import first.robot.Robot; + +@Teleop +public class DefaultTeleop implements OpMode { + public DefaultTeleop(Robot robot) { + robot.drive.setDefaultCommand( + robot.drive.arcadeDrive(robot.gamepad) + ); + + robot.gamepad.start().onTrue( + robot.drive.toggleSlowMode() + ); + + robot.shooter.setDefaultCommand( + robot.shooter.setSpeed(robot.gamepad::getRightTrigger) + ); + + robot.gamepad.faceDown().onTrue(robot.pusher.spin()); + robot.gamepad.faceDown().onFalse(robot.pusher.stop()); + } +} diff --git a/src/main/java/first/robot/opmodes/teleop/OneHandedTeleop.java b/src/main/java/first/robot/opmodes/teleop/OneHandedTeleop.java new file mode 100644 index 0000000..14e49f8 --- /dev/null +++ b/src/main/java/first/robot/opmodes/teleop/OneHandedTeleop.java @@ -0,0 +1,26 @@ +package first.robot.opmodes.teleop; + +import org.wpilib.opmode.OpMode; +import org.wpilib.opmode.Teleop; + +import first.robot.Robot; + +@Teleop +public class OneHandedTeleop implements OpMode { + public OneHandedTeleop(Robot robot) { + robot.drive.setDefaultCommand( + robot.drive.arcadeDrive(robot.gamepad) + ); + + robot.gamepad.start().onTrue( + robot.drive.toggleSlowMode() + ); + + robot.shooter.setDefaultCommand( + robot.shooter.setSpeed(robot.gamepad::getLeftTrigger) + ); + + robot.gamepad.leftBumper().onTrue(robot.pusher.spin()); + robot.gamepad.leftBumper().onFalse(robot.pusher.stop()); + } +} diff --git a/vendordeps/CommandsV3.json b/vendordeps/CommandsV3.json new file mode 100644 index 0000000..7ce12fd --- /dev/null +++ b/vendordeps/CommandsV3.json @@ -0,0 +1,25 @@ +{ + "fileName": "CommandsV3.json", + "name": "Commands v3", + "version": "1.0.0", + "uuid": "4decdc05-a056-46cf-9561-39449bbb0130", + "wpilibYear": "2027_alpha7", + "mavenUrls": [], + "jsonUrl": "", + "conflictsWith": [ + { + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.", + "offlineFileName": "CommandsV2.json" + } + ], + "javaDependencies": [ + { + "groupId": "org.wpilib", + "artifactId": "commandsv3-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..33ed264 --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,126 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2027.0.0-alpha-7", + "wpilibYear": "2027_alpha7", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2027.0.0-alpha-7" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2027.0.0-alpha-7", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2027.0.0-alpha-7", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2027.0.0-alpha-7", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2027.0.0-alpha-7", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2027.0.0-alpha-7", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2027.0.0-alpha-7", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2027.0.0-alpha-7", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + } + ] +} \ No newline at end of file