Initial Commit

src/main/deploy/example.txt

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+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.

src/main/java/com/team2648/Main.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package com.team2648;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+  private Main() {}
+
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

src/main/java/com/team2648/Robot.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package com.team2648;
+
+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 final RobotContainer m_robotContainer;
+
+  public Robot() {
+    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) {
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
+    }
+  }
+
+  @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() {}
+}

src/main/java/com/team2648/RobotContainer.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package com.team2648;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+
+public class RobotContainer {
+  public RobotContainer() {
+    configureBindings();
+  }
+
+  private void configureBindings() {}
+
+  public Command getAutonomousCommand() {
+    return Commands.print("No autonomous command configured");
+  }
+}

src/main/java/com/team2648/iocore/abstracts/BooleanSensorIO.java

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+package com.team2648.iocore.abstracts;
+
+public abstract class BooleanSensorIO extends IOBase {
+    public BooleanSensorIO(String sensorTypeName) {
+        super("Sensors/Booleans/" + sensorTypeName);
+    }
+
+    public abstract boolean get();
+}

src/main/java/com/team2648/iocore/abstracts/DoubleSensorIO.java

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+package com.team2648.iocore.abstracts;
+
+import edu.wpi.first.units.Unit;
+
+public abstract class DoubleSensorIO<T extends Unit> extends IOBase {
+    private T unitReference;
+
+    public DoubleSensorIO(String sensorTypeName, T unitReference) {
+        super("Sensors/Doubles/" + sensorTypeName);
+
+        this.unitReference = unitReference;
+    }
+
+    public abstract double get();
+
+    @SuppressWarnings("unchecked")
+    public T getMeasure() {
+        return (T) unitReference.of(get());
+    }
+    
+}

src/main/java/com/team2648/iocore/abstracts/IOBase.java

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+package com.team2648.iocore.abstracts;
+
+import com.team2648.iocore.registries.IORegistry;
+
+public abstract class IOBase {
+    private String ioBaseName;
+
+    public IOBase(String ioBaseName) {
+        this.ioBaseName = ioBaseName;
+
+        IORegistry.getInstance().addIO(this);
+    }
+
+    public void periodic() {
+
+    }
+
+    public void log() {
+
+    }
+
+    public String getLoggableName() {
+        return "IO/" + ioBaseName;
+    }
+}

src/main/java/com/team2648/iocore/abstracts/MotorIO.java

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+package com.team2648.iocore.abstracts;
+
+import java.util.List;
+import java.util.function.DoubleSupplier;
+
+import com.team2648.iocore.config.CommonMotorConfig;
+
+public abstract class MotorIO extends IOBase {
+    public enum ControlTypes {
+        kDutyCycle,
+        kPIDPosition,
+        kPIDVelocity;
+    }
+
+    private List<ControlTypes> supportedControlTypes;
+
+    public MotorIO(String motorTypeName, ControlTypes... supportedControlTypes) {
+        this(motorTypeName, List.of(supportedControlTypes));
+    }
+
+    public MotorIO(String motorTypeName, List<ControlTypes> supportedControlTypes) {
+        super("Motor/" + motorTypeName);
+
+        this.supportedControlTypes = supportedControlTypes;
+    }
+
+    public abstract double getOutputVoltage();
+
+    public boolean isControlTypeSupported(ControlTypes type) {
+        return supportedControlTypes.stream().anyMatch((t) -> t.equals(type));
+    }
+
+    public abstract void applyConfig(CommonMotorConfig config);
+
+    public void run(ControlTypes type, DoubleSupplier controlValueSource) {
+        run(type, controlValueSource.getAsDouble());
+    }
+
+    public abstract void run(ControlTypes type, double controlValue);
+}

src/main/java/com/team2648/iocore/config/CommonMotorConfig.java

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+package com.team2648.iocore.config;
+
+public class CommonMotorConfig {
+    private boolean isInverted;
+
+    public CommonMotorConfig() {
+
+    }
+
+    public boolean isInverted() {
+        return isInverted;
+    }
+
+    public CommonMotorConfig setInverted(boolean inverted) {
+        this.isInverted = inverted;
+
+        return this;
+    }
+}

src/main/java/com/team2648/iocore/interfaces/PWMFollowableMotor.java

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+package com.team2648.iocore.interfaces;
+
+import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
+
+public interface PWMFollowableMotor {
+    public void addFollower(PWMMotorController otherMotor);
+
+    public PWMMotorController getControllerObject();
+}

src/main/java/com/team2648/iocore/realio/VictorSPIO.java

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+package com.team2648.iocore.realio;
+
+import com.team2648.iocore.abstracts.MotorIO;
+import com.team2648.iocore.config.CommonMotorConfig;
+import com.team2648.iocore.interfaces.PWMFollowableMotor;
+
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+
+public class VictorSPIO extends MotorIO implements PWMFollowableMotor{
+    private VictorSP motor;
+
+    public VictorSPIO(String motorName, int pwmPort) {
+        super("/" + motorName, ControlTypes.kDutyCycle);
+
+        motor = new VictorSP(pwmPort);
+    }
+
+    @Override
+    public double getOutputVoltage() {
+        return motor.get() * RobotController.getBatteryVoltage();
+    }
+
+    @Override
+    public void applyConfig(CommonMotorConfig config) {
+        motor.setInverted(config.isInverted());
+    }
+
+    @Override
+    public void run(ControlTypes type, double controlValue) {
+        switch(type) {
+            case kDutyCycle:
+                motor.set(controlValue);
+                break;
+            default:
+                throw new UnsupportedOperationException("VictorSPIO does not supported ControlType " + type.name());
+        }
+    }
+
+    @Override
+    public void addFollower(PWMMotorController otherMotor) {
+        this.motor.addFollower(motor);
+    }
+
+    @Override
+    public PWMMotorController getControllerObject() {
+        return motor;
+    }
+    
+}

src/main/java/com/team2648/iocore/registries/IORegistry.java

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+package com.team2648.iocore.registries;
+
+import java.util.HashSet;
+import java.util.Set;
+
+import com.team2648.iocore.abstracts.IOBase;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class IORegistry extends SubsystemBase {
+    private static IORegistry registry;
+
+    private Set<IOBase> allIO;
+
+    public static IORegistry getInstance() {
+        if (registry == null) {
+            registry = new IORegistry();
+        }
+
+        return registry;
+    }
+
+    private IORegistry() {
+        super();
+        allIO = new HashSet<IOBase>();
+    }
+
+    @Override
+    public void periodic() {
+        for(IOBase io: allIO) {
+            io.periodic();
+            io.log();
+        }
+    }
+
+    public void addIO(IOBase io) {
+        allIO.add(io);
+    }
+}