commit c47d35120cee45c41b893c0040068ddc89f20cb2 Author: Noah Date: Fri Nov 22 04:48:51 2024 +0000 Initial commit, lacks comments diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..cdbfbfa --- /dev/null +++ b/.gitignore @@ -0,0 +1,178 @@ +# 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 +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..5b804e8 --- /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..8be11f2 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,29 @@ +{ + "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" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..e52a4b9 --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024", + "teamNumber": 2648 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..e7cd597 --- /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..f6b7e51 --- /dev/null +++ b/build.gradle @@ -0,0 +1,101 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.3.2" +} + +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' + } + } + } + } +} + +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 { + 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..d64cd49 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..7015f6b --- /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-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/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. +# + +############################################################################## +# +# 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/subprojects/plugins/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 "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&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..6689b85 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@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 + +@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. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +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..3e30f84 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + 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/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..e1de070 --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,124 @@ +// 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 java.util.Map; + +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.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.constants.OIConstants; +import frc.robot.constants.ShooterConstants; +import frc.robot.subsystems.Drivetrain; +import frc.robot.subsystems.Indexer; +import frc.robot.subsystems.Intake; +import frc.robot.subsystems.Shooter; + +public class RobotContainer { + private Drivetrain drivetrain; + private Indexer indexer; + private Intake intake; + private Shooter shooter; + + private CommandXboxController driver; + + public RobotContainer() { + drivetrain = new Drivetrain(); + indexer = new Indexer(); + intake = new Intake(); + shooter = new Shooter(); + + driver = new CommandXboxController(OIConstants.kDriverUSB); + + configureBindings(); + configureShuffleboard(); + } + + private void configureBindings() { + drivetrain.setDefaultCommand( + drivetrain.driveArcade( + null, + null + ) + ); + + indexer.setDefaultCommand(indexer.stopIndexer()); + intake.setDefaultCommand(intake.stopIntake()); + shooter.setDefaultCommand(shooter.stopShooter()); + + //driver inputs// + driver.rightTrigger().whileTrue( + shooter.runShooter(driver.getRightTriggerAxis()) + ); + + driver.a().whileTrue( + intake.runIntake(1) + .alongWith(indexer.runIndexer(1)) + ); + + driver.b().whileTrue( + intake.runIntake(-1) + .alongWith(indexer.runIndexer(-1)) + ); + + driver.x().onTrue(smartShooter()); + } + + private void configureShuffleboard() { + ShuffleboardTab robotIndicatorTab = Shuffleboard.getTab(OIConstants.kRobotIndicatorsTabName); + + robotIndicatorTab.addDouble("Left Drivetrain Encoder Distance", drivetrain::getLeftEncoder) + .withPosition(0, 0) + .withSize(2, 1) + .withWidget(BuiltInWidgets.kTextView); + + robotIndicatorTab.addDouble("Right Drivetrain Encoder Distance", drivetrain::getRightEncoder) + .withPosition(2, 0) + .withSize(2, 1) + .withWidget(BuiltInWidgets.kTextView); + + robotIndicatorTab.addDouble("Drivetrain Gyro", drivetrain::getGyroAngle) + .withPosition(0, 1) + .withSize(2, 1) + .withWidget(BuiltInWidgets.kGyro); + + robotIndicatorTab.addDouble("Top Shooter Encoder Rate", shooter::getFrontEncoder) + .withPosition(4, 0) + .withSize(2, 2) + .withWidget(BuiltInWidgets.kDial) + .withProperties(Map.of( + "Max", ShooterConstants.kShooterFireSpeed) + ); + + robotIndicatorTab.addDouble("Bottom Shooter Encoder Rate", shooter::getFrontEncoder) + .withPosition(6, 0) + .withSize(2, 2) + .withWidget(BuiltInWidgets.kDial) + .withProperties(Map.of( + "Max", ShooterConstants.kShooterFireSpeed) + ); + } + + public Command getAutonomousCommand() { + return drivetrain.moveDistance(1.5, 5) + .andThen(drivetrain.goToAngle(45, 2)) + .andThen(shooter.runAutoShooter()) + .until(shooter::shooterAtSpeed) + .andThen(shooter.runAutoShooter()) + .alongWith(indexer.runIndexer(1)) + .withTimeout(2); + } + + //smart commands// + private Command smartShooter() { + return shooter.runAutoShooter() + .until(shooter::shooterAtSpeed) + .andThen(shooter.runAutoShooter()) + .alongWith(indexer.runIndexer(1)) + .withTimeout(2); + } +} \ No newline at end of file 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..cbb4a55 --- /dev/null +++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java @@ -0,0 +1,20 @@ +package frc.robot.constants; + +public class DrivetrainConstants { + public static final int kLeftFrontCAN = 1; + public static final int kLeftRearCAN = 2; + public static final int kRightFrontCAN = 3; + public static final int kRightRearCAN = 4; + + public static final int kTurnControllerP = 0; + public static final int kTurnControllerI = 0; + public static final int kTurnControllerD = 0; + public static final int kTurnControllerTolerance = 1; + + public static final int kDistanceControllerP = 0; + public static final int kDistanceControllerI = 0; + public static final int kDistanceControllerD = 0; + public static final int kDistanceControllerTolerance = 1; + + public static final boolean kInvertGyro = false; +} diff --git a/src/main/java/frc/robot/constants/IndexerConstants.java b/src/main/java/frc/robot/constants/IndexerConstants.java new file mode 100644 index 0000000..5ed4adb --- /dev/null +++ b/src/main/java/frc/robot/constants/IndexerConstants.java @@ -0,0 +1,5 @@ +package frc.robot.constants; + +public class IndexerConstants { + public static final int kIndexerMotorCAN = 7; +} diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java new file mode 100644 index 0000000..0abcbf5 --- /dev/null +++ b/src/main/java/frc/robot/constants/IntakeConstants.java @@ -0,0 +1,5 @@ +package frc.robot.constants; + +public class IntakeConstants { + public static final int kIntakeMotorCAN = 8; +} 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..c0ce4ef --- /dev/null +++ b/src/main/java/frc/robot/constants/OIConstants.java @@ -0,0 +1,7 @@ +package frc.robot.constants; + +public class OIConstants { + public static final int kDriverUSB = 0; + + public static final String kRobotIndicatorsTabName = "Sensors"; +} 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..ca840e0 --- /dev/null +++ b/src/main/java/frc/robot/constants/ShooterConstants.java @@ -0,0 +1,28 @@ +package frc.robot.constants; + +public class ShooterConstants { + public static final int kShooterFireSpeed = 0; + + //Motor CANIDs// + public static final int kFrontMotorCAN = 5; + public static final int kRearMotorCAN = 6; + + //Encoder Constants// + public static final double kDistancePerPulse = 0; + + public static final int kFrontEncoderA = 0; + public static final int kFrontEncoderB = 1; + public static final boolean kInvertFrontEncoder = false; + + public static final int kRearEncoderA = 2; + public static final int kRearEncoderB = 3; + public static final boolean kInvertRearEncoder = false; + + //Controller Constants// + public static final int kBangBangTolerance = 0; + + public static final int kFFS = 0; + public static final int kFFG = 0; + public static final int kFFV = 0; + +} 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..e341aa7 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -0,0 +1,116 @@ +package frc.robot.subsystems; + +import java.util.function.DoubleSupplier; + +import com.revrobotics.CANSparkMax; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.wpilibj.ADXRS450_Gyro; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.DrivetrainConstants; + +public class Drivetrain extends SubsystemBase { + + //creates instance variables// + private CANSparkMax leftFront; + private CANSparkMax leftRear; + private CANSparkMax rightFront; + private CANSparkMax rightRear; + + private RelativeEncoder leftFrontEncoder; + private RelativeEncoder rightFrontEncoder; + + private ADXRS450_Gyro gyro; + + private PIDController turnController; + private PIDController distanceController; + + private DifferentialDrive drive; + + public Drivetrain() { + + //creates instances of each motor// + leftFront = new CANSparkMax(DrivetrainConstants.kLeftFrontCAN, MotorType.kBrushless); + leftRear = new CANSparkMax(DrivetrainConstants.kLeftRearCAN, MotorType.kBrushless); + rightFront = new CANSparkMax(DrivetrainConstants.kRightFrontCAN, MotorType.kBrushless); + rightRear = new CANSparkMax(DrivetrainConstants.kRightRearCAN, MotorType.kBrushless); + + //makes the other motor in a gearbox follow its companion// + leftRear.follow(leftFront); + rightRear.follow(rightFront); + rightFront.setInverted(true); //makes the right side of the drive base inverted// + + leftFrontEncoder = leftFront.getEncoder(); + rightFrontEncoder = rightFront.getEncoder(); + + gyro = new ADXRS450_Gyro(); + gyro.calibrate(); + + turnController = new PIDController( + DrivetrainConstants.kTurnControllerP, + DrivetrainConstants.kTurnControllerI, + DrivetrainConstants.kTurnControllerD + ); + turnController.setTolerance(DrivetrainConstants.kTurnControllerTolerance); + + distanceController = new PIDController( + DrivetrainConstants.kDistanceControllerP, + DrivetrainConstants.kDistanceControllerI, + DrivetrainConstants.kDistanceControllerD + ); + distanceController.setTolerance(DrivetrainConstants.kDistanceControllerTolerance); + + drive = new DifferentialDrive(leftFront, rightFront); + } + + public double getGyroAngle() { + return gyro.getAngle() * (DrivetrainConstants.kInvertGyro ? -1 : 1); + } + + public double getLeftEncoder() { + return leftFrontEncoder.getPosition(); + } + + public double getRightEncoder() { + return rightFrontEncoder.getPosition(); + } + + //method to turn drivetrain a certain angle// + public Command goToAngle(double angle, double timeout) { + return run(() -> { + double output = turnController.calculate( + getGyroAngle(), + angle + ); + drive.tankDrive(-output, output); + }).until(turnController::atSetpoint).withTimeout(timeout); + } + + //method to move drivetrain a certain distance// + public Command moveDistance(double distance, double timeout) { + return run(() -> { + double output = distanceController.calculate( + (leftFrontEncoder.getPosition() + rightFrontEncoder.getPosition()) / 2, + distance + ); + drive.arcadeDrive(output, 0.0); + }).until(distanceController::atSetpoint).withTimeout(timeout); + } + + //methods that take 2 doubles and convert them to motor commands// + public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) { + return run(() -> { + drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble()); + }); + } + + public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) { + return run(() -> { + drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble()); + }); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer.java new file mode 100644 index 0000000..b080efb --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Indexer.java @@ -0,0 +1,27 @@ +package frc.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.IndexerConstants; + +public class Indexer extends SubsystemBase { + private WPI_VictorSPX motor1; + + public Indexer(){ + motor1 = new WPI_VictorSPX(IndexerConstants.kIndexerMotorCAN); + } + + public Command runIndexer(double speed) { + return run(() -> { + motor1.set(speed); + }); + } + + public Command stopIndexer() { + return run(() -> { + motor1.set(0); + }); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java new file mode 100644 index 0000000..fd203eb --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -0,0 +1,27 @@ +package frc.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.IntakeConstants; + +public class Intake extends SubsystemBase { + private WPI_VictorSPX motor1; + + public Intake() { + motor1 = new WPI_VictorSPX(IntakeConstants.kIntakeMotorCAN); + } + + public Command runIntake(double speed) { + return run(() -> { + motor1.set(speed); + }); + } + + public Command stopIntake() { + return run(() -> { + motor1.set(0); + }); + } +} \ No newline at end of file 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..f961168 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -0,0 +1,85 @@ +package frc.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; + +import edu.wpi.first.math.controller.BangBangController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.wpilibj.Encoder; +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 WPI_VictorSPX frontMotor; + private WPI_VictorSPX rearMotor; + + private BangBangController bangBangController; + private SimpleMotorFeedforward motorFeedforward; + + private Encoder frontMotorEncoder; + private Encoder rearMotorEncoder; + + public Shooter() { + frontMotor = new WPI_VictorSPX(ShooterConstants.kFrontMotorCAN); + rearMotor = new WPI_VictorSPX(ShooterConstants.kRearMotorCAN); + + rearMotor.follow(frontMotor); + + bangBangController = new BangBangController(ShooterConstants.kBangBangTolerance); + + motorFeedforward = new SimpleMotorFeedforward( + ShooterConstants.kFFS, + ShooterConstants.kFFG, + ShooterConstants.kFFV + ); + + frontMotorEncoder = new Encoder( + ShooterConstants.kFrontEncoderA, + ShooterConstants.kFrontEncoderB + ); + frontMotorEncoder.setReverseDirection(ShooterConstants.kInvertFrontEncoder); + frontMotorEncoder.setDistancePerPulse(ShooterConstants.kDistancePerPulse); + + rearMotorEncoder = new Encoder( + ShooterConstants.kRearEncoderA, + ShooterConstants.kRearEncoderB + ); + rearMotorEncoder.setReverseDirection(ShooterConstants.kInvertRearEncoder); + rearMotorEncoder.setDistancePerPulse(ShooterConstants.kDistancePerPulse); + } + + public double getFrontEncoder() { + return frontMotorEncoder.getRate(); + } + + public double getRearEncoder() { + return rearMotorEncoder.getRate(); + } + + public boolean shooterAtSpeed() { + return (frontMotorEncoder.getRate() + rearMotorEncoder.getRate()) / 2 >= ShooterConstants.kShooterFireSpeed; + } + + public Command runAutoShooter() { + return run(() -> { + double output = bangBangController.calculate( + (frontMotorEncoder.getRate() + rearMotorEncoder.getRate()) / 2, + ShooterConstants.kShooterFireSpeed + ) + motorFeedforward.calculate(ShooterConstants.kShooterFireSpeed); + + frontMotor.setVoltage(output); + }); + } + + public Command runShooter(double speed) { + return run(() -> { + frontMotor.set(speed); + }); + } + + public Command stopShooter() { + return run(() -> { + frontMotor.set(0); + }); + } +} \ No newline at end of file diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json new file mode 100644 index 0000000..ff7359e --- /dev/null +++ b/vendordeps/Phoenix5.json @@ -0,0 +1,151 @@ +{ + "fileName": "Phoenix5.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.33.1", + "frcYear": 2024, + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.33.1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.33.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.33.1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.33.1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.33.1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.33.1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..0322385 --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.3.0", + "frcYear": 2024, + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "24.3.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": 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