Fixing garbage formatting, adding Phoenix and rudimentary climber subsystem
This commit is contained in:
parent
ff66313260
commit
56fb39d38c
6
src/main/java/frc/robot/constants/ClimberConstants.java
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6
src/main/java/frc/robot/constants/ClimberConstants.java
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@ -0,0 +1,6 @@
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package frc.robot.constants;
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public class ClimberConstants {
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public static final int kClimberMotor1CANID = 1;
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public static final int kClimberMotor2CANID = 2;
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}
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39
src/main/java/frc/robot/subsystems/Climber.java
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39
src/main/java/frc/robot/subsystems/Climber.java
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@ -0,0 +1,39 @@
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package frc.robot.subsystems;
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import java.util.function.DoubleSupplier;
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import com.ctre.phoenix.motorcontrol.VictorSPXControlMode;
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import com.ctre.phoenix.motorcontrol.can.VictorSPX;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.constants.ClimberConstants;
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public class Climber extends SubsystemBase {
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private VictorSPX motor1;
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private VictorSPX motor2;
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//TODO What tells the climber to stop climbing when it achieves the target height?
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public Climber() {
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motor1 = new VictorSPX(ClimberConstants.kClimberMotor1CANID);
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motor2 = new VictorSPX(ClimberConstants.kClimberMotor2CANID);
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motor2.follow(motor1);
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}
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public Command setSpeedWithSupplier(DoubleSupplier speed) {
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return run(() -> {
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motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
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});
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}
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public Command setSpeed(double speed) {
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return run(() -> {
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motor1.set(VictorSPXControlMode.PercentOutput, speed);
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});
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}
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public Command stop() {
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return setSpeed(0);
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}
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}
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@ -29,13 +29,21 @@ public class Intake extends SubsystemBase{
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intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit);
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intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit);
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intakePivot.burnFlash();
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intakePivot.burnFlash();
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intakeFeedForward = new ArmFeedforward(IntakeConstants.kSFeedForward, IntakeConstants.kGFeedForward, IntakeConstants.kVFeedForward);
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intakeFeedForward = new ArmFeedforward(
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IntakeConstants.kSFeedForward,
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IntakeConstants.kGFeedForward,
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IntakeConstants.kVFeedForward
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);
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intakeEncoder = intakePivot.getEncoder();
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intakeEncoder = intakePivot.getEncoder();
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intakeEncoder.setPosition(IntakeConstants.kStartingAngle);
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intakeEncoder.setPosition(IntakeConstants.kStartingAngle);
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intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
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intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
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intakeAnglePID = new PIDController(IntakeConstants.kPIntake, IntakeConstants.kIIntake, IntakeConstants.kDIntake);
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intakeAnglePID = new PIDController(
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IntakeConstants.kPIntake,
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IntakeConstants.kIIntake,
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IntakeConstants.kDIntake
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);
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}
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}
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@ -45,25 +45,43 @@ public class Shooter extends SubsystemBase{
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pivotEncoder = new Encoder(0, 1);
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pivotEncoder = new Encoder(0, 1);
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topShooterPID = new PIDController(ShooterConstants.kShooterP, ShooterConstants.kShooterI, ShooterConstants.kShooterD);
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//TODO These can probably devolve into BangBang controllers and let the feed forwards maintain speed
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bottomShooterPID = new PIDController(ShooterConstants.kShooterP, ShooterConstants.kShooterI, ShooterConstants.kShooterD);
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topShooterPID = new PIDController(
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ShooterConstants.kShooterP,
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ShooterConstants.kShooterI,
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ShooterConstants.kShooterD
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);
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bottomShooterPID = new PIDController(
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ShooterConstants.kShooterP,
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ShooterConstants.kShooterI,
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ShooterConstants.kShooterD
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);
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topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
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topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
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topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
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topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
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shooterPivotPID = new ProfiledPIDController(
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shooterPivotPID = new ProfiledPIDController(
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ShooterConstants.kShooterPivotP,
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ShooterConstants.kShooterPivotP,
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ShooterConstants.kShooterPivotI,
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ShooterConstants.kShooterPivotI,
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ShooterConstants.kShooterPivotD,
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ShooterConstants.kShooterPivotD,
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new TrapezoidProfile.Constraints(ShooterConstants.kMaxPivotSpeed, ShooterConstants.kMaxPivotAcceleration));
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new TrapezoidProfile.Constraints(
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ShooterConstants.kMaxPivotSpeed,
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ShooterConstants.kMaxPivotAcceleration
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)
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);
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shooterPivotFF = new ArmFeedforward(ShooterConstants.kSShooterPivotFF,
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shooterPivotFF = new ArmFeedforward(
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ShooterConstants.kGShooterPivotFF, ShooterConstants.kVShooterPivotFF);
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ShooterConstants.kSShooterPivotFF,
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ShooterConstants.kGShooterPivotFF,
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ShooterConstants.kVShooterPivotFF
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);
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}
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}
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public Command setShooterAngle(double setpointAngle){
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public Command setShooterAngle(double setpointAngle){
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return run(()-> {
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return run(()-> {
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shooterPivot.setVoltage(shooterPivotPID.calculate(pivotEncoder.getPosition(), setpointAngle) + );
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shooterPivot.setVoltage(
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shooterPivotPID.calculate(pivotEncoder.getDistance(), setpointAngle) +
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shooterPivotFF.calculate(setpointAngle, 0));
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});
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});
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}
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}
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}
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}
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151
vendordeps/Phoenix5.json
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151
vendordeps/Phoenix5.json
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{
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"fileName": "Phoenix5.json",
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"name": "CTRE-Phoenix (v5)",
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"version": "5.33.0",
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"frcYear": 2024,
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"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
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"mavenUrls": [
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"https://maven.ctr-electronics.com/release/"
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],
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"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
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"requires": [
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{
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"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
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"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
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"offlineFileName": "Phoenix6.json",
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"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
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}
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],
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"javaDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-java",
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"version": "5.33.0"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-java",
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"version": "5.33.0"
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}
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],
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"jniDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.33.0",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "cci-sim",
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"version": "5.33.0",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxuniversal"
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],
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"simMode": "swsim"
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}
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],
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"cppDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-cpp",
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"version": "5.33.0",
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"libName": "CTRE_Phoenix_WPI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-cpp",
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"version": "5.33.0",
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"libName": "CTRE_Phoenix",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.33.0",
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"libName": "CTRE_PhoenixCCI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "wpiapi-cpp-sim",
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"version": "5.33.0",
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"libName": "CTRE_Phoenix_WPISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "api-cpp-sim",
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"version": "5.33.0",
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"libName": "CTRE_PhoenixSim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "cci-sim",
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"version": "5.33.0",
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"libName": "CTRE_PhoenixCCISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxuniversal"
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],
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"simMode": "swsim"
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}
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]
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}
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339
vendordeps/Phoenix6.json
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339
vendordeps/Phoenix6.json
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{
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"fileName": "Phoenix6.json",
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"name": "CTRE-Phoenix (v6)",
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"version": "24.2.0",
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"frcYear": 2024,
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"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
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"mavenUrls": [
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"https://maven.ctr-electronics.com/release/"
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],
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"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
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"conflictsWith": [
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{
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"uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
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"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.",
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"offlineFileName": "Phoenix6And5.json"
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}
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],
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"javaDependencies": [
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{
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|
"groupId": "com.ctre.phoenix6",
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|
"artifactId": "wpiapi-java",
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"version": "24.2.0"
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}
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],
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"jniDependencies": [
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|
{
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|
"groupId": "com.ctre.phoenix6",
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|
"artifactId": "tools",
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|
"version": "24.2.0",
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|
"isJar": false,
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|
"skipInvalidPlatforms": true,
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|
"validPlatforms": [
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|
"windowsx86-64",
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|
"linuxx86-64",
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|
"linuxathena"
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|
],
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|
"simMode": "hwsim"
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|
},
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|
{
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|
"groupId": "com.ctre.phoenix6.sim",
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||||||
|
"artifactId": "tools-sim",
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|
"version": "24.2.0",
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|
"isJar": false,
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||||||
|
"skipInvalidPlatforms": true,
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|
"validPlatforms": [
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|
"windowsx86-64",
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|
"linuxx86-64",
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|
"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simTalonSRX",
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"version": "24.2.0",
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|
"isJar": false,
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"skipInvalidPlatforms": true,
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|
"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simTalonFX",
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"version": "24.2.0",
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"isJar": false,
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|
"skipInvalidPlatforms": true,
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|
"validPlatforms": [
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"windowsx86-64",
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|
"linuxx86-64",
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"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simVictorSPX",
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|
"version": "24.2.0",
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|
"isJar": false,
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|
"skipInvalidPlatforms": true,
|
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|
"validPlatforms": [
|
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|
"windowsx86-64",
|
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|
"linuxx86-64",
|
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|
"osxuniversal"
|
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|
],
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|
"simMode": "swsim"
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|
},
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|
{
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||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simPigeonIMU",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simCANCoder",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProTalonFX",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProCANcoder",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProPigeon2",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"isJar": false,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"validPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"cppDependencies": [
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6",
|
||||||
|
"artifactId": "wpiapi-cpp",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_Phoenix6_WPI",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"linuxathena"
|
||||||
|
],
|
||||||
|
"simMode": "hwsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6",
|
||||||
|
"artifactId": "tools",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_PhoenixTools",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"linuxathena"
|
||||||
|
],
|
||||||
|
"simMode": "hwsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "wpiapi-cpp-sim",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_Phoenix6_WPISim",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "tools-sim",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_PhoenixTools_Sim",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simTalonSRX",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimTalonSRX",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simTalonFX",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimTalonFX",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simVictorSPX",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimVictorSPX",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simPigeonIMU",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimPigeonIMU",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simCANCoder",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimCANCoder",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProTalonFX",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimProTalonFX",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProCANcoder",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimProCANcoder",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"groupId": "com.ctre.phoenix6.sim",
|
||||||
|
"artifactId": "simProPigeon2",
|
||||||
|
"version": "24.2.0",
|
||||||
|
"libName": "CTRE_SimProPigeon2",
|
||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxuniversal"
|
||||||
|
],
|
||||||
|
"simMode": "swsim"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user