diff --git a/FlexAdvKitBeta/.gitignore b/FlexAdvKit2025/.gitignore similarity index 97% rename from FlexAdvKitBeta/.gitignore rename to FlexAdvKit2025/.gitignore index d012c1d..34cbaac 100644 --- a/FlexAdvKitBeta/.gitignore +++ b/FlexAdvKit2025/.gitignore @@ -170,7 +170,7 @@ out/ # Simulation GUI and other tools window save file networktables.json -simgui*.json +simgui.json *-window.json # Simulation data log directory @@ -183,5 +183,5 @@ ctre_sim/ /.cache compile_commands.json -# Version file -src/main/java/frc/robot/BuildConstants.java \ No newline at end of file +# Eclipse generated file for annotation processors +.factorypath diff --git a/FlexAdvKitBeta/.vscode/launch.json b/FlexAdvKit2025/.vscode/launch.json similarity index 51% rename from FlexAdvKitBeta/.vscode/launch.json rename to FlexAdvKit2025/.vscode/launch.json index b8c1920..c9c9713 100644 --- a/FlexAdvKitBeta/.vscode/launch.json +++ b/FlexAdvKit2025/.vscode/launch.json @@ -1,17 +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 + "desktop": true, }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false + "desktop": false, } ] } diff --git a/FlexAdvKit2025/.vscode/settings.json b/FlexAdvKit2025/.vscode/settings.json new file mode 100644 index 0000000..612cdd0 --- /dev/null +++ b/FlexAdvKit2025/.vscode/settings.json @@ -0,0 +1,60 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] +} diff --git a/FlexAdvKit2025/.wpilib/wpilib_preferences.json b/FlexAdvKit2025/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..92637e1 --- /dev/null +++ b/FlexAdvKit2025/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 6672 +} \ No newline at end of file diff --git a/FlexAdvKit2025/2025-reefscape.json b/FlexAdvKit2025/2025-reefscape.json new file mode 100644 index 0000000..eb395c0 --- /dev/null +++ b/FlexAdvKit2025/2025-reefscape.json @@ -0,0 +1,404 @@ +{ + "tags": [ + { + "ID": 1, + "pose": { + "translation": { + "x": 16.697198, + "y": 0.65532, + "z": 1.4859 + }, + "rotation": { + "quaternion": { + "W": 0.4539904997395468, + "X": 0.0, + "Y": 0.0, + "Z": 0.8910065241883678 + } + } + } + }, + { + "ID": 2, + "pose": { + "translation": { + "x": 16.697198, + "y": 7.3964799999999995, + "z": 1.4859 + }, + "rotation": { + "quaternion": { + "W": -0.45399049973954675, + "X": -0.0, + "Y": 0.0, + "Z": 0.8910065241883679 + } + } + } + }, + { + "ID": 3, + "pose": { + "translation": { + "x": 11.560809999999998, + "y": 8.05561, + "z": 1.30175 + }, + "rotation": { + "quaternion": { + "W": -0.7071067811865475, + "X": -0.0, + "Y": 0.0, + "Z": 0.7071067811865476 + } + } + } + }, + { + "ID": 4, + "pose": { + "translation": { + "x": 9.276079999999999, + "y": 6.137656, + "z": 1.8679160000000001 + }, + "rotation": { + "quaternion": { + "W": 0.9659258262890683, + "X": 0.0, + "Y": 0.25881904510252074, + "Z": 0.0 + } + } + } + }, + { + "ID": 5, + "pose": { + "translation": { + "x": 9.276079999999999, + "y": 1.914906, + "z": 1.8679160000000001 + }, + "rotation": { + "quaternion": { + "W": 0.9659258262890683, + "X": 0.0, + "Y": 0.25881904510252074, + "Z": 0.0 + } + } + } + }, + { + "ID": 6, + "pose": { + "translation": { + "x": 13.474446, + "y": 3.3063179999999996, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": -0.8660254037844387, + "X": -0.0, + "Y": 0.0, + "Z": 0.49999999999999994 + } + } + } + }, + { + "ID": 7, + "pose": { + "translation": { + "x": 13.890498, + "y": 4.0259, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 1.0, + "X": 0.0, + "Y": 0.0, + "Z": 0.0 + } + } + } + }, + { + "ID": 8, + "pose": { + "translation": { + "x": 13.474446, + "y": 4.745482, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 0.8660254037844387, + "X": 0.0, + "Y": 0.0, + "Z": 0.49999999999999994 + } + } + } + }, + { + "ID": 9, + "pose": { + "translation": { + "x": 12.643358, + "y": 4.745482, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 0.5000000000000001, + "X": 0.0, + "Y": 0.0, + "Z": 0.8660254037844386 + } + } + } + }, + { + "ID": 10, + "pose": { + "translation": { + "x": 12.227305999999999, + "y": 4.0259, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 6.123233995736766e-17, + "X": 0.0, + "Y": 0.0, + "Z": 1.0 + } + } + } + }, + { + "ID": 11, + "pose": { + "translation": { + "x": 12.643358, + "y": 3.3063179999999996, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": -0.4999999999999998, + "X": -0.0, + "Y": 0.0, + "Z": 0.8660254037844387 + } + } + } + }, + { + "ID": 12, + "pose": { + "translation": { + "x": 0.851154, + "y": 0.65532, + "z": 1.4859 + }, + "rotation": { + "quaternion": { + "W": 0.8910065241883679, + "X": 0.0, + "Y": 0.0, + "Z": 0.45399049973954675 + } + } + } + }, + { + "ID": 13, + "pose": { + "translation": { + "x": 0.851154, + "y": 7.3964799999999995, + "z": 1.4859 + }, + "rotation": { + "quaternion": { + "W": -0.8910065241883678, + "X": -0.0, + "Y": 0.0, + "Z": 0.45399049973954686 + } + } + } + }, + { + "ID": 14, + "pose": { + "translation": { + "x": 8.272272, + "y": 6.137656, + "z": 1.8679160000000001 + }, + "rotation": { + "quaternion": { + "W": 5.914589856893349e-17, + "X": -0.25881904510252074, + "Y": 1.5848095757158825e-17, + "Z": 0.9659258262890683 + } + } + } + }, + { + "ID": 15, + "pose": { + "translation": { + "x": 8.272272, + "y": 1.914906, + "z": 1.8679160000000001 + }, + "rotation": { + "quaternion": { + "W": 5.914589856893349e-17, + "X": -0.25881904510252074, + "Y": 1.5848095757158825e-17, + "Z": 0.9659258262890683 + } + } + } + }, + { + "ID": 16, + "pose": { + "translation": { + "x": 5.9875419999999995, + "y": -0.0038099999999999996, + "z": 1.30175 + }, + "rotation": { + "quaternion": { + "W": 0.7071067811865476, + "X": 0.0, + "Y": 0.0, + "Z": 0.7071067811865476 + } + } + } + }, + { + "ID": 17, + "pose": { + "translation": { + "x": 4.073905999999999, + "y": 3.3063179999999996, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": -0.4999999999999998, + "X": -0.0, + "Y": 0.0, + "Z": 0.8660254037844387 + } + } + } + }, + { + "ID": 18, + "pose": { + "translation": { + "x": 3.6576, + "y": 4.0259, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 6.123233995736766e-17, + "X": 0.0, + "Y": 0.0, + "Z": 1.0 + } + } + } + }, + { + "ID": 19, + "pose": { + "translation": { + "x": 4.073905999999999, + "y": 4.745482, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 0.5000000000000001, + "X": 0.0, + "Y": 0.0, + "Z": 0.8660254037844386 + } + } + } + }, + { + "ID": 20, + "pose": { + "translation": { + "x": 4.904739999999999, + "y": 4.745482, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 0.8660254037844387, + "X": 0.0, + "Y": 0.0, + "Z": 0.49999999999999994 + } + } + } + }, + { + "ID": 21, + "pose": { + "translation": { + "x": 5.321046, + "y": 4.0259, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": 1.0, + "X": 0.0, + "Y": 0.0, + "Z": 0.0 + } + } + } + }, + { + "ID": 22, + "pose": { + "translation": { + "x": 4.904739999999999, + "y": 3.3063179999999996, + "z": 0.308102 + }, + "rotation": { + "quaternion": { + "W": -0.8660254037844387, + "X": -0.0, + "Y": 0.0, + "Z": 0.49999999999999994 + } + } + } + } + ], + "field": { + "length": 17.548, + "width": 8.052 + } +} diff --git a/FlexAdvKitBeta/WPILib-License.md b/FlexAdvKit2025/WPILib-License.md similarity index 100% rename from FlexAdvKitBeta/WPILib-License.md rename to FlexAdvKit2025/WPILib-License.md diff --git a/FlexAdvKitBeta/build.gradle b/FlexAdvKit2025/build.gradle similarity index 96% rename from FlexAdvKitBeta/build.gradle rename to FlexAdvKit2025/build.gradle index b3a9b71..6a95548 100644 --- a/FlexAdvKitBeta/build.gradle +++ b/FlexAdvKit2025/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3" + id "edu.wpi.first.GradleRIO" version "2025.1.1" id "com.peterabeles.gversion" version "1.10" id "com.diffplug.spotless" version "6.12.0" } @@ -212,13 +212,13 @@ spotless { trimTrailingWhitespace() endWithNewline() } - json { - target fileTree(".") { - include "**/*.json" - exclude "**/build/**", "**/build-*/**" - } - gson().indentWithSpaces(2) - } + // json { + // target fileTree(".") { + // include "**/*.json" + // exclude "**/build/**", "**/build-*/**" + // } + // gson().indentWithSpaces(2) + // } format "misc", { target fileTree(".") { include "**/*.md", "**/.gitignore" diff --git a/FlexAdvKitBeta/gradle/wrapper/gradle-wrapper.jar b/FlexAdvKit2025/gradle/wrapper/gradle-wrapper.jar similarity index 100% rename from FlexAdvKitBeta/gradle/wrapper/gradle-wrapper.jar rename to FlexAdvKit2025/gradle/wrapper/gradle-wrapper.jar diff --git a/FlexAdvKitBeta/gradle/wrapper/gradle-wrapper.properties b/FlexAdvKit2025/gradle/wrapper/gradle-wrapper.properties similarity index 100% rename from FlexAdvKitBeta/gradle/wrapper/gradle-wrapper.properties rename to FlexAdvKit2025/gradle/wrapper/gradle-wrapper.properties diff --git a/FlexAdvKitBeta/gradlew b/FlexAdvKit2025/gradlew similarity index 96% rename from FlexAdvKitBeta/gradlew rename to FlexAdvKit2025/gradlew index 1aa94a4..f5feea6 100644 --- a/FlexAdvKitBeta/gradlew +++ b/FlexAdvKit2025/gradlew @@ -15,6 +15,8 @@ # See the License for the specific language governing permissions and # limitations under the License. # +# SPDX-License-Identifier: Apache-2.0 +# ############################################################################## # @@ -55,7 +57,7 @@ # 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 +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt # within the Gradle project. # # You can find Gradle at https://github.com/gradle/gradle/. @@ -84,7 +86,8 @@ done # 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 "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD=maximum diff --git a/FlexAdvKitBeta/gradlew.bat b/FlexAdvKit2025/gradlew.bat similarity index 91% rename from FlexAdvKitBeta/gradlew.bat rename to FlexAdvKit2025/gradlew.bat index 93e3f59..9d21a21 100644 --- a/FlexAdvKitBeta/gradlew.bat +++ b/FlexAdvKit2025/gradlew.bat @@ -13,6 +13,8 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem @if "%DEBUG%"=="" @echo off @rem ########################################################################## @@ -43,11 +45,11 @@ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -57,11 +59,11 @@ 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. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail diff --git a/FlexAdvKitBeta/settings.gradle b/FlexAdvKit2025/settings.gradle similarity index 96% rename from FlexAdvKitBeta/settings.gradle rename to FlexAdvKit2025/settings.gradle index d94f73c..969c7b0 100644 --- a/FlexAdvKitBeta/settings.gradle +++ b/FlexAdvKit2025/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2024' + String frcYear = '2025' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/FlexAdvKit2025/simgui-ds.json b/FlexAdvKit2025/simgui-ds.json new file mode 100644 index 0000000..c4b7efd --- /dev/null +++ b/FlexAdvKit2025/simgui-ds.json @@ -0,0 +1,98 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ], + "robotJoysticks": [ + { + "guid": "78696e70757401000000000000000000", + "useGamepad": true + } + ] +} diff --git a/FlexAdvKitBeta/src/main/deploy/choreo/3Piece.traj b/FlexAdvKit2025/src/main/deploy/choreo/3Piece.traj similarity index 100% rename from FlexAdvKitBeta/src/main/deploy/choreo/3Piece.traj rename to FlexAdvKit2025/src/main/deploy/choreo/3Piece.traj diff --git a/FlexAdvKitBeta/src/main/deploy/choreo/Forward.traj b/FlexAdvKit2025/src/main/deploy/choreo/Forward.traj similarity index 100% rename from FlexAdvKitBeta/src/main/deploy/choreo/Forward.traj rename to FlexAdvKit2025/src/main/deploy/choreo/Forward.traj diff --git a/FlexAdvKitBeta/src/main/deploy/choreo/proj.chor b/FlexAdvKit2025/src/main/deploy/choreo/proj.chor similarity index 100% rename from FlexAdvKitBeta/src/main/deploy/choreo/proj.chor rename to FlexAdvKit2025/src/main/deploy/choreo/proj.chor diff --git a/FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Example Auto.auto b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto similarity index 50% rename from FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Example Auto.auto rename to FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto index 70b7ab2..ef27268 100644 --- a/FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Example Auto.auto +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test.auto @@ -7,7 +7,19 @@ { "type": "path", "data": { - "pathName": "Example Path" + "pathName": "Test1" + } + }, + { + "type": "path", + "data": { + "pathName": "Test2" + } + }, + { + "type": "path", + "data": { + "pathName": "Test3" } } ] diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto new file mode 100644 index 0000000..2dc25df --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/autos/Test2.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Test1" + } + }, + { + "type": "path", + "data": { + "pathName": "Test4" + } + }, + { + "type": "path", + "data": { + "pathName": "Test5" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json b/FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ +{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]} \ No newline at end of file diff --git a/FlexAdvKitBeta/src/main/deploy/pathplanner/paths/ForwardAuto.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path similarity index 63% rename from FlexAdvKitBeta/src/main/deploy/pathplanner/paths/ForwardAuto.path rename to FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path index 049632a..f73d342 100644 --- a/FlexAdvKitBeta/src/main/deploy/pathplanner/paths/ForwardAuto.path +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test1.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 1.0, - "y": 7.0 + "x": 7.851946721311475, + "y": 6.860092213114753 }, "prevControl": null, "nextControl": { - "x": 1.772678179111184, - "y": 7.011088339115795 + "x": 5.850000000003737, + "y": 6.72822745901907 }, "isLocked": false, - "linkedName": null + "linkedName": "TopStart" }, { "anchor": { - "x": 3.0, - "y": 7.0 + "x": 3.621535893850387, + "y": 5.179525806843958 }, "prevControl": { - "x": 2.372716908050121, - "y": 7.008368243449518 + "x": 3.943599090682578, + "y": 5.331823668166545 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "L" } ], "rotationTargets": [], @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.0, - "maxAcceleration": 2.0, + "maxVelocity": 3.5, + "maxAcceleration": 11.4, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": -59.99999999999999 }, "reversed": false, "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 0.0 + "rotation": 180.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path new file mode 100644 index 0000000..8a22508 --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.621535893850387, + "y": 5.179525806843958 + }, + "prevControl": null, + "nextControl": { + "x": 2.529405737704918, + "y": 5.397592213114754 + }, + "isLocked": false, + "linkedName": "L" + }, + { + "anchor": { + "x": 1.3905737704918033, + "y": 7.123821721311475 + }, + "prevControl": { + "x": 2.1098360655737727, + "y": 6.392571721311475 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "TopStation" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.5, + "maxAcceleration": 11.4, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 125.00000000000001 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -59.99999999999999 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path new file mode 100644 index 0000000..f8a1a18 --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test3.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.3905737704918033, + "y": 7.123821721311475 + }, + "prevControl": null, + "nextControl": { + "x": 2.254299605707709, + "y": 6.635090682144481 + }, + "isLocked": false, + "linkedName": "TopStation" + }, + { + "anchor": { + "x": 3.935052287697343, + "y": 5.326793537896526 + }, + "prevControl": { + "x": 2.2246015270697486, + "y": 5.745540765893312 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "K" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.5, + "maxAcceleration": 11.4, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -59.99999999999999 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 125.00000000000001 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path new file mode 100644 index 0000000..a5316b8 --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test4.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.621535893850387, + "y": 5.179525806843958 + }, + "prevControl": null, + "nextControl": { + "x": 3.293568906584885, + "y": 5.630266713677068 + }, + "isLocked": false, + "linkedName": "L" + }, + { + "anchor": { + "x": 1.3905737704918033, + "y": 7.123821721311475 + }, + "prevControl": { + "x": 1.6183401639344261, + "y": 6.812141393442622 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "TopStation" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.5, + "maxAcceleration": 11.4, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -55.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -59.99999999999999 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path new file mode 100644 index 0000000..3293e18 --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/paths/Test5.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.3905737704918033, + "y": 7.123821721311475 + }, + "prevControl": null, + "nextControl": { + "x": 2.1596146438624766, + "y": 6.570702123037392 + }, + "isLocked": false, + "linkedName": "TopStation" + }, + { + "anchor": { + "x": 3.935052287697343, + "y": 5.326793537896526 + }, + "prevControl": { + "x": 3.730494417351021, + "y": 5.507440918329981 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "K" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.5, + "maxAcceleration": 11.4, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -59.99999999999999 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -55.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/deploy/pathplanner/settings.json b/FlexAdvKit2025/src/main/deploy/pathplanner/settings.json new file mode 100644 index 0000000..948beee --- /dev/null +++ b/FlexAdvKit2025/src/main/deploy/pathplanner/settings.json @@ -0,0 +1,34 @@ +{ + "robotWidth": 0.9, + "robotLength": 0.9, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.5, + "defaultMaxAccel": 11.4, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 115.0, + "robotMOI": 6.883, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.0508, + "driveGearing": 7.13, + "maxDriveSpeed": 5.45, + "driveMotorType": "krakenX60FOC", + "driveCurrentLimit": 120.0, + "wheelCOF": 1.43, + "flModuleX": 0.273, + "flModuleY": 0.273, + "frModuleX": 0.273, + "frModuleY": -0.273, + "blModuleX": -0.273, + "blModuleY": 0.273, + "brModuleX": -0.273, + "brModuleY": -0.273, + "bumperOffsetX": 0.0, + "bumperOffsetY": 0.0, + "robotFeatures": [ + "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.0,\"y\":0.0},\"size\":{\"width\":0.2,\"length\":0.2},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}" + ] +} \ No newline at end of file diff --git a/FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java b/FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java new file mode 100644 index 0000000..4768c0b --- /dev/null +++ b/FlexAdvKit2025/src/main/java/frc/robot/BuildConstants.java @@ -0,0 +1,17 @@ +package frc.robot; + +/** Automatically generated file containing build version information. */ +public final class BuildConstants { + public static final String MAVEN_GROUP = ""; + public static final String MAVEN_NAME = "FlexAdvKit2025"; + public static final String VERSION = "unspecified"; + public static final int GIT_REVISION = 48; + public static final String GIT_SHA = "e7b0831bf27ec0fb2d428203b80c3a6405767683"; + public static final String GIT_DATE = "2025-01-08 21:22:39 EST"; + public static final String GIT_BRANCH = "many_sim_changes"; + public static final String BUILD_DATE = "2025-01-08 21:24:54 EST"; + public static final long BUILD_UNIX_TIME = 1736389494328L; + public static final int DIRTY = 1; + + private BuildConstants() {} +} diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/Constants.java b/FlexAdvKit2025/src/main/java/frc/robot/Constants.java similarity index 79% rename from FlexAdvKitBeta/src/main/java/frc/robot/Constants.java rename to FlexAdvKit2025/src/main/java/frc/robot/Constants.java index 0078715..097ca97 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/Constants.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/Constants.java @@ -30,7 +30,6 @@ import com.pathplanner.lib.config.ModuleConfig; import com.pathplanner.lib.config.RobotConfig; import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; @@ -48,6 +47,7 @@ import org.ironmaple.simulation.drivesims.COTS; import org.ironmaple.simulation.drivesims.SwerveModuleSimulation; import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; /** * This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running @@ -129,7 +129,7 @@ public static enum SysIdRoutineMode { // The stator current at which the wheels start to slip; // This needs to be tuned to your individual robot - private static final Current kSlipCurrent = Amps.of(80.0); + private static final Current kSlipCurrent = Amps.of(120.0); // Initial configs for the drive and steer motors and the CANcoder; these cannot be null. // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. @@ -182,26 +182,29 @@ public static enum SysIdRoutineMode { .withPigeon2Id(kPigeonId) .withPigeon2Configs(pigeonConfigs); - private static final SwerveModuleConstantsFactory ConstantCreator = - new SwerveModuleConstantsFactory() - .withDriveMotorGearRatio(kDriveGearRatio) - .withSteerMotorGearRatio(kSteerGearRatio) - .withCouplingGearRatio(kCoupleRatio) - .withWheelRadius(kWheelRadius) - .withSteerMotorGains(steerGains) - .withDriveMotorGains(driveGains) - .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) - .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) - .withSlipCurrent(kSlipCurrent) - .withSpeedAt12Volts(kSpeedAt12Volts) - .withFeedbackSource(kSteerFeedbackType) - .withDriveMotorInitialConfigs(driveInitialConfigs) - .withSteerMotorInitialConfigs(steerInitialConfigs) - .withCANcoderInitialConfigs(cancoderInitialConfigs) - .withSteerInertia(kSteerInertia) - .withDriveInertia(kDriveInertia) - .withSteerFrictionVoltage(kSteerFrictionVoltage) - .withDriveFrictionVoltage(kDriveFrictionVoltage); + private static final SwerveModuleConstantsFactory< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + ConstantCreator = + new SwerveModuleConstantsFactory< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() + .withDriveMotorGearRatio(kDriveGearRatio) + .withSteerMotorGearRatio(kSteerGearRatio) + .withCouplingGearRatio(kCoupleRatio) + .withWheelRadius(kWheelRadius) + .withSteerMotorGains(steerGains) + .withDriveMotorGains(driveGains) + .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) + .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) + .withSlipCurrent(kSlipCurrent) + .withSpeedAt12Volts(kSpeedAt12Volts) + .withFeedbackSource(kSteerFeedbackType) + .withDriveMotorInitialConfigs(driveInitialConfigs) + .withSteerMotorInitialConfigs(steerInitialConfigs) + .withEncoderInitialConfigs(cancoderInitialConfigs) + .withSteerInertia(kSteerInertia) + .withDriveInertia(kDriveInertia) + .withSteerFrictionVoltage(kSteerFrictionVoltage) + .withDriveFrictionVoltage(kDriveFrictionVoltage); // Front Left private static final int kFrontLeftDriveMotorId = 13; @@ -247,50 +250,58 @@ public static enum SysIdRoutineMode { private static final Distance kBackRightXPos = Inches.of(-9.75); private static final Distance kBackRightYPos = Inches.of(-9.75); - public static final SwerveModuleConstants FrontLeft = - ConstantCreator.createModuleConstants( - kFrontLeftSteerMotorId, - kFrontLeftDriveMotorId, - kFrontLeftEncoderId, - kFrontLeftEncoderOffset, - kFrontLeftXPos, - kFrontLeftYPos, - kInvertLeftSide, - kFrontLeftSteerMotorInverted, - kFrontLeftCANcoderInverted); - public static final SwerveModuleConstants FrontRight = - ConstantCreator.createModuleConstants( - kFrontRightSteerMotorId, - kFrontRightDriveMotorId, - kFrontRightEncoderId, - kFrontRightEncoderOffset, - kFrontRightXPos, - kFrontRightYPos, - kInvertRightSide, - kFrontRightSteerMotorInverted, - kFrontRightCANcoderInverted); - public static final SwerveModuleConstants BackLeft = - ConstantCreator.createModuleConstants( - kBackLeftSteerMotorId, - kBackLeftDriveMotorId, - kBackLeftEncoderId, - kBackLeftEncoderOffset, - kBackLeftXPos, - kBackLeftYPos, - kInvertLeftSide, - kBackLeftSteerMotorInverted, - kBackLeftCANcoderInverted); - public static final SwerveModuleConstants BackRight = - ConstantCreator.createModuleConstants( - kBackRightSteerMotorId, - kBackRightDriveMotorId, - kBackRightEncoderId, - kBackRightEncoderOffset, - kBackRightXPos, - kBackRightYPos, - kInvertRightSide, - kBackRightSteerMotorInverted, - kBackRightCANcoderInverted); + public static final SwerveModuleConstants< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + FrontLeft = + ConstantCreator.createModuleConstants( + kFrontLeftSteerMotorId, + kFrontLeftDriveMotorId, + kFrontLeftEncoderId, + kFrontLeftEncoderOffset, + kFrontLeftXPos, + kFrontLeftYPos, + kInvertLeftSide, + kFrontLeftSteerMotorInverted, + kFrontLeftCANcoderInverted); + public static final SwerveModuleConstants< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + FrontRight = + ConstantCreator.createModuleConstants( + kFrontRightSteerMotorId, + kFrontRightDriveMotorId, + kFrontRightEncoderId, + kFrontRightEncoderOffset, + kFrontRightXPos, + kFrontRightYPos, + kInvertRightSide, + kFrontRightSteerMotorInverted, + kFrontRightCANcoderInverted); + public static final SwerveModuleConstants< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + BackLeft = + ConstantCreator.createModuleConstants( + kBackLeftSteerMotorId, + kBackLeftDriveMotorId, + kBackLeftEncoderId, + kBackLeftEncoderOffset, + kBackLeftXPos, + kBackLeftYPos, + kInvertLeftSide, + kBackLeftSteerMotorInverted, + kBackLeftCANcoderInverted); + public static final SwerveModuleConstants< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + BackRight = + ConstantCreator.createModuleConstants( + kBackRightSteerMotorId, + kBackRightDriveMotorId, + kBackRightEncoderId, + kBackRightEncoderOffset, + kBackRightXPos, + kBackRightYPos, + kInvertRightSide, + kBackRightSteerMotorInverted, + kBackRightCANcoderInverted); // PathPlanner config constants public static final double WHEEL_COF = 1.19; @@ -318,21 +329,21 @@ public static enum SysIdRoutineMode { .withSwerveModule( () -> new SwerveModuleSimulation( - DCMotor.getKrakenX60(1), - DCMotor.getFalcon500(1), - FrontLeft.DriveMotorGearRatio, - FrontLeft.SteerMotorGearRatio, - Volts.of(FrontLeft.DriveFrictionVoltage), - Volts.of(FrontLeft.SteerFrictionVoltage), - Meters.of(FrontLeft.WheelRadius), - KilogramSquareMeters.of(FrontLeft.SteerInertia), - DriveConstants.WHEEL_COF)); + new SwerveModuleSimulationConfig( + DCMotor.getKrakenX60(1), + DCMotor.getFalcon500(1), + FrontLeft.DriveMotorGearRatio, + FrontLeft.SteerMotorGearRatio, + Volts.of(FrontLeft.DriveFrictionVoltage), + Volts.of(FrontLeft.SteerFrictionVoltage), + Meters.of(FrontLeft.WheelRadius), + KilogramSquareMeters.of(FrontLeft.SteerInertia), + DriveConstants.WHEEL_COF))); } public class VisionConstants { // AprilTag layout - public static AprilTagFieldLayout APRILTAG_LAYOUT = - AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); + public static AprilTagFieldLayout APRILTAG_LAYOUT; // Camera names, must match names configured on coprocessor public static String CAM_0_NAME = "camera_0"; @@ -351,7 +362,7 @@ public class VisionConstants { // Standard deviation baselines, for 1 meter distance and 1 tag // (Adjusted automatically based on distance and # of tags) - public static double linearStdDevBaseline = 0.02; // Meters + public static double linearStdDevBaseline = 0.08; // Meters public static double angularStdDevBaseline = 0.06; // Radians // Standard deviation multipliers for each camera diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/Main.java b/FlexAdvKit2025/src/main/java/frc/robot/Main.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/Main.java rename to FlexAdvKit2025/src/main/java/frc/robot/Main.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/Robot.java b/FlexAdvKit2025/src/main/java/frc/robot/Robot.java similarity index 92% rename from FlexAdvKitBeta/src/main/java/frc/robot/Robot.java rename to FlexAdvKit2025/src/main/java/frc/robot/Robot.java index ef6732c..7f724dd 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/Robot.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/Robot.java @@ -13,10 +13,13 @@ package frc.robot; +import static frc.robot.Constants.VisionConstants.APRILTAG_LAYOUT; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.wpilibj.Threads; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; -import org.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo; +import org.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.Logger; @@ -35,6 +38,14 @@ public class Robot extends LoggedRobot { private RobotContainer robotContainer; public Robot() { + try { + APRILTAG_LAYOUT = + new AprilTagFieldLayout( + "C:\\Users\\imren\\OfflineDocs\\GitHub\\Robotics\\2024-Wiggler\\FlexAdvKit2025\\2025-reefscape.json"); + } catch (Exception e) { + e.printStackTrace(); + } + // Record metadata Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); @@ -160,7 +171,7 @@ public void simulationInit() {} /** This function is called periodically whilst in simulation. */ @Override public void simulationPeriodic() { - Arena2024Crescendo.getInstance().simulationPeriodic(); + Arena2025Reefscape.getInstance().simulationPeriodic(); robotContainer.displaySimFieldToAdvantageScope(); } } diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/RobotContainer.java b/FlexAdvKit2025/src/main/java/frc/robot/RobotContainer.java similarity index 91% rename from FlexAdvKitBeta/src/main/java/frc/robot/RobotContainer.java rename to FlexAdvKit2025/src/main/java/frc/robot/RobotContainer.java index e92c67e..5199112 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/RobotContainer.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/RobotContainer.java @@ -60,7 +60,8 @@ import frc.robot.subsystems.vision.VisionIOLimelight; import frc.robot.subsystems.vision.VisionIOPhotonVisionSim; import org.ironmaple.simulation.drivesims.SwerveDriveSimulation; -import org.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo; +import org.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; +import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; @@ -102,7 +103,7 @@ public RobotContainer() { new ModuleIOTalonFXReal(DriveConstants.FrontRight), new ModuleIOTalonFXReal(DriveConstants.BackLeft), new ModuleIOTalonFXReal(DriveConstants.BackRight)); - vision = new Vision(drive, new VisionIOLimelight(CAM_0_NAME, drive::getRotation)); + vision = new Vision(drive, new VisionIOLimelight(CAM_1_NAME, drive::getRotation)); intake = new Intake(new IntakeIOSparkFlex()); shooter = new Shooter(new ShooterIOSparkFlex()); @@ -115,7 +116,7 @@ public RobotContainer() { driveSimulation = new SwerveDriveSimulation( DriveConstants.MAPLE_SIM_CONFIG, new Pose2d(3, 1.5, new Rotation2d())); - Arena2024Crescendo.getInstance().addDriveTrainSimulation(driveSimulation); + Arena2025Reefscape.getInstance().addDriveTrainSimulation(driveSimulation); drive = new Drive( new GyroIOSim(driveSimulation.getGyroSimulation()), @@ -123,11 +124,11 @@ public RobotContainer() { new ModuleIOTalonFXSim(DriveConstants.FrontRight, driveSimulation.getModules()[1]), new ModuleIOTalonFXSim(DriveConstants.BackLeft, driveSimulation.getModules()[2]), new ModuleIOTalonFXSim(DriveConstants.BackRight, driveSimulation.getModules()[3])); - vision = null; - new Vision( - drive, - new VisionIOPhotonVisionSim( - CAM_1_NAME, robotToCamera1, driveSimulation::getSimulatedDriveTrainPose)); + vision = + new Vision( + drive, + new VisionIOPhotonVisionSim( + CAM_1_NAME, robotToCamera1, driveSimulation::getSimulatedDriveTrainPose)); shooter = new Shooter(new ShooterIOSim()); pivot = new Pivot(new PivotIOSim()); @@ -137,7 +138,7 @@ public RobotContainer() { drive::getPose, drive::getChassisSpeeds, pivot::getPosition, - Arena2024Crescendo.getInstance())); + Arena2025Reefscape.getInstance())); intake = new Intake( new IntakeIOSim( @@ -294,7 +295,7 @@ public void resetSimulationField() { driveSimulation.setSimulationWorldPose(new Pose2d(3, 1.5, new Rotation2d())); // System.out.println("Resetting simulation field"); - Arena2024Crescendo.getInstance().resetFieldForAuto(); + Arena2025Reefscape.getInstance().resetFieldForAuto(); } public void displaySimFieldToAdvantageScope() { @@ -303,6 +304,15 @@ public void displaySimFieldToAdvantageScope() { Logger.recordOutput( "FieldSimulation/RobotPosition", driveSimulation.getSimulatedDriveTrainPose()); Logger.recordOutput( - "FieldSimulation/Notes", Arena2024Crescendo.getInstance().getGamePiecesArrayByType("Note")); + "FieldSimulation/Algae", + Arena2025Reefscape.getInstance().getGamePiecesArrayByType("Algae")); + Logger.recordOutput( + "FieldSimulation/Coral", + Arena2025Reefscape.getInstance().getGamePiecesArrayByType("Coral")); + + Logger.recordOutput( + "FieldSimulation/StackedAlgae", ReefscapeCoralAlgaeStack.getStackedAlgaePoses()); + Logger.recordOutput( + "FieldSimulation/StackedCoral", ReefscapeCoralAlgaeStack.getStackedCoralPoses()); } } diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/commands/Autos.java b/FlexAdvKit2025/src/main/java/frc/robot/commands/Autos.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/commands/Autos.java rename to FlexAdvKit2025/src/main/java/frc/robot/commands/Autos.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/commands/DriveCommands.java b/FlexAdvKit2025/src/main/java/frc/robot/commands/DriveCommands.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/commands/DriveCommands.java rename to FlexAdvKit2025/src/main/java/frc/robot/commands/DriveCommands.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/commands/NoteCommands.java b/FlexAdvKit2025/src/main/java/frc/robot/commands/NoteCommands.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/commands/NoteCommands.java rename to FlexAdvKit2025/src/main/java/frc/robot/commands/NoteCommands.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/Drive.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/Drive.java similarity index 98% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/Drive.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/Drive.java index 51a4184..8b2efe6 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -333,12 +333,14 @@ public void accept( /** Returns the maximum linear speed in meters per sec. */ public double getMaxLinearSpeedMetersPerSec() { - return DriveConstants.kSpeedAt12Volts.in(MetersPerSecond); + // return DriveConstants.kSpeedAt12Volts.in(MetersPerSecond); + return 4.0; } /** Returns the maximum angular speed in radians per sec. */ public double getMaxAngularSpeedRadPerSec() { - return getMaxLinearSpeedMetersPerSec() / DRIVE_BASE_RADIUS; + // return getMaxLinearSpeedMetersPerSec() / DRIVE_BASE_RADIUS; + return 2 * Math.PI; } /** Returns an array of module translations. */ diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOPigeon2.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/gyro/GyroIOSim.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/Module.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/Module.java similarity index 92% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/Module.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/Module.java index 8c4e95d..6f54cbc 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/Module.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/Module.java @@ -13,6 +13,8 @@ package frc.robot.subsystems.drive.module; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; @@ -26,14 +28,20 @@ public class Module { private final ModuleIO io; private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged(); private final int index; - private final SwerveModuleConstants constants; + private final SwerveModuleConstants< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + constants; private final Alert driveDisconnectedAlert; private final Alert turnDisconnectedAlert; private final Alert turnEncoderDisconnectedAlert; private SwerveModulePosition[] odometryPositions = new SwerveModulePosition[] {}; - public Module(ModuleIO io, int index, SwerveModuleConstants constants) { + public Module( + ModuleIO io, + int index, + SwerveModuleConstants + constants) { this.io = io; this.index = index; this.constants = constants; diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java similarity index 93% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java index b8ad2f5..88d3377 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java @@ -30,7 +30,9 @@ import frc.robot.subsystems.drive.Drive; public abstract class ModuleIOTalonFX implements ModuleIO { - protected final SwerveModuleConstants constants; + protected final SwerveModuleConstants< + TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> + constants; protected final TalonFX driveTalon; protected final TalonFX turnTalon; @@ -65,12 +67,14 @@ public abstract class ModuleIOTalonFX implements ModuleIO { private final Debouncer turnConnectedDebounce = new Debouncer(0.5); private final Debouncer turnEncoderConnectedDebounce = new Debouncer(0.5); - protected ModuleIOTalonFX(SwerveModuleConstants constants) { + protected ModuleIOTalonFX( + SwerveModuleConstants + constants) { this.constants = constants; driveTalon = new TalonFX(constants.DriveMotorId, DriveConstants.DrivetrainConstants.CANBusName); turnTalon = new TalonFX(constants.SteerMotorId, DriveConstants.DrivetrainConstants.CANBusName); - cancoder = new CANcoder(constants.CANcoderId, DriveConstants.DrivetrainConstants.CANBusName); + cancoder = new CANcoder(constants.EncoderId, DriveConstants.DrivetrainConstants.CANBusName); // Configure drive motor var driveConfig = constants.DriveMotorInitialConfigs; @@ -92,7 +96,7 @@ protected ModuleIOTalonFX(SwerveModuleConstants constants) { turnConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; turnConfig.Slot0 = constants.SteerMotorGains; - turnConfig.Feedback.FeedbackRemoteSensorID = constants.CANcoderId; + turnConfig.Feedback.FeedbackRemoteSensorID = constants.EncoderId; turnConfig.Feedback.FeedbackSensorSource = switch (constants.FeedbackSource) { case RemoteCANcoder -> FeedbackSensorSourceValue.RemoteCANcoder; @@ -113,10 +117,10 @@ protected ModuleIOTalonFX(SwerveModuleConstants constants) { tryUntilOk(5, () -> turnTalon.getConfigurator().apply(turnConfig, 0.25)); // Configure CANCoder - CANcoderConfiguration cancoderConfig = constants.CANcoderInitialConfigs; - cancoderConfig.MagnetSensor.MagnetOffset = constants.CANcoderOffset; + CANcoderConfiguration cancoderConfig = constants.EncoderInitialConfigs; + cancoderConfig.MagnetSensor.MagnetOffset = constants.EncoderOffset; cancoderConfig.MagnetSensor.SensorDirection = - constants.CANcoderInverted + constants.EncoderInverted ? SensorDirectionValue.Clockwise_Positive : SensorDirectionValue.CounterClockwise_Positive; cancoder.getConfigurator().apply(cancoderConfig); diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java similarity index 89% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java index 6292072..3ad08c7 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXReal.java @@ -13,6 +13,8 @@ package frc.robot.subsystems.drive.module; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; @@ -31,7 +33,9 @@ public class ModuleIOTalonFXReal extends ModuleIOTalonFX { private final Queue drivePositionQueue; private final Queue turnPositionQueue; - public ModuleIOTalonFXReal(SwerveModuleConstants constants) { + public ModuleIOTalonFXReal( + SwerveModuleConstants + constants) { super(constants); this.timestampQueue = PhoenixOdometryThread.getInstance().makeTimestampQueue(); diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java similarity index 84% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java index be81a45..234499c 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFXSim.java @@ -16,6 +16,8 @@ import static edu.wpi.first.units.Units.Radians; import static edu.wpi.first.units.Units.Rotations; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import frc.robot.util.PhoenixUtil; import java.util.Arrays; @@ -28,7 +30,10 @@ public class ModuleIOTalonFXSim extends ModuleIOTalonFX { private final SwerveModuleSimulation simulation; - public ModuleIOTalonFXSim(SwerveModuleConstants constants, SwerveModuleSimulation simulation) { + public ModuleIOTalonFXSim( + SwerveModuleConstants + constants, + SwerveModuleSimulation simulation) { super(constants); this.simulation = simulation; simulation.useDriveMotorController( @@ -39,8 +44,8 @@ public ModuleIOTalonFXSim(SwerveModuleConstants constants, SwerveModuleSimulatio turnTalon, constants.SteerMotorInverted, cancoder, - constants.CANcoderInverted, - Rotations.of(constants.CANcoderOffset))); + constants.EncoderInverted, + Rotations.of(constants.EncoderOffset))); } @Override diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/Index.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/Index.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/Index.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/Index.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/IndexIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/IndexIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/IndexIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSim.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/IndexIOSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSim.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/index/IndexIOSparkFlex.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/Intake.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/Intake.java similarity index 99% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/Intake.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/Intake.java index 20dbc05..2d097d8 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -26,7 +26,6 @@ public Intake(IntakeIO io) { @Override public void periodic() { - io.updateInputs(inputs); Logger.processInputs("Intake", inputs); diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOSparkFlex.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java similarity index 96% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/Pivot.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java index aec7af1..34447d2 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -20,6 +20,7 @@ import frc.robot.Constants.PivotConstants.PivotState; import java.util.function.Supplier; import org.ironmaple.utils.FieldMirroringUtils; +import org.ironmaple.utils.LegacyFieldMirroringUtils2024; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.mechanism.LoggedMechanism2d; @@ -110,7 +111,7 @@ public Command angleToSpeakerCommand(Supplier drivePoseSupplier) { .getTranslation() .minus( FieldMirroringUtils.toCurrentAllianceTranslation( - FieldMirroringUtils.SPEAKER_POSE_BLUE) + LegacyFieldMirroringUtils2024.SPEAKER_POSE_BLUE) .toTranslation2d()) .getNorm()))))); } diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/PivotIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/pivot/PivotIOTalonFX.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/Shooter.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/Shooter.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/Shooter.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkFlex.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/Vision.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/Vision.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/Vision.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/Vision.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIO.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIO.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIO.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java similarity index 87% rename from FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java rename to FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java index 7a5599c..15efbcb 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java @@ -16,6 +16,7 @@ import static frc.robot.Constants.VisionConstants.APRILTAG_LAYOUT; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform3d; import java.util.function.Supplier; import org.photonvision.simulation.PhotonCameraSim; @@ -48,6 +49,11 @@ public VisionIOPhotonVisionSim( // Add sim camera var cameraProperties = new SimCameraProperties(); + cameraProperties.setFPS(100); + cameraProperties.setCalibration(1280, 800, Rotation2d.fromDegrees(79.09420732)); + cameraProperties.setAvgLatencyMs(50); + cameraProperties.setLatencyStdDevMs(35); + cameraProperties.setCalibError(0.35, 0.10); cameraSim = new PhotonCameraSim(camera, cameraProperties); visionSim.addCamera(cameraSim, robotToCamera); cameraSim.enableDrawWireframe(true); // http://localhost:1182/ diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/util/LocalADStarAK.java b/FlexAdvKit2025/src/main/java/frc/robot/util/LocalADStarAK.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/util/LocalADStarAK.java rename to FlexAdvKit2025/src/main/java/frc/robot/util/LocalADStarAK.java diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/util/PhoenixUtil.java b/FlexAdvKit2025/src/main/java/frc/robot/util/PhoenixUtil.java similarity index 94% rename from FlexAdvKitBeta/src/main/java/frc/robot/util/PhoenixUtil.java rename to FlexAdvKit2025/src/main/java/frc/robot/util/PhoenixUtil.java index bc397c8..bcdf0c5 100644 --- a/FlexAdvKitBeta/src/main/java/frc/robot/util/PhoenixUtil.java +++ b/FlexAdvKit2025/src/main/java/frc/robot/util/PhoenixUtil.java @@ -28,7 +28,7 @@ import java.util.function.Supplier; import org.ironmaple.simulation.motorsims.SimulatedBattery; import org.ironmaple.simulation.motorsims.SimulatedMotorController; -import org.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo; +import org.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; public final class PhoenixUtil { /** Attempts to run the command until no error is produced. */ @@ -41,10 +41,10 @@ public static void tryUntilOk(int maxAttempts, Supplier command) { public static double[] getSimulationOdometryTimeStamps() { final double[] odometryTimeStamps = - new double[Arena2024Crescendo.getSimulationSubTicksIn1Period()]; + new double[Arena2025Reefscape.getSimulationSubTicksIn1Period()]; for (int i = 0; i < odometryTimeStamps.length; i++) { odometryTimeStamps[i] = - Timer.getFPGATimestamp() - 0.02 + i * Arena2024Crescendo.getSimulationDt().in(Seconds); + Timer.getFPGATimestamp() - 0.02 + i * Arena2025Reefscape.getSimulationDt().in(Seconds); } return odometryTimeStamps; diff --git a/FlexAdvKitBeta/src/main/java/frc/robot/util/SparkUtil.java b/FlexAdvKit2025/src/main/java/frc/robot/util/SparkUtil.java similarity index 100% rename from FlexAdvKitBeta/src/main/java/frc/robot/util/SparkUtil.java rename to FlexAdvKit2025/src/main/java/frc/robot/util/SparkUtil.java diff --git a/FlexAdvKit2025/vendordeps/AdvantageKit.json b/FlexAdvKit2025/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..1fa7c03 --- /dev/null +++ b/FlexAdvKit2025/vendordeps/AdvantageKit.json @@ -0,0 +1,34 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "4.0.0", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2025", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.0.0", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json b/FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json new file mode 100644 index 0000000..e96f4f9 --- /dev/null +++ b/FlexAdvKit2025/vendordeps/ChoreoLib-2025.0.0.json @@ -0,0 +1,44 @@ +{ + "fileName": "ChoreoLib-2025.0.0.json", + "name": "ChoreoLib", + "version": "2025.0.0", + "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", + "frcYear": "2025", + "mavenUrls": [ + "https://lib.choreo.autos/dep", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json", + "javaDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-java", + "version": "2025.0.0" + }, + { + "groupId": "com.google.code.gson", + "artifactId": "gson", + "version": "2.11.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-cpp", + "version": "2025.0.0", + "libName": "ChoreoLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json b/FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json new file mode 100644 index 0000000..6322388 --- /dev/null +++ b/FlexAdvKit2025/vendordeps/PathplannerLib-2025.1.1.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2025.1.1.json", + "name": "PathplannerLib", + "version": "2025.1.1", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2025", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2025.1.1" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2025.1.1", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json b/FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json new file mode 100644 index 0000000..473f6a8 --- /dev/null +++ b/FlexAdvKit2025/vendordeps/Phoenix6-25.1.0.json @@ -0,0 +1,389 @@ +{ + "fileName": "Phoenix6-25.1.0.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.1.0", + "frcYear": "2025", + "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-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.1.0", + "isJar": false, + 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"skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/FlexAdvKitBeta/vendordeps/WPILibNewCommands.json b/FlexAdvKit2025/vendordeps/WPILibNewCommands.json similarity index 100% rename from FlexAdvKitBeta/vendordeps/WPILibNewCommands.json rename to FlexAdvKit2025/vendordeps/WPILibNewCommands.json diff --git a/FlexAdvKit2025/vendordeps/maple-sim.json b/FlexAdvKit2025/vendordeps/maple-sim.json new file mode 100644 index 0000000..973c04c --- /dev/null +++ b/FlexAdvKit2025/vendordeps/maple-sim.json @@ -0,0 +1,26 @@ +{ + "fileName": "maple-sim.json", + "name": "maplesim", + "version": "0.3.0", + "frcYear": "2025", + "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", + "mavenUrls": [ + "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", + "javaDependencies": [ + { + "groupId": "org.ironmaple", + "artifactId": "maplesim-java", + "version": "0.3.0" + }, + { + "groupId": "org.dyn4j", + "artifactId": "dyn4j", + "version": "5.0.2" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} \ No newline at end of file diff --git a/FlexAdvKit2025/vendordeps/photonlib.json b/FlexAdvKit2025/vendordeps/photonlib.json new file mode 100644 index 0000000..db43d6d --- /dev/null +++ b/FlexAdvKit2025/vendordeps/photonlib.json @@ -0,0 +1,71 @@ +{ + "fileName": "photonlib.json", + "name": "photonlib", + "version": "v2025.0.0-beta-8", + "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", + "frcYear": "2025", + "mavenUrls": [ + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" + ], + "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", + "jniDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2025.0.0-beta-8", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "v2025.0.0-beta-8", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2025.0.0-beta-8", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "javaDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "v2025.0.0-beta-8" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "v2025.0.0-beta-8" + } + ] +} \ No newline at end of file diff --git a/FlexAdvKitBeta/.vscode/extensions.json b/FlexAdvKitBeta/.vscode/extensions.json deleted file mode 100644 index 567056a..0000000 --- a/FlexAdvKitBeta/.vscode/extensions.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "recommendations": [ - "richardwillis.vscode-spotless-gradle" - ] -} diff --git a/FlexAdvKitBeta/.vscode/settings.json b/FlexAdvKitBeta/.vscode/settings.json deleted file mode 100644 index 4517284..0000000 --- a/FlexAdvKitBeta/.vscode/settings.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "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" - } - }, - null - ], - "java.test.defaultConfig": "WPIlibUnitTests", - "spotlessGradle.format.enable": true, - "spotlessGradle.diagnostics.enable": false, - "java.import.gradle.annotationProcessing.enabled": false, - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", - "[json]": { - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" - }, - "[java]": { - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" - }, - "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable" -} diff --git a/FlexAdvKitBeta/.wpilib/wpilib_preferences.json b/FlexAdvKitBeta/.wpilib/wpilib_preferences.json deleted file mode 100644 index c0c5d82..0000000 --- a/FlexAdvKitBeta/.wpilib/wpilib_preferences.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2025beta", - "teamNumber": 6672 -} diff --git a/FlexAdvKitBeta/AdvantageKit-License.md b/FlexAdvKitBeta/AdvantageKit-License.md deleted file mode 100644 index f288702..0000000 --- a/FlexAdvKitBeta/AdvantageKit-License.md +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it 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If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/FlexAdvKitBeta/AdvantageScope Swerve Calibration.json b/FlexAdvKitBeta/AdvantageScope Swerve Calibration.json deleted file mode 100644 index 5aca93d..0000000 --- a/FlexAdvKitBeta/AdvantageScope Swerve Calibration.json +++ /dev/null @@ -1,463 +0,0 @@ -{ - "hubs": [ - { - "x": 138, - "y": 94, - "width": 1104, - "height": 654, - "state": { - "sidebar": { - "width": 300, - "expanded": [ - "/Drive", - "/RealOutputs", - "/RealOutputs/SwerveStates", - "/RealOutputs/SwerveChassisSpeeds", - "/RealOutputs/Odometry" - ] - }, - "tabs": { - "selected": 1, - "tabs": [ - { - "type": 0, - "title": "", - "controller": null, - "controllerUUID": "grimvlgu9aluj8btvwotco2wpj0pto2h", - "renderer": "#/", - "controlsHeight": 0 - }, - { - "type": 9, - "title": "Drive Overview", - "controller": { - "sources": [ - { - "type": "states", - "logKey": "/RealOutputs/SwerveStates/Measured", - "logType": "SwerveModuleState[]", - "visible": true, - "options": { - "color": "#ff0000", - "arrangement": "0,1,2,3" - } - }, - { - "type": "states", - "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized", - "logType": "SwerveModuleState[]", - "visible": true, - "options": { - "color": "#00ffff", - "arrangement": "0,1,2,3" - } - }, - { - "type": "chassisSpeeds", - "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured", - "logType": "ChassisSpeeds", - "visible": true, - "options": { - "color": "#ff0000" - } - }, - { - "type": "chassisSpeeds", - "logKey": "/RealOutputs/SwerveChassisSpeeds/Setpoints", - "logType": "ChassisSpeeds", - "visible": true, - "options": { - "color": "#00ffff" - } - }, - { - "type": "rotation", - "logKey": "/RealOutputs/Odometry/Robot/rotation", - "logType": "Rotation2d", - "visible": true, - "options": {} - } - ], - "maxSpeed": 5, - "sizeX": 0.65, - "sizeY": 0.65, - "orientation": 1 - }, - "controllerUUID": "prdx7t2eedan6n46dxrjfu7eisf16f9o", - "renderer": null, - "controlsHeight": 200 - }, - { - "type": 3, - "title": "Field", - "controller": { - "sources": [ - { - "type": "robot", - "logKey": "/RealOutputs/Odometry/Robot", - "logType": "Pose2d", - "visible": true, - "options": { - "model": "Crab Bot" - } - }, - { - "type": "trajectory", - "logKey": "/RealOutputs/Odometry/Trajectory", - "logType": "Pose2d[]", - "visible": true, - "options": { - "color": "#ff8c00", - "size": "normal" - } - }, - { - "type": "ghost", - "logKey": "/RealOutputs/Odometry/TrajectorySetpoint", - "logType": "Pose2d", - "visible": true, - "options": { - "model": "Crab Bot", - "color": "#ff8c00" - } - } - ], - "game": "2024 Field", - "origin": "blue" - }, - "controllerUUID": "psf0y633oclnjyocus23hcnq1d4tpyte", - "renderer": { - "cameraIndex": -1, - "orbitFov": 50, - "cameraPosition": [ - 1.4695761589768238e-15, - 5.999999999999999, - -12 - ], - "cameraTarget": [ - 0, - 0.5, - 0 - ] - }, - "controlsHeight": 200 - }, - { - "type": 1, - "title": "Turn Calibration", - "controller": { - "leftSources": [ - { - "type": "stepped", - "logKey": "/Drive/Module0/TurnPosition/value", - "logType": "Number", - "visible": true, - "options": { - "color": "#e5b31b", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/Drive/Module1/TurnPosition/value", - "logType": "Number", - "visible": true, - "options": { - "color": "#af2437", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/Drive/Module2/TurnPosition/value", - "logType": "Number", - "visible": true, - "options": { - "color": "#80588e", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/Drive/Module3/TurnPosition/value", - "logType": "Number", - "visible": true, - "options": { - "color": "#e48b32", - "size": "normal" - } - } - ], - "rightSources": [], - "discreteSources": [], - "leftLockedRange": null, - "rightLockedRange": null, - "leftUnitConversion": { - "type": null, - "factor": 1 - }, - "rightUnitConversion": { - "type": null, - "factor": 1 - }, - "leftFilter": 0, - "rightFilter": 0 - }, - "controllerUUID": "ol8lk80m83ma3aegae849d6k1d29sp7d", - "renderer": null, - "controlsHeight": 200 - }, - { - "type": 1, - "title": "Drive Calibration", - "controller": { - "leftSources": [ - { - "type": "stepped", - "logKey": "/Drive/Module0/DrivePositionRad", - "logType": "Number", - "visible": true, - "options": { - "color": "#e5b31b", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/Drive/Module1/DrivePositionRad", - "logType": "Number", - "visible": true, - "options": { - "color": "#af2437", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/Drive/Module2/DrivePositionRad", - "logType": "Number", - "visible": true, - "options": { - "color": "#80588e", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/Drive/Module3/DrivePositionRad", - "logType": "Number", - "visible": true, - "options": { - "color": "#e48b32", - "size": "normal" - } - } - ], - "rightSources": [], - "discreteSources": [], - "leftLockedRange": null, - "rightLockedRange": null, - "leftUnitConversion": { - "type": null, - "factor": 1 - }, - "rightUnitConversion": { - "type": null, - "factor": 1 - }, - "leftFilter": 0, - "rightFilter": 0 - }, - "controllerUUID": "7jj1f83nsv59dd2ou11ls3ccz5tq1293", - "renderer": null, - "controlsHeight": 200 - }, - { - "type": 1, - "title": "Turn PID Tuning", - "controller": { - "leftSources": [ - { - "type": "stepped", - "logKey": "/RealOutputs/SwerveStates/Measured/0/angle/value", - "logType": "Number", - "visible": true, - "options": { - "color": "#2b66a2", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/angle/value", - "logType": "Number", - "visible": true, - "options": { - "color": "#e5b31b", - "size": "normal" - } - } - ], - "rightSources": [], - "discreteSources": [], - "leftLockedRange": null, - "rightLockedRange": null, - "leftUnitConversion": { - "type": null, - "factor": 1 - }, - "rightUnitConversion": { - "type": null, - "factor": 1 - }, - "leftFilter": 0, - "rightFilter": 0 - }, - "controllerUUID": "kj6tf6sxm5g04wnjrhed6mx2wpccmqtn", - "renderer": null, - "controlsHeight": 200 - }, - { - "type": 1, - "title": "Drive PID Tuning", - "controller": { - "leftSources": [ - { - "type": "stepped", - "logKey": "/RealOutputs/SwerveStates/Measured/0/speed", - "logType": "Number", - "visible": true, - "options": { - "color": "#2b66a2", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/speed", - "logType": "Number", - "visible": true, - "options": { - "color": "#e5b31b", - "size": "normal" - } - } - ], - "rightSources": [], - "discreteSources": [], - "leftLockedRange": null, - "rightLockedRange": null, - "leftUnitConversion": { - "type": null, - "factor": 1 - }, - "rightUnitConversion": { - "type": null, - "factor": 1 - }, - "leftFilter": 0, - "rightFilter": 0 - }, - "controllerUUID": "bctxg9pmwpo31m9bv9ofr92oqqtbpqzp", - "renderer": null, - "controlsHeight": 200 - }, - { - "type": 1, - "title": "Max Speed Measurement", - "controller": { - "leftSources": [ - { - "type": "stepped", - "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vx", - "logType": "Number", - "visible": true, - "options": { - "color": "#2b66a2", - "size": "normal" - } - }, - { - "type": "stepped", - "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vy", - "logType": "Number", - "visible": true, - "options": { - "color": "#e5b31b", - "size": "normal" - } - } - ], - "rightSources": [], - "discreteSources": [], - "leftLockedRange": null, - "rightLockedRange": null, - "leftUnitConversion": { - "type": null, - "factor": 1 - }, - "rightUnitConversion": { - "type": null, - "factor": 1 - }, - "leftFilter": 0, - "rightFilter": 0 - }, - "controllerUUID": "oy3vmjuhr7g36evikwnmjhfacl30mzn5", - "renderer": null, - "controlsHeight": 200 - }, - { - "type": 1, - "title": "Slip Current Measurement", - "controller": { - "leftSources": [ - { - "type": "stepped", - "logKey": "/Drive/Module0/DriveCurrentAmps", - 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@@ -1,12 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": true -} \ No newline at end of file diff --git a/FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Forward.auto b/FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Forward.auto deleted file mode 100644 index 5c629cf..0000000 --- a/FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Forward.auto +++ /dev/null @@ -1,19 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Forward" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": true -} \ No newline at end of file diff --git a/FlexAdvKitBeta/src/main/deploy/pathplanner/navgrid.json b/FlexAdvKitBeta/src/main/deploy/pathplanner/navgrid.json deleted file mode 100644 index 690f5db..0000000 --- a/FlexAdvKitBeta/src/main/deploy/pathplanner/navgrid.json +++ 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b/FlexAdvKitBeta/src/main/deploy/pathplanner/paths/Example Path.path deleted file mode 100644 index 803a50c..0000000 --- a/FlexAdvKitBeta/src/main/deploy/pathplanner/paths/Example Path.path +++ /dev/null @@ -1,86 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.0, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.7671758370498094, - "y": 6.180035899502349 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 4.604764701683467, - "y": 4.122214464115091 - }, - "prevControl": { - "x": 4.281114356699413, - "y": 4.300295004571826 - }, - "nextControl": { - "x": 5.61310871873312, - "y": 3.5673982857749618 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.0, - "y": 2.8925766268080317 - }, - "prevControl": { - "x": 6.69180462659209, - "y": 3.3862861371701434 - }, - "nextControl": { - "x": 7.273504656701004, - "y": 2.4544394521694968 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.0, - "y": 1.0 - }, - "prevControl": { - "x": 7.0335721456920615, - "y": 1.8747505799602564 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/FlexAdvKitBeta/src/main/deploy/pathplanner/settings.json b/FlexAdvKitBeta/src/main/deploy/pathplanner/settings.json deleted file mode 100644 index 46e3cdb..0000000 --- a/FlexAdvKitBeta/src/main/deploy/pathplanner/settings.json +++ /dev/null @@ -1,21 +0,0 @@ -{ - "robotWidth": 0.9, - "robotLength": 0.9, - "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 2.0, - "defaultMaxAccel": 2.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, - "robotMass": 74.088, - "robotMOI": 6.883, - "robotWheelbase": 0.546, - "robotTrackwidth": 0.546, - "driveWheelRadius": 0.0557, - "driveGearing": 5.143, - "maxDriveSpeed": 5.45, - "driveMotorType": "krakenX60FOC", - "driveCurrentLimit": 120.0, - "wheelCOF": 1.19 -} diff --git a/FlexAdvKitBeta/vendordeps/AdvantageKit.json b/FlexAdvKitBeta/vendordeps/AdvantageKit.json deleted file mode 100644 index 69538ea..0000000 --- a/FlexAdvKitBeta/vendordeps/AdvantageKit.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "4.0.0-beta-1", - "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2025", - "mavenUrls": [], - "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", - "javaDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-java", - "version": "4.0.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-wpilibio", - "version": "4.0.0-beta-1", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [] -} diff --git a/FlexAdvKitBeta/vendordeps/ChoreoLib2025Beta.json b/FlexAdvKitBeta/vendordeps/ChoreoLib2025Beta.json deleted file mode 100644 index 914a859..0000000 --- a/FlexAdvKitBeta/vendordeps/ChoreoLib2025Beta.json +++ /dev/null @@ -1,44 +0,0 @@ -{ - "fileName": "ChoreoLib2025Beta.json", - "name": "ChoreoLib", - "version": "2025.0.0-beta-9", - "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", - "frcYear": "2025", - "mavenUrls": [ - "https://lib.choreo.autos/dep", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025Beta.json", - "javaDependencies": [ - { - "groupId": "choreo", - "artifactId": "ChoreoLib-java", - "version": "2025.0.0-beta-9" - }, - { - "groupId": "com.google.code.gson", - "artifactId": "gson", - "version": "2.11.0" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "choreo", - "artifactId": "ChoreoLib-cpp", - "version": "2025.0.0-beta-9", - "libName": "ChoreoLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} diff --git a/FlexAdvKitBeta/vendordeps/PathplannerLib-beta.json b/FlexAdvKitBeta/vendordeps/PathplannerLib-beta.json deleted file mode 100644 index 0185feb..0000000 --- a/FlexAdvKitBeta/vendordeps/PathplannerLib-beta.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "PathplannerLib-beta.json", - "name": "PathplannerLib", - "version": "2025.0.0-beta-6.1", - "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2025", - "mavenUrls": [ - "https://3015rangerrobotics.github.io/pathplannerlib/repo" - ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib-beta.json", - "javaDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-java", - "version": "2025.0.0-beta-6.1" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2025.0.0-beta-6.1", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "osxuniversal", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} diff --git a/FlexAdvKitBeta/vendordeps/Phoenix6-25.0.0-beta-4.json b/FlexAdvKitBeta/vendordeps/Phoenix6-25.0.0-beta-4.json deleted file mode 100644 index 5a588aa..0000000 --- a/FlexAdvKitBeta/vendordeps/Phoenix6-25.0.0-beta-4.json +++ /dev/null @@ -1,389 +0,0 @@ -{ - "fileName": "Phoenix6-25.0.0-beta-4.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.0.0-beta-4", - "frcYear": "2025", - "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-frc2025-beta-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-beta-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "25.0.0-beta-4" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.0.0-beta-4", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "25.0.0-beta-4", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.0.0-beta-4", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.0.0-beta-4", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.0.0-beta-4", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.0.0-beta-4", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} diff --git a/FlexAdvKitBeta/vendordeps/REVLib-2025.0.0-beta-3.json b/FlexAdvKitBeta/vendordeps/REVLib-2025.0.0-beta-3.json deleted file mode 100644 index ad91680..0000000 --- a/FlexAdvKitBeta/vendordeps/REVLib-2025.0.0-beta-3.json +++ /dev/null @@ -1,74 +0,0 @@ -{ - "fileName": "REVLib-2025.0.0-beta-3.json", - "name": "REVLib", - "version": "2025.0.0-beta-3", - "frcYear": "2025", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2025.0.0-beta-3" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2025.0.0-beta-3", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2025.0.0-beta-3", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2025.0.0-beta-3", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} diff --git a/FlexAdvKitBeta/vendordeps/maple-sim.json b/FlexAdvKitBeta/vendordeps/maple-sim.json deleted file mode 100644 index 4b4a9c5..0000000 --- a/FlexAdvKitBeta/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.2.7", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.2.7" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/FlexAdvKitBeta/vendordeps/photonlib.json b/FlexAdvKitBeta/vendordeps/photonlib.json deleted file mode 100644 index 1163429..0000000 --- a/FlexAdvKitBeta/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.0.0-beta-8", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.0.0-beta-8", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.0.0-beta-8", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.0.0-beta-8", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.0.0-beta-8" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.0.0-beta-8" - } - ] -} diff --git a/PIDTars/deploy/pathplanner/navgrid.json b/PIDTars/deploy/pathplanner/navgrid.json deleted file mode 100644 index bab0da9..0000000 --- a/PIDTars/deploy/pathplanner/navgrid.json +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file