From 2cc1e6923aa3bc402c511588433505dea8d56bd9 Mon Sep 17 00:00:00 2001 From: Rohit Gondi Date: Tue, 11 Jan 2022 21:30:29 -0600 Subject: [PATCH] Updated to 2022 Wpilib --- .gitattributes | 2 - .gitignore | 9 +- .vscode/settings.json | 14 +- .wpilib/wpilib_preferences.json | 2 +- README.md | 34 --- build.gradle | 84 +++--- gradle/wrapper/gradle-wrapper.jar | Bin 58702 -> 59536 bytes gradle/wrapper/gradle-wrapper.properties | 2 +- gradlew | 257 +++++++++++------- gradlew.bat | 25 +- settings.gradle | 2 +- .../java/frc/lib/util/CTREModuleState.java | 4 +- src/main/java/frc/robot/Constants.java | 8 +- src/main/java/frc/robot/SwerveModule.java | 6 +- .../java/frc/robot/autos/exampleAuto.java | 16 +- .../java/frc/robot/commands/TeleopSwerve.java | 2 +- .../java/frc/robot/subsystems/Swerve.java | 18 +- vendordeps/Phoenix.json | 153 +++++++---- vendordeps/WPILibNewCommands.json | 72 ++--- 19 files changed, 390 insertions(+), 320 deletions(-) delete mode 100644 .gitattributes delete mode 100644 README.md diff --git a/.gitattributes b/.gitattributes deleted file mode 100644 index dfe0770..0000000 --- a/.gitattributes +++ /dev/null @@ -1,2 +0,0 @@ -# Auto detect text files and perform LF normalization -* text=auto diff --git a/.gitignore b/.gitignore index 983678a..9535c83 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ -# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. ### C++ ### # Prerequisites @@ -151,11 +152,11 @@ gradle-app.setting # gradle/wrapper/gradle-wrapper.properties # # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project .classpath .project .settings/ bin/ -imgui.ini - -# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode +# Simulation GUI and other tools window save file +*-window.json diff --git a/.vscode/settings.json b/.vscode/settings.json index 786b2c7..4ed293b 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -13,5 +13,17 @@ "**/.settings": true, "**/.factorypath": true, "**/*~": true - } + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests" } diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index 9e680c5..7949ffb 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2021", + "projectYear": "2022", "teamNumber": 364 } \ No newline at end of file diff --git a/README.md b/README.md deleted file mode 100644 index 4007cb6..0000000 --- a/README.md +++ /dev/null @@ -1,34 +0,0 @@ -# BaseFalconSwerve
-**Basic Swerve Code for a Swerve Module using Falcon Motors, a CTRE CANCoder, and a CTRE Pigeon Gyro**
-This code was designed with SDS MK3 style modules in mind, but should be easily adaptable to other styles of modules.
- -**Setting Constants** ----- -The following things must be adjusted to your robot and module's specific constants in the Constants.java file (all distance units must be in meters, and rotation units in radians):
-1. Gyro Settings: ```pigeonID``` and ```invertGyro``` (ensure that the gyro rotation is CCW+ (Counter Clockwise Positive) -2. ```trackWidth``` (Center to Center distance of left and right modules) -3. ```wheelBase``` (Center to Center distance of front and rear module wheels) -4. ```wheelDiameter``` -5. ```driveGearRatio``` (for SDS MK3 either: (8.16 / 1) or (6.86 / 1)) -6. ```angleGearRatio``` (for SDS MK3: (12.8 / 1)) -7. Angle Motor PID Values: - * To tune start with a low P value (0.01). - * Multiply by 10 until the module starts oscilating around the set point - * Scale back by searching for the value (for example, if it starts oscillating at a P of 10, then try (10 -> 5 -> 7.5 -> etc)) until the module overshoots the setpoint but corrects with no oscillation. - * Repeat the process for D. The D value will basically help prevent the overshoot. Ignore I. -8. Get the drive characterization values (KS, KV, KA) by using the WPILib characterization tool, found [here](https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-characterization/introduction.html). You will need to lock your modules straight forward, and complete the characterization as if it was a standard tank drive. -9. Tune drive kP until it doesn't overshoot and doesnt oscilate around a target velocity. -10. For ```maxSpeed``` and ```maxAngularVelocity``` you can use the theoretical values, but it is better to physically drive the robot and find the actual max values. -11. Set ```canCoderInvert``` and ```angleMotorInvert``` such that both are CCW+. -12. In the module specific constants, set the can ID's of the motors and CANCoders for the respective modules. -13. Setting Offsets - * For finding the offsets, use a piece of 1x1 metal that is straight against the forks of the front and back modules (on the left and right side) to ensure that the modules are straight. - * You need to point the bevel gears of all the wheels in the same direction (either facing left or right). And preferably you should have the wheels facing in the direction where a postive input to the drive motor drives forward. If for some reason you set the offsets with the wheels backwards, you can change the ```driveMotorInvert``` to fix. - * Open smartdashboard (or shuffleboard and go to the smartdashboard tab), you will see 4 printouts called "Mod 0 Cancoder", "Mod 1 Cancoder", etc. If you have already straightened the modules, copy those 4 numbers exactly (to 2 decimal places) to their respective ```angleOffset``` variable in constants. - - -**Controller Mappings** ----- -This code is natively setup to use a xbox controller to control the swerve driver.
-The Left Stick controls translation (forwards and sideways movement), and the Right Stick controls rotation.
-The Y button is mapped to zero the gyro, useful if the gyro drifts mid match, just rotate the robot forwards, and press Y to rezero. diff --git a/build.gradle b/build.gradle index 2f08966..919ae20 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,8 @@ +import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO + plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2021.2.1" + id "edu.wpi.first.GradleRIO" version "2022.1.1" } sourceCompatibility = JavaVersion.VERSION_11 @@ -9,66 +11,68 @@ targetCompatibility = JavaVersion.VERSION_11 def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project EmbeddedTools. +// This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roboRIO("roborio") { + roborio(getTargetTypeClass('RoboRIO')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you // want to store a team number in this file. - team = frc.getTeamNumber() - } - } - artifacts { - frcJavaArtifact('frcJava') { - targets << "roborio" - // Debug can be overridden by command line, for use with VSCode - debug = frc.getDebugOrDefault(false) - } - // Built in artifact to deploy arbitrary files to the roboRIO. - fileTreeArtifact('frcStaticFileDeploy') { - // The directory below is the local directory to deploy - files = fileTree(dir: 'src/main/deploy') - // Deploy to RoboRIO target, into /home/lvuser/deploy - targets << "roborio" - directory = '/home/lvuser/deploy' + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } } } } +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + // Set this to true to enable desktop support. def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 4. dependencies { - implementation wpi.deps.wpilib() - nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio) - nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) - implementation wpi.deps.vendor.java() - nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio) - nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - testImplementation 'junit:junit:4.12' + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() - // Enable simulation gui support. Must check the box in vscode to enable support - // upon debugging - simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) - simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, false) + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() - // Websocket extensions require additional configuration. - // simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, false) - // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, false) + testImplementation 'junit:junit:4.12' } // Simulation configuration (e.g. environment variables). -sim { - // Sets the websocket client remote host. - // envVar "HALSIMWS_HOST", "10.0.0.2" -} +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') // in order to make them all available at runtime. Also adding the manifest so WPILib @@ -76,4 +80,10 @@ sim { jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE } + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index cc4fdc293d0e50b0ad9b65c16e7ddd1db2f6025b..7454180f2ae8848c63b8b4dea2cb829da983f2fa 100644 GIT binary patch delta 22213 zcmY&f^Lv;LkW6FSwr$(CZQFWd+qP{tw$UU_lg73h(fq;mlI-6jo_Cv#@*1%8!J8F0u=wFVUx#1RQs?yZxy26{dpcEQ( zur_vj#JIS!6zJl$^Az0(n~c3(8^Yfaf-k=^`%hC>u#9-gL_I13RN(@|RpB z1)fm@-C?;2Qm4APp10ikZ+cHI|55?KC-flQ%cMA{6MG59$a0)?D#uiw!ypgZ$(<#D zmeNJ6#hB9-wnQ0cvL!q}s7G1i&F5-Dcy30T2xG&Dm&NWpHi#}ZdPj?~$L5a7Kaf)W z(svm(TeFav8D2<3ZIw}6OpmX!7i`SkzCO<4wCcfc*njSaVWeIQ(TfYM6;5dQG!}EU 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"$PRG"`"/$link" - fi +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >/dev/null -APP_HOME="`pwd -P`" -cd "$SAVED" >/dev/null + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` +APP_BASE_NAME=${0##*/} # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' # Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" +MAX_FD=maximum warn () { echo "$*" -} +} >&2 die () { echo echo "$*" echo exit 1 -} +} >&2 # OS specific support (must be 'true' or 'false'). cygwin=false msys=false darwin=false nonstop=false -case "`uname`" in - CYGWIN* ) - cygwin=true - ;; - Darwin* ) - darwin=true - ;; - MINGW* ) - msys=true - ;; - NONSTOP* ) - nonstop=true - ;; +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; esac CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + # Determine the Java command to use to start the JVM. if [ -n "$JAVA_HOME" ] ; then if [ -x "$JAVA_HOME/jre/sh/java" ] ; then # IBM's JDK on AIX uses strange locations for the executables - JAVACMD="$JAVA_HOME/jre/sh/java" + JAVACMD=$JAVA_HOME/jre/sh/java else - JAVACMD="$JAVA_HOME/bin/java" + JAVACMD=$JAVA_HOME/bin/java fi if [ ! -x "$JAVACMD" ] ; then die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME @@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the location of your Java installation." fi else - JAVACMD="java" + JAVACMD=java which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the @@ -105,79 +140,95 @@ location of your Java installation." fi # Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac fi -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. # For Cygwin or MSYS, switch paths to Windows format before running java -if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - JAVACMD=`cygpath --unix "$JAVACMD"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) fi - i=`expr $i + 1` + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg done - case $i in - 0) set -- ;; - 1) set -- "$args0" ;; - 2) set -- "$args0" "$args1" ;; - 3) set -- "$args0" "$args1" "$args2" ;; - 4) set -- "$args0" "$args1" "$args2" "$args3" ;; - 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac fi -# Escape application args -save () { - for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done - echo " " -} -APP_ARGS=`save "$@"` +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# -# Collect all arguments for the java command, following the shell quoting and substitution rules -eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat index 9618d8d..107acd3 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=. set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" @@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto init +if "%ERRORLEVEL%" == "0" goto execute echo. echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. @@ -51,7 +54,7 @@ goto fail set JAVA_HOME=%JAVA_HOME:"=% set JAVA_EXE=%JAVA_HOME%/bin/java.exe -if exist "%JAVA_EXE%" goto init +if exist "%JAVA_EXE%" goto execute echo. echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% @@ -61,28 +64,14 @@ echo location of your Java installation. goto fail -:init -@rem Get command-line arguments, handling Windows variants - -if not "%OS%" == "Windows_NT" goto win9xME_args - -:win9xME_args -@rem Slurp the command line arguments. -set CMD_LINE_ARGS= -set _SKIP=2 - -:win9xME_args_slurp -if "x%~1" == "x" goto execute - -set CMD_LINE_ARGS=%* - :execute @rem Setup the command line set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + @rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* :end @rem End local scope for the variables with windows NT shell diff --git a/settings.gradle b/settings.gradle index 0bc697a..c363694 100644 --- a/settings.gradle +++ b/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2021' + String frcYear = '2022' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/src/main/java/frc/lib/util/CTREModuleState.java b/src/main/java/frc/lib/util/CTREModuleState.java index 809b1d2..de07153 100644 --- a/src/main/java/frc/lib/util/CTREModuleState.java +++ b/src/main/java/frc/lib/util/CTREModuleState.java @@ -1,7 +1,7 @@ package frc.lib.util; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; public class CTREModuleState { diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 0b4d805..133ce6c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -2,10 +2,10 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj.util.Units; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; import frc.lib.util.SwerveModuleConstants; public final class Constants { diff --git a/src/main/java/frc/robot/SwerveModule.java b/src/main/java/frc/robot/SwerveModule.java index e3356a8..8339885 100644 --- a/src/main/java/frc/robot/SwerveModule.java +++ b/src/main/java/frc/robot/SwerveModule.java @@ -1,8 +1,8 @@ package frc.robot; -import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; import frc.lib.math.Conversions; import frc.lib.util.CTREModuleState; diff --git a/src/main/java/frc/robot/autos/exampleAuto.java b/src/main/java/frc/robot/autos/exampleAuto.java index 4e173f5..a5d616e 100644 --- a/src/main/java/frc/robot/autos/exampleAuto.java +++ b/src/main/java/frc/robot/autos/exampleAuto.java @@ -5,14 +5,14 @@ import java.util.List; -import edu.wpi.first.wpilibj.controller.PIDController; -import edu.wpi.first.wpilibj.controller.ProfiledPIDController; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.trajectory.Trajectory; -import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; diff --git a/src/main/java/frc/robot/commands/TeleopSwerve.java b/src/main/java/frc/robot/commands/TeleopSwerve.java index 6077f51..1d3355f 100644 --- a/src/main/java/frc/robot/commands/TeleopSwerve.java +++ b/src/main/java/frc/robot/commands/TeleopSwerve.java @@ -3,7 +3,7 @@ import frc.robot.Constants; import frc.robot.subsystems.Swerve; import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj2.command.CommandBase; diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java index 3791164..2bec703 100644 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -5,13 +5,13 @@ import frc.robot.SwerveModule; import frc.robot.Constants; -import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; -import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry; -import edu.wpi.first.wpilibj.geometry.Pose2d; -import edu.wpi.first.wpilibj.geometry.Rotation2d; -import edu.wpi.first.wpilibj.geometry.Translation2d; -import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -49,7 +49,7 @@ public void drive(Translation2d translation, double rotation, boolean fieldRelat translation.getY(), rotation) ); - SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, Constants.Swerve.maxSpeed); + SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, Constants.Swerve.maxSpeed); for(SwerveModule mod : mSwerveMods){ mod.setDesiredState(swerveModuleStates[mod.moduleNumber], isOpenLoop); @@ -58,7 +58,7 @@ public void drive(Translation2d translation, double rotation, boolean fieldRelat /* Used by SwerveControllerCommand in Auto */ public void setModuleStates(SwerveModuleState[] desiredStates) { - SwerveDriveKinematics.normalizeWheelSpeeds(desiredStates, Constants.Swerve.maxSpeed); + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Constants.Swerve.maxSpeed); for(SwerveModule mod : mSwerveMods){ mod.setDesiredState(desiredStates[mod.moduleNumber], false); diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json index 87f03cb..789d831 100644 --- a/vendordeps/Phoenix.json +++ b/vendordeps/Phoenix.json @@ -1,29 +1,30 @@ { "fileName": "Phoenix.json", "name": "CTRE-Phoenix", - "version": "5.19.4", + "version": "5.20.2", + "frcYear": 2022, "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "mavenUrls": [ - "https://devsite.ctr-electronics.com/maven/release/" + "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json", "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.19.4" + "version": "5.20.2" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.19.4" + "version": "5.20.2" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.19.4", + "version": "5.20.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -33,7 +34,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.19.4", + "version": "5.20.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -45,7 +46,19 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "simTalonSRX", - "version": "5.19.4", + "version": "5.20.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.20.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -57,7 +70,31 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "simVictorSPX", - "version": "5.19.4", + "version": "5.20.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simPigeonIMU", + "version": "5.20.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.20.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -71,40 +108,34 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.19.4", + "version": "5.20.2", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64", - "osxx86-64" + "linuxathena" ] }, { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.19.4", + "version": "5.20.2", "libName": "CTRE_Phoenix", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", - "windowsx86-64", - "linuxx86-64", - "osxx86-64" + "linuxathena" ] }, { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.19.4", + "version": "5.20.2", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "linuxathena" @@ -112,11 +143,11 @@ }, { "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.19.4", - "libName": "CTRE_PhoenixCCISim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.20.2", + "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", @@ -125,27 +156,26 @@ ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "diagnostics", - "version": "5.19.4", - "libName": "CTRE_PhoenixDiagnostics", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.20.2", + "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", "windowsx86-64", "linuxx86-64", "osxx86-64" ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "canutils", - "version": "5.19.4", - "libName": "CTRE_PhoenixCanutils", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.20.2", + "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", @@ -154,12 +184,12 @@ ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "platform-sim", - "version": "5.19.4", - "libName": "CTRE_PhoenixPlatform", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonSRX", + "version": "5.20.2", + "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", @@ -168,15 +198,14 @@ ] }, { - "groupId": "com.ctre.phoenix", - "artifactId": "core", - "version": "5.19.4", - "libName": "CTRE_PhoenixCore", + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simTalonFX", + "version": "5.20.2", + "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", - "sharedLibrary": false, + "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "linuxathena", "windowsx86-64", "linuxx86-64", "osxx86-64" @@ -184,9 +213,9 @@ }, { "groupId": "com.ctre.phoenix.sim", - "artifactId": "simTalonSRX", - "version": "5.19.4", - "libName": "CTRE_SimTalonSRX", + "artifactId": "simVictorSPX", + "version": "5.20.2", + "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -198,9 +227,23 @@ }, { "groupId": "com.ctre.phoenix.sim", - "artifactId": "simVictorSPX", - "version": "5.19.4", - "libName": "CTRE_SimVictorSPX", + "artifactId": "simPigeonIMU", + "version": "5.20.2", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxx86-64" + ] + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "simCANCoder", + "version": "5.20.2", + "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index d7bd9b0..83de291 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -1,37 +1,37 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "2020.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxraspbian", - "linuxaarch64bionic", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxx86-64" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "2020.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxaarch64bionic", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxx86-64" + ] + } + ] +} \ No newline at end of file