commit 6b173fab834caa5bf6c33307870fd397e78aba11 Author: Team2890HawkCollective <2890frc@gmail.com> Date: Thu Feb 19 16:33:09 2026 -0500 first commit diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..eb3061b --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2026 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..21805c5 --- /dev/null +++ b/build.gradle @@ -0,0 +1,107 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2026.2.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..a4b76b9 Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..34bd9ce --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..f5feea6 --- /dev/null +++ b/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/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/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -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 + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 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 + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +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 + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..25f6f6e --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2026' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name = 'frcHome' + url = frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/deploy/pathplanner/SamplePath.path b/src/main/deploy/pathplanner/SamplePath.path new file mode 100644 index 0000000..d9df9e5 --- /dev/null +++ b/src/main/deploy/pathplanner/SamplePath.path @@ -0,0 +1,76 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 0.8409049675242211, + "y": 3.593000471715229 + }, + "prevControl": null, + "nextControl": { + "x": 1.8409049675242182, + "y": 3.593000471715229 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.0, + "y": 5.0 + }, + "prevControl": { + "x": 3.0, + "y": 3.8506044103316963 + }, + "nextControl": { + "x": 3.0, + "y": 3.8506044103316963 + }, + "holonomicAngle": 90.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": true, + "stopEvent": { + "names": [ + "marker1" + ], + "executionBehavior": "parallel", + "waitBehavior": "after", + "waitTime": 2.0 + } + }, + { + "anchorPoint": { + "x": 5.0, + "y": 3.0 + }, + "prevControl": { + "x": 4.0, + "y": 3.0 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1 Meter Test Auto.auto b/src/main/deploy/pathplanner/autos/1 Meter Test Auto.auto new file mode 100644 index 0000000..75b7b72 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1 Meter Test Auto.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "test_1_Meter" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto b/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto new file mode 100644 index 0000000..f3e865b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "test_90Degree_Turn" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json new file mode 100644 index 0000000..71f0fcd --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json @@ -0,0 +1,9002 @@ +[ + { + "time": 0.0, + "pose": { + "rotation": { + "radians": 0.003994666723425411 + }, + "translation": { + "x": 1.0, + "y": 3.0 + } + }, + "velocity": 0, + "acceleration": 3.0, + "curvature": 0.6639756640813854, + "holonomicRotation": 0.0, + "angularVelocity": 0.0, + "holonomicAngularVelocity": 0.0 + }, + { + "time": 0.08944283740393223, + "pose": { + "rotation": { + "radians": 0.003994666723425411 + }, + "translation": { + "x": 1.011999936, + "y": 3.000047936 + } + }, + "velocity": 0.2683285122117967, + "acceleration": 3.0, + "curvature": 0.6639756640813854, + "holonomicRotation": 0.0, + "angularVelocity": 0.21506066046275568, + "holonomicAngularVelocity": 0.0 + }, + { + "time": 0.12649227216974931, + "pose": { + "rotation": { + "radians": 0.011962542633933815 + }, + "translation": { + "x": 1.023999488, + "y": 3.000191488 + } + }, + "velocity": 0.37947681650924797, + "acceleration": 3.0000000000000004, + "curvature": 0.6612478412834536, + "holonomicRotation": 0.0, + 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/test_1_Meter.path b/src/main/deploy/pathplanner/paths/test_1_Meter.path new file mode 100644 index 0000000..e92f212 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/test_1_Meter.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.0, + "y": 7.0 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.075, + "y": 4.75 + }, + "prevControl": { + "x": 2.380178890876563, + "y": 5.341144901610018 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/test_90Degree_Turn.path b/src/main/deploy/pathplanner/paths/test_90Degree_Turn.path new file mode 100644 index 0000000..dbb839d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/test_90Degree_Turn.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 1.75, + "y": 7.0 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.0, + "y": 7.0 + }, + "prevControl": { + "x": 3.48768579117494, + "y": 7.0 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json new file mode 100644 index 0000000..2ca3c4c --- /dev/null +++ b/src/main/deploy/pathplanner/settings.json @@ -0,0 +1,32 @@ +{ + "robotWidth": 0.9, + "robotLength": 0.9, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 74.088, + "robotMOI": 6.883, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.048, + "driveGearing": 5.143, + "maxDriveSpeed": 5.45, + "driveMotorType": "NEO", + "driveCurrentLimit": 60.0, + "wheelCOF": 1.2, + "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": [] +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/controllerproperties.json b/src/main/deploy/swerve/neo/controllerproperties.json new file mode 100644 index 0000000..669097e --- /dev/null +++ b/src/main/deploy/swerve/neo/controllerproperties.json @@ -0,0 +1,8 @@ +{ + "angleJoystickRadiusDeadband": 0.5, + "heading": { + "p": 0.4, + "i": 0, + "d": 0.01 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/backleft.json b/src/main/deploy/swerve/neo/modules/backleft.json new file mode 100644 index 0000000..f3da6a7 --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/backleft.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": -10.9, + "left": 10.9 + }, + "absoluteEncoderOffset": 216.38671875, + "drive": { + "type": "sparkflex_neo", + "id": 12, + "canbus": null + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkflex_neo", + "id": 22, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 32, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/backright.json b/src/main/deploy/swerve/neo/modules/backright.json new file mode 100644 index 0000000..05155a4 --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/backright.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": -10.9, + "left": -10.9 + }, + "absoluteEncoderOffset": 191.6015625, + "drive": { + "type": "sparkflex_neo", + "id": 11, + "canbus": null + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkflex_neo", + "id": 21, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 31, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/frontleft.json b/src/main/deploy/swerve/neo/modules/frontleft.json new file mode 100644 index 0000000..84b95ac --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/frontleft.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": 10.9, + "left": 10.9 + }, + "absoluteEncoderOffset": 198.896484375, + "drive": { + "type": "sparkflex_neo", + "id": 13, + "canbus": null + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkflex_neo", + "id": 23, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 33, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/frontright.json b/src/main/deploy/swerve/neo/modules/frontright.json new file mode 100644 index 0000000..dad8a3f --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/frontright.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": 10.9, + "left": -10.9 + }, + "absoluteEncoderOffset": 231.064453125, + "drive": { + "type": "sparkflex_neo", + "id": 10, + "canbus": null + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkflex_neo", + "id": 20, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 30, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/physicalproperties.json b/src/main/deploy/swerve/neo/modules/physicalproperties.json new file mode 100644 index 0000000..fa0c1f3 --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/physicalproperties.json @@ -0,0 +1,24 @@ +{ + "optimalVoltage": 12, + "robotMass": 51.75, + "wheelGripCoefficientOfFriction": 1.85, + "currentLimit": { + "drive": 40, + "angle": 40 + }, + "conversionFactors": { + "angle": { + "gearRatio": 21.42857143, + "factor": 0 + }, + "drive": { + "diameter": 4, + "gearRatio": 6.12, + "factor": 0 + } + }, + "rampRate": { + "drive": 0.25, + "angle": 0.25 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/modules/pidfproperties.json b/src/main/deploy/swerve/neo/modules/pidfproperties.json new file mode 100644 index 0000000..c65ca10 --- /dev/null +++ b/src/main/deploy/swerve/neo/modules/pidfproperties.json @@ -0,0 +1,16 @@ +{ + "drive": { + "p": 0.001, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + }, + "angle": { + "p": 0.002, + "i": 0.0, + "d": 0.0, + "f": 0, + "iz": 0 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/neo/swervedrive.json b/src/main/deploy/swerve/neo/swervedrive.json new file mode 100644 index 0000000..eaa4400 --- /dev/null +++ b/src/main/deploy/swerve/neo/swervedrive.json @@ -0,0 +1,14 @@ +{ + "imu": { + "type": "navx", + "id": 0, + "canbus": null + }, + "invertedIMU": false, + "modules": [ + "frontleft.json", + "frontright.json", + "backleft.json", + "backright.json" + ] +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..d6f51cf --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,165 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.networktables.GenericEntry; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import swervelib.math.Matter; + +/** + * The Constants class provides a convenient place for teams to hold robot-wide + * numerical or boolean constants. This + * class should not be used for any other purpose. All constants should be + * declared globally (i.e. public static). Do + * not put anything functional in this class. + * + *

+ * It is advised to statically import this class (or one of its inner classes) + * wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + + private static ShuffleboardTab programmingTab = Shuffleboard.getTab("Programming"); + + public static final double ROBOT_MASS = 115 * 0.453592; // 32lbs * kg per pound + public static final Matter CHASSIS = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS); + public static final double LOOP_TIME = 0.13; // s, 20ms + 110ms sprk max velocity lag + public static final double MAX_SPEED = Units.feetToMeters(14.5); + // Maximum speed of the robot in meters per second, used to limit acceleration. + + // public static final class AutonConstants + // { + // + // public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0, + // 0); + // public static final PIDConstants ANGLE_PID = new PIDConstants(0.4, 0, 0.01); + // } + + public static final class DrivebaseConstants { + + // Hold time on motor brakes when disabled + public static final double WHEEL_LOCK_TIME = 10; // seconds + } + + public static class OperatorConstants { + + // Joystick Deadband + public static final double DEADBAND = 0.1; + public static final double LEFT_Y_DEADBAND = 0.1; + public static final double RIGHT_X_DEADBAND = 0.1; + public static final double TURN_CONSTANT = 6; + } + + public static class ShooterConstants { + private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter Velocity", -0.5) + .withWidget(BuiltInWidgets.kNumberBar).getEntry(); + + public static double SHOOTER_VELOCITY = -0.6; + public static double SHOOTER_POWER = -0.45; + + public static void getShooterVelocity() { + SHOOTER_VELOCITY = shooterVelocity.getDouble(-0.5); + } + + public static final int CENTER_SHOOTER_MOTOR_ID = 42; + public static final int LEFT_SHOOTER_MOTOR_ID = 41; + public static final int RIGHT_SHOOTER_MOTOR_ID = 40; + public static final int INDEXER_MOTOR_ID = 43; + public static double INDEXER_MOTOR_SPEED = 0.6; + + private static GenericEntry indexerAndRampSpeed = programmingTab.add("Desired Ramp + Indexer Speed", 0.6) + .withWidget(BuiltInWidgets.kNumberBar).getEntry(); + + // this method called in robot periodic so values updated in elastic are + // constantly read and applied to RAMP_MOTOR_SPEED + public static void getRampMotorSpeed() { + INDEXER_MOTOR_SPEED = indexerAndRampSpeed.getDouble(.6); + } + + public static final int LEFT_ACTUATOR_PWM_PORT = 1; + public static final int RIGHT_ACTUATOR_PWM_PORT = 3; + + public static double DESIRED_POTENTIOMETER_DISTANCE; + + // TO DO: need to equation that calculates desired potentiometer distance + } + + public static class IntakeConstants { + private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.4) + .withWidget(BuiltInWidgets.kNumberBar).getEntry(); + + public static double INTAKE_WHEELS_MOTOR_SPEED; + + public static void getIntakeWheelsSpeed() { + INTAKE_WHEELS_MOTOR_SPEED = intakeSpeed.getDouble(-0.4); + } + + public static final int INTAKE_WHEELS_MOTOR_ID = 50; + public static final int INTAKE_ROTATOR_MOTOR_ID = 51; + public static final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535; + public static final double INTAKE_MIDDLE_ENCODER_VALUE = 2.2550222873687744; + public static final double INTAKE_RETRACT_ENCODER_VALUE = 0; + + public static class IntakeRotatorPID { + public static final double INTAKE_ROTATOR_P = 0.05; + public static final double INTAKE_ROTATOR_I = 0; + public static final double INTAKE_ROTATOR_D = 0.001; + } + + } + + public static class RampConstants { + public static final int RAMP_MOTOR_ID = 45; + public static double RAMP_MOTOR_SPEED = .6; + + // create object and a new widget under programming tab in Elastic where object + // retrieves value from widget + + } + + public static class LimeLight { + + public static final String LIMELIGHT_NAME = "limelight"; + + // public static final int[] ALL_REEF_APRILTAGS = { 6, 7, 8, 9, 10, 11, 17, 18, + // 19, 20, 21, 22 }; + + public static final AprilTagFieldLayout APRILTAG_FIELD_LAYOUT = AprilTagFieldLayout + .loadField(AprilTagFields.k2026RebuiltAndymark); + + public static final double BUMPER_WIDTH = Units.inchesToMeters(0.0); // Get This Value // Original: 2.75 + // public static final double ROBOT_WIDTH = Units.inchesToMeters(30 + + // BUMPER_WIDTH); // Tis a square, don't need this + public static final double ROBOT_SIDE_LENGTH = Units.inchesToMeters(27); + // public static final Transform2d HALF_ROBOT = new + // Transform2d(ROBOT_SIDE_LENGTH / 3.0, 0, new Rotation2d()); + + public static double LIMELIGHT_TY; + } + + public static class TargetingConstants { + public static final Pose2d RIGHT_CLIMB_POSE = new Pose2d(1.075, 4.75, Rotation2d.fromDegrees(90)); + public static final Pose2d LEFT_CLIMB_POSE = new Pose2d(1.075, 2.75, Rotation2d.fromDegrees(-90)); + } + + public static class ClimberConstants { + public static final int CLIMB_MOTOR_ID = 60; + public static final int RATCHET_PWM_PORT = 0; + + public static final double RATCHET_UNLOCK_ANGLE = 0; + public static final double RATCHET_LOCK_ANGLE = 180; + public static final double CLIMBER_SPEED = .5; + } +} diff --git a/src/main/java/frc/robot/LimelightHelpers.java b/src/main/java/frc/robot/LimelightHelpers.java new file mode 100644 index 0000000..ded212c --- /dev/null +++ b/src/main/java/frc/robot/LimelightHelpers.java @@ -0,0 +1,1947 @@ +//LimelightHelpers v1.14 (REQUIRES LLOS 2026.0 OR LATER) + +package frc.robot; + +import edu.wpi.first.networktables.DoubleArrayEntry; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.TimestampedDoubleArray; +import frc.robot.LimelightHelpers.LimelightResults; +import frc.robot.LimelightHelpers.PoseEstimate; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation2d; + +import java.net.MalformedURLException; +import java.net.URL; +import java.util.Arrays; +import java.util.Map; + +import com.fasterxml.jackson.annotation.JsonFormat; +import com.fasterxml.jackson.annotation.JsonFormat.Shape; +import com.fasterxml.jackson.annotation.JsonProperty; +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.databind.DeserializationFeature; +import com.fasterxml.jackson.databind.ObjectMapper; +import java.util.concurrent.ConcurrentHashMap; +import edu.wpi.first.net.PortForwarder; + +/** + * LimelightHelpers provides static methods and classes for interfacing with Limelight vision cameras in FRC. + * This library supports all Limelight features including AprilTag tracking, Neural Networks, and standard color/retroreflective tracking. + */ +public class LimelightHelpers { + + private static final Map doubleArrayEntries = new ConcurrentHashMap<>(); + + /** + * Represents a Color/Retroreflective Target Result extracted from JSON Output + */ + public static class LimelightTarget_Retro { + + @JsonProperty("t6c_ts") + private double[] cameraPose_TargetSpace; + + @JsonProperty("t6r_fs") + private double[] robotPose_FieldSpace; + + @JsonProperty("t6r_ts") + private double[] robotPose_TargetSpace; + + @JsonProperty("t6t_cs") + private double[] targetPose_CameraSpace; + + @JsonProperty("t6t_rs") + private double[] targetPose_RobotSpace; + + public Pose3d getCameraPose_TargetSpace() + { + return toPose3D(cameraPose_TargetSpace); + } + public Pose3d getRobotPose_FieldSpace() + { + return toPose3D(robotPose_FieldSpace); + } + public Pose3d getRobotPose_TargetSpace() + { + return toPose3D(robotPose_TargetSpace); + } + public Pose3d getTargetPose_CameraSpace() + { + return toPose3D(targetPose_CameraSpace); + } + public Pose3d getTargetPose_RobotSpace() + { + return toPose3D(targetPose_RobotSpace); + } + + public Pose2d getCameraPose_TargetSpace2D() + { + return toPose2D(cameraPose_TargetSpace); + } + public Pose2d getRobotPose_FieldSpace2D() + { + return toPose2D(robotPose_FieldSpace); + } + public Pose2d getRobotPose_TargetSpace2D() + { + return toPose2D(robotPose_TargetSpace); + } + public Pose2d getTargetPose_CameraSpace2D() + { + return toPose2D(targetPose_CameraSpace); + } + public Pose2d getTargetPose_RobotSpace2D() + { + return toPose2D(targetPose_RobotSpace); + } + + @JsonProperty("ta") + public double ta; + + @JsonProperty("tx") + public double tx; + + @JsonProperty("ty") + public double ty; + + @JsonProperty("txp") + public double tx_pixels; + + @JsonProperty("typ") + public double ty_pixels; + + @JsonProperty("tx_nocross") + public double tx_nocrosshair; + + @JsonProperty("ty_nocross") + public double ty_nocrosshair; + + @JsonProperty("ts") + public double ts; + + public LimelightTarget_Retro() { + cameraPose_TargetSpace = new double[6]; + robotPose_FieldSpace = new double[6]; + robotPose_TargetSpace = new double[6]; + targetPose_CameraSpace = new double[6]; + targetPose_RobotSpace = new double[6]; + } + + } + + /** + * Represents an AprilTag/Fiducial Target Result extracted from JSON Output + */ + public static class LimelightTarget_Fiducial { + + @JsonProperty("fID") + public double fiducialID; + + @JsonProperty("fam") + public String fiducialFamily; + + @JsonProperty("t6c_ts") + private double[] cameraPose_TargetSpace; + + @JsonProperty("t6r_fs") + private double[] robotPose_FieldSpace; + + @JsonProperty("t6r_ts") + private double[] robotPose_TargetSpace; + + @JsonProperty("t6t_cs") + private double[] targetPose_CameraSpace; + + @JsonProperty("t6t_rs") + private double[] targetPose_RobotSpace; + + public Pose3d getCameraPose_TargetSpace() + { + return toPose3D(cameraPose_TargetSpace); + } + public Pose3d getRobotPose_FieldSpace() + { + return toPose3D(robotPose_FieldSpace); + } + public Pose3d getRobotPose_TargetSpace() + { + return toPose3D(robotPose_TargetSpace); + } + public Pose3d getTargetPose_CameraSpace() + { + return toPose3D(targetPose_CameraSpace); + } + public Pose3d getTargetPose_RobotSpace() + { + return toPose3D(targetPose_RobotSpace); + } + + public Pose2d getCameraPose_TargetSpace2D() + { + return toPose2D(cameraPose_TargetSpace); + } + public Pose2d getRobotPose_FieldSpace2D() + { + return toPose2D(robotPose_FieldSpace); + } + public Pose2d getRobotPose_TargetSpace2D() + { + return toPose2D(robotPose_TargetSpace); + } + public Pose2d getTargetPose_CameraSpace2D() + { + return toPose2D(targetPose_CameraSpace); + } + public Pose2d getTargetPose_RobotSpace2D() + { + return toPose2D(targetPose_RobotSpace); + } + + @JsonProperty("ta") + public double ta; + + @JsonProperty("tx") + public double tx; + + @JsonProperty("ty") + public double ty; + + @JsonProperty("txp") + public double tx_pixels; + + @JsonProperty("typ") + public double ty_pixels; + + @JsonProperty("tx_nocross") + public double tx_nocrosshair; + + @JsonProperty("ty_nocross") + public double ty_nocrosshair; + + @JsonProperty("ts") + public double ts; + + public LimelightTarget_Fiducial() { + cameraPose_TargetSpace = new double[6]; + robotPose_FieldSpace = new double[6]; + robotPose_TargetSpace = new double[6]; + targetPose_CameraSpace = new double[6]; + targetPose_RobotSpace = new double[6]; + } + } + + /** + * Represents a Barcode Target Result extracted from JSON Output + */ + public static class LimelightTarget_Barcode { + + /** + * Barcode family type (e.g. "QR", "DataMatrix", etc.) + */ + @JsonProperty("fam") + public String family; + + /** + * Gets the decoded data content of the barcode + */ + @JsonProperty("data") + public String data; + + @JsonProperty("txp") + public double tx_pixels; + + @JsonProperty("typ") + public double ty_pixels; + + @JsonProperty("tx") + public double tx; + + @JsonProperty("ty") + public double ty; + + @JsonProperty("tx_nocross") + public double tx_nocrosshair; + + @JsonProperty("ty_nocross") + public double ty_nocrosshair; + + @JsonProperty("ta") + public double ta; + + @JsonProperty("pts") + public double[][] corners; + + public LimelightTarget_Barcode() { + } + + public String getFamily() { + return family; + } + } + + /** + * Represents a Neural Classifier Pipeline Result extracted from JSON Output + */ + public static class LimelightTarget_Classifier { + + @JsonProperty("class") + public String className; + + @JsonProperty("classID") + public double classID; + + @JsonProperty("conf") + public double confidence; + + @JsonProperty("zone") + public double zone; + + @JsonProperty("tx") + public double tx; + + @JsonProperty("txp") + public double tx_pixels; + + @JsonProperty("ty") + public double ty; + + @JsonProperty("typ") + public double ty_pixels; + + public LimelightTarget_Classifier() { + } + } + + /** + * Represents a Neural Detector Pipeline Result extracted from JSON Output + */ + public static class LimelightTarget_Detector { + + @JsonProperty("class") + public String className; + + @JsonProperty("classID") + public double classID; + + @JsonProperty("conf") + public double confidence; + + @JsonProperty("ta") + public double ta; + + @JsonProperty("tx") + public double tx; + + @JsonProperty("ty") + public double ty; + + @JsonProperty("txp") + public double tx_pixels; + + @JsonProperty("typ") + public double ty_pixels; + + @JsonProperty("tx_nocross") + public double tx_nocrosshair; + + @JsonProperty("ty_nocross") + public double ty_nocrosshair; + + public LimelightTarget_Detector() { + } + } + + /** + * Represents hardware statistics from the Limelight. + */ + public static class HardwareReport { + @JsonProperty("cid") + public String cameraId; + + @JsonProperty("cpu") + public double cpuUsage; + + @JsonProperty("dfree") + public double diskFree; + + @JsonProperty("dtot") + public double diskTotal; + + @JsonProperty("ram") + public double ramUsage; + + @JsonProperty("temp") + public double temperature; + + public HardwareReport() { + } + } + + /** + * Represents IMU data from the JSON results. + */ + public static class IMUResults { + @JsonProperty("data") + public double[] data; + + @JsonProperty("quat") + public double[] quaternion; + + @JsonProperty("yaw") + public double yaw; + + // Parsed from data array + public double robotYaw; + public double roll; + public double pitch; + public double rawYaw; + public double gyroZ; + public double gyroX; + public double gyroY; + public double accelZ; + public double accelX; + public double accelY; + + public IMUResults() { + data = new double[0]; + quaternion = new double[4]; + } + + public void parseDataArray() { + if (data != null && data.length >= 10) { + robotYaw = data[0]; + roll = data[1]; + pitch = data[2]; + rawYaw = data[3]; + gyroZ = data[4]; + gyroX = data[5]; + gyroY = data[6]; + accelZ = data[7]; + accelX = data[8]; + accelY = data[9]; + } + } + } + + /** + * Represents capture rewind buffer statistics. + */ + public static class RewindStats { + @JsonProperty("bufferUsage") + public double bufferUsage; + + @JsonProperty("enabled") + public int enabled; + + @JsonProperty("flushing") + public int flushing; + + @JsonProperty("frameCount") + public int frameCount; + + @JsonProperty("latpen") + public int latencyPenalty; + + @JsonProperty("storedSeconds") + public double storedSeconds; + + public RewindStats() { + } + } + + /** + * Limelight Results object, parsed from a Limelight's JSON results output. + */ + public static class LimelightResults { + + public String error; + + @JsonProperty("pID") + public double pipelineID; + + @JsonProperty("tl") + public double latency_pipeline; + + @JsonProperty("cl") + public double latency_capture; + + public double latency_jsonParse; + + @JsonProperty("ts") + public double timestamp_LIMELIGHT_publish; + + @JsonProperty("ts_rio") + public double timestamp_RIOFPGA_capture; + + @JsonProperty("ts_nt") + public long timestamp_nt; + + @JsonProperty("ts_sys") + public long timestamp_sys; + + @JsonProperty("ts_us") + public long timestamp_us; + + @JsonProperty("v") + @JsonFormat(shape = Shape.NUMBER) + public boolean valid; + + @JsonProperty("pTYPE") + public String pipelineType; + + @JsonProperty("tx") + public double tx; + + @JsonProperty("ty") + public double ty; + + @JsonProperty("txnc") + public double tx_nocrosshair; + + @JsonProperty("tync") + public double ty_nocrosshair; + + @JsonProperty("ta") + public double ta; + + @JsonProperty("botpose") + public double[] botpose; + + @JsonProperty("botpose_wpired") + public double[] botpose_wpired; + + @JsonProperty("botpose_wpiblue") + public double[] botpose_wpiblue; + + @JsonProperty("botpose_tagcount") + public double botpose_tagcount; + + @JsonProperty("botpose_span") + public double botpose_span; + + @JsonProperty("botpose_avgdist") + public double botpose_avgdist; + + @JsonProperty("botpose_avgarea") + public double botpose_avgarea; + + @JsonProperty("botpose_orb") + public double[] botpose_orb; + + @JsonProperty("botpose_orb_wpiblue") + public double[] botpose_orb_wpiblue; + + @JsonProperty("botpose_orb_wpired") + public double[] botpose_orb_wpired; + + @JsonProperty("t6c_rs") + public double[] camerapose_robotspace; + + @JsonProperty("hw") + public HardwareReport hardware; + + @JsonProperty("imu") + public IMUResults imuResults; + + @JsonProperty("rewind") + public RewindStats rewindStats; + + @JsonProperty("PythonOut") + public double[] pythonOutput; + + public Pose3d getBotPose3d() { + return toPose3D(botpose); + } + + public Pose3d getBotPose3d_wpiRed() { + return toPose3D(botpose_wpired); + } + + public Pose3d getBotPose3d_wpiBlue() { + return toPose3D(botpose_wpiblue); + } + + public Pose2d getBotPose2d() { + return toPose2D(botpose); + } + + public Pose2d getBotPose2d_wpiRed() { + return toPose2D(botpose_wpired); + } + + public Pose2d getBotPose2d_wpiBlue() { + return toPose2D(botpose_wpiblue); + } + + @JsonProperty("Retro") + public LimelightTarget_Retro[] targets_Retro; + + @JsonProperty("Fiducial") + public LimelightTarget_Fiducial[] targets_Fiducials; + + @JsonProperty("Classifier") + public LimelightTarget_Classifier[] targets_Classifier; + + @JsonProperty("Detector") + public LimelightTarget_Detector[] targets_Detector; + + @JsonProperty("Barcode") + public LimelightTarget_Barcode[] targets_Barcode; + + public LimelightResults() { + botpose = new double[6]; + botpose_wpired = new double[6]; + botpose_wpiblue = new double[6]; + botpose_orb = new double[6]; + botpose_orb_wpiblue = new double[6]; + botpose_orb_wpired = new double[6]; + camerapose_robotspace = new double[6]; + targets_Retro = new LimelightTarget_Retro[0]; + targets_Fiducials = new LimelightTarget_Fiducial[0]; + targets_Classifier = new LimelightTarget_Classifier[0]; + targets_Detector = new LimelightTarget_Detector[0]; + targets_Barcode = new LimelightTarget_Barcode[0]; + pythonOutput = new double[0]; + pipelineType = ""; + } + + + } + + /** + * Represents a Limelight Raw Fiducial result from Limelight's NetworkTables output. + */ + public static class RawFiducial { + public int id = 0; + public double txnc = 0; + public double tync = 0; + public double ta = 0; + public double distToCamera = 0; + public double distToRobot = 0; + public double ambiguity = 0; + + + public RawFiducial(int id, double txnc, double tync, double ta, double distToCamera, double distToRobot, double ambiguity) { + this.id = id; + this.txnc = txnc; + this.tync = tync; + this.ta = ta; + this.distToCamera = distToCamera; + this.distToRobot = distToRobot; + this.ambiguity = ambiguity; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) return true; + if (obj == null || getClass() != obj.getClass()) return false; + RawFiducial other = (RawFiducial) obj; + return id == other.id && + Double.compare(txnc, other.txnc) == 0 && + Double.compare(tync, other.tync) == 0 && + Double.compare(ta, other.ta) == 0 && + Double.compare(distToCamera, other.distToCamera) == 0 && + Double.compare(distToRobot, other.distToRobot) == 0 && + Double.compare(ambiguity, other.ambiguity) == 0; + } + + } + + /** + * Represents a Limelight Raw Target/Contour result from Limelight's NetworkTables output. + */ + public static class RawTarget { + public double txnc = 0; + public double tync = 0; + public double ta = 0; + + public RawTarget(double txnc, double tync, double ta) { + this.txnc = txnc; + this.tync = tync; + this.ta = ta; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) return true; + if (obj == null || getClass() != obj.getClass()) return false; + RawTarget other = (RawTarget) obj; + return Double.compare(txnc, other.txnc) == 0 && + Double.compare(tync, other.tync) == 0 && + Double.compare(ta, other.ta) == 0; + } + } + + /** + * Represents a Limelight Raw Neural Detector result from Limelight's NetworkTables output. + */ + public static class RawDetection { + public int classId = 0; + public double txnc = 0; + public double tync = 0; + public double ta = 0; + public double corner0_X = 0; + public double corner0_Y = 0; + public double corner1_X = 0; + public double corner1_Y = 0; + public double corner2_X = 0; + public double corner2_Y = 0; + public double corner3_X = 0; + public double corner3_Y = 0; + + + public RawDetection(int classId, double txnc, double tync, double ta, + double corner0_X, double corner0_Y, + double corner1_X, double corner1_Y, + double corner2_X, double corner2_Y, + double corner3_X, double corner3_Y ) { + this.classId = classId; + this.txnc = txnc; + this.tync = tync; + this.ta = ta; + this.corner0_X = corner0_X; + this.corner0_Y = corner0_Y; + this.corner1_X = corner1_X; + this.corner1_Y = corner1_Y; + this.corner2_X = corner2_X; + this.corner2_Y = corner2_Y; + this.corner3_X = corner3_X; + this.corner3_Y = corner3_Y; + } + } + + /** + * Represents a 3D Pose Estimate. + */ + public static class PoseEstimate { + public Pose2d pose; + public double timestampSeconds; + public double latency; + public int tagCount; + public double tagSpan; + public double avgTagDist; + public double avgTagArea; + + public RawFiducial[] rawFiducials; + public boolean isMegaTag2; + + /** + * Instantiates a PoseEstimate object with default values + */ + public PoseEstimate() { + this.pose = new Pose2d(); + this.timestampSeconds = 0; + this.latency = 0; + this.tagCount = 0; + this.tagSpan = 0; + this.avgTagDist = 0; + this.avgTagArea = 0; + this.rawFiducials = new RawFiducial[]{}; + this.isMegaTag2 = false; + } + + public PoseEstimate(Pose2d pose, double timestampSeconds, double latency, + int tagCount, double tagSpan, double avgTagDist, + double avgTagArea, RawFiducial[] rawFiducials, boolean isMegaTag2) { + + this.pose = pose; + this.timestampSeconds = timestampSeconds; + this.latency = latency; + this.tagCount = tagCount; + this.tagSpan = tagSpan; + this.avgTagDist = avgTagDist; + this.avgTagArea = avgTagArea; + this.rawFiducials = rawFiducials; + this.isMegaTag2 = isMegaTag2; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) return true; + if (obj == null || getClass() != obj.getClass()) return false; + PoseEstimate that = (PoseEstimate) obj; + // We don't compare the timestampSeconds as it isn't relevant for equality and makes + // unit testing harder + return Double.compare(that.latency, latency) == 0 + && tagCount == that.tagCount + && Double.compare(that.tagSpan, tagSpan) == 0 + && Double.compare(that.avgTagDist, avgTagDist) == 0 + && Double.compare(that.avgTagArea, avgTagArea) == 0 + && pose.equals(that.pose) + && Arrays.equals(rawFiducials, that.rawFiducials); + } + + } + + /** + * Encapsulates the state of an internal Limelight IMU. + */ + public static class IMUData { + public double robotYaw = 0.0; + public double Roll = 0.0; + public double Pitch = 0.0; + public double Yaw = 0.0; + public double gyroX = 0.0; + public double gyroY = 0.0; + public double gyroZ = 0.0; + public double accelX = 0.0; + public double accelY = 0.0; + public double accelZ = 0.0; + + public IMUData() {} + + public IMUData(double[] imuData) { + if (imuData != null && imuData.length >= 10) { + this.robotYaw = imuData[0]; + this.Roll = imuData[1]; + this.Pitch = imuData[2]; + this.Yaw = imuData[3]; + this.gyroX = imuData[4]; + this.gyroY = imuData[5]; + this.gyroZ = imuData[6]; + this.accelX = imuData[7]; + this.accelY = imuData[8]; + this.accelZ = imuData[9]; + } + } + } + + + private static ObjectMapper mapper; + + /** + * Print JSON Parse time to the console in milliseconds + */ + static boolean profileJSON = false; + + static final String sanitizeName(String name) { + if ("".equals(name) || name == null) { + return "limelight"; + } + return name; + } + + /** + * Takes a 6-length array of pose data and converts it to a Pose3d object. + * Array format: [x, y, z, roll, pitch, yaw] where angles are in degrees. + * @param inData Array containing pose data [x, y, z, roll, pitch, yaw] + * @return Pose3d object representing the pose, or empty Pose3d if invalid data + */ + public static Pose3d toPose3D(double[] inData){ + if(inData.length < 6) + { + //System.err.println("Bad LL 3D Pose Data!"); + return new Pose3d(); + } + return new Pose3d( + new Translation3d(inData[0], inData[1], inData[2]), + new Rotation3d(Units.degreesToRadians(inData[3]), Units.degreesToRadians(inData[4]), + Units.degreesToRadians(inData[5]))); + } + + /** + * Takes a 6-length array of pose data and converts it to a Pose2d object. + * Uses only x, y, and yaw components, ignoring z, roll, and pitch. + * Array format: [x, y, z, roll, pitch, yaw] where angles are in degrees. + * @param inData Array containing pose data [x, y, z, roll, pitch, yaw] + * @return Pose2d object representing the pose, or empty Pose2d if invalid data + */ + public static Pose2d toPose2D(double[] inData){ + if(inData.length < 6) + { + //System.err.println("Bad LL 2D Pose Data!"); + return new Pose2d(); + } + Translation2d tran2d = new Translation2d(inData[0], inData[1]); + Rotation2d r2d = new Rotation2d(Units.degreesToRadians(inData[5])); + return new Pose2d(tran2d, r2d); + } + + /** + * Converts a Pose3d object to an array of doubles in the format [x, y, z, roll, pitch, yaw]. + * Translation components are in meters, rotation components are in degrees. + * + * @param pose The Pose3d object to convert + * @return A 6-element array containing [x, y, z, roll, pitch, yaw] + */ + public static double[] pose3dToArray(Pose3d pose) { + double[] result = new double[6]; + result[0] = pose.getTranslation().getX(); + result[1] = pose.getTranslation().getY(); + result[2] = pose.getTranslation().getZ(); + result[3] = Units.radiansToDegrees(pose.getRotation().getX()); + result[4] = Units.radiansToDegrees(pose.getRotation().getY()); + result[5] = Units.radiansToDegrees(pose.getRotation().getZ()); + return result; + } + + /** + * Converts a Pose2d object to an array of doubles in the format [x, y, z, roll, pitch, yaw]. + * Translation components are in meters, rotation components are in degrees. + * Note: z, roll, and pitch will be 0 since Pose2d only contains x, y, and yaw. + * + * @param pose The Pose2d object to convert + * @return A 6-element array containing [x, y, 0, 0, 0, yaw] + */ + public static double[] pose2dToArray(Pose2d pose) { + double[] result = new double[6]; + result[0] = pose.getTranslation().getX(); + result[1] = pose.getTranslation().getY(); + result[2] = 0; + result[3] = Units.radiansToDegrees(0); + result[4] = Units.radiansToDegrees(0); + result[5] = Units.radiansToDegrees(pose.getRotation().getRadians()); + return result; + } + + private static double extractArrayEntry(double[] inData, int position){ + if(inData.length < position+1) + { + return 0; + } + return inData[position]; + } + + private static PoseEstimate getBotPoseEstimate(String limelightName, String entryName, boolean isMegaTag2) { + DoubleArrayEntry poseEntry = LimelightHelpers.getLimelightDoubleArrayEntry(limelightName, entryName); + + TimestampedDoubleArray tsValue = poseEntry.getAtomic(); + double[] poseArray = tsValue.value; + long timestamp = tsValue.timestamp; + + if (poseArray.length == 0) { + // Handle the case where no data is available + return new PoseEstimate(); + } + + var pose = toPose2D(poseArray); + double latency = extractArrayEntry(poseArray, 6); + int tagCount = (int)extractArrayEntry(poseArray, 7); + double tagSpan = extractArrayEntry(poseArray, 8); + double tagDist = extractArrayEntry(poseArray, 9); + double tagArea = extractArrayEntry(poseArray, 10); + + // Convert server timestamp from microseconds to seconds and adjust for latency + double adjustedTimestamp = (timestamp / 1000000.0) - (latency / 1000.0); + + int valsPerFiducial = 7; + int expectedTotalVals = 11 + valsPerFiducial * tagCount; + RawFiducial[] rawFiducials; + + if (poseArray.length != expectedTotalVals) { + // Array size mismatch - return empty array instead of null-filled array + rawFiducials = new RawFiducial[0]; + } else { + rawFiducials = new RawFiducial[tagCount]; + for(int i = 0; i < tagCount; i++) { + int baseIndex = 11 + (i * valsPerFiducial); + int id = (int)poseArray[baseIndex]; + double txnc = poseArray[baseIndex + 1]; + double tync = poseArray[baseIndex + 2]; + double ta = poseArray[baseIndex + 3]; + double distToCamera = poseArray[baseIndex + 4]; + double distToRobot = poseArray[baseIndex + 5]; + double ambiguity = poseArray[baseIndex + 6]; + rawFiducials[i] = new RawFiducial(id, txnc, tync, ta, distToCamera, distToRobot, ambiguity); + } + } + + return new PoseEstimate(pose, adjustedTimestamp, latency, tagCount, tagSpan, tagDist, tagArea, rawFiducials, isMegaTag2); + } + + /** + * Gets the latest raw fiducial/AprilTag detection results from NetworkTables. + * + * @param limelightName Name/identifier of the Limelight + * @return Array of RawFiducial objects containing detection details + */ + public static RawFiducial[] getRawFiducials(String limelightName) { + var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawfiducials"); + var rawFiducialArray = entry.getDoubleArray(new double[0]); + int valsPerEntry = 7; + if (rawFiducialArray.length % valsPerEntry != 0) { + return new RawFiducial[0]; + } + + int numFiducials = rawFiducialArray.length / valsPerEntry; + RawFiducial[] rawFiducials = new RawFiducial[numFiducials]; + + for (int i = 0; i < numFiducials; i++) { + int baseIndex = i * valsPerEntry; + int id = (int) extractArrayEntry(rawFiducialArray, baseIndex); + double txnc = extractArrayEntry(rawFiducialArray, baseIndex + 1); + double tync = extractArrayEntry(rawFiducialArray, baseIndex + 2); + double ta = extractArrayEntry(rawFiducialArray, baseIndex + 3); + double distToCamera = extractArrayEntry(rawFiducialArray, baseIndex + 4); + double distToRobot = extractArrayEntry(rawFiducialArray, baseIndex + 5); + double ambiguity = extractArrayEntry(rawFiducialArray, baseIndex + 6); + + rawFiducials[i] = new RawFiducial(id, txnc, tync, ta, distToCamera, distToRobot, ambiguity); + } + + return rawFiducials; + } + + /** + * Gets the latest raw neural detector results from NetworkTables + * + * @param limelightName Name/identifier of the Limelight + * @return Array of RawDetection objects containing detection details + */ + public static RawDetection[] getRawDetections(String limelightName) { + var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawdetections"); + var rawDetectionArray = entry.getDoubleArray(new double[0]); + int valsPerEntry = 12; + if (rawDetectionArray.length % valsPerEntry != 0) { + return new RawDetection[0]; + } + + int numDetections = rawDetectionArray.length / valsPerEntry; + RawDetection[] rawDetections = new RawDetection[numDetections]; + + for (int i = 0; i < numDetections; i++) { + int baseIndex = i * valsPerEntry; // Starting index for this detection's data + int classId = (int) extractArrayEntry(rawDetectionArray, baseIndex); + double txnc = extractArrayEntry(rawDetectionArray, baseIndex + 1); + double tync = extractArrayEntry(rawDetectionArray, baseIndex + 2); + double ta = extractArrayEntry(rawDetectionArray, baseIndex + 3); + double corner0_X = extractArrayEntry(rawDetectionArray, baseIndex + 4); + double corner0_Y = extractArrayEntry(rawDetectionArray, baseIndex + 5); + double corner1_X = extractArrayEntry(rawDetectionArray, baseIndex + 6); + double corner1_Y = extractArrayEntry(rawDetectionArray, baseIndex + 7); + double corner2_X = extractArrayEntry(rawDetectionArray, baseIndex + 8); + double corner2_Y = extractArrayEntry(rawDetectionArray, baseIndex + 9); + double corner3_X = extractArrayEntry(rawDetectionArray, baseIndex + 10); + double corner3_Y = extractArrayEntry(rawDetectionArray, baseIndex + 11); + + rawDetections[i] = new RawDetection(classId, txnc, tync, ta, corner0_X, corner0_Y, corner1_X, corner1_Y, corner2_X, corner2_Y, corner3_X, corner3_Y); + } + + return rawDetections; + } + + /** + * Gets the raw target contours from NetworkTables. + * Returns ungrouped contours in normalized screen space (-1 to 1). + * + * @param limelightName Name/identifier of the Limelight + * @return Array of RawTarget objects containing up to 3 contours + */ + public static RawTarget[] getRawTargets(String limelightName) { + var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawtargets"); + var rawTargetArray = entry.getDoubleArray(new double[0]); + int valsPerEntry = 3; + if (rawTargetArray.length % valsPerEntry != 0) { + return new RawTarget[0]; + } + + int numTargets = rawTargetArray.length / valsPerEntry; + RawTarget[] rawTargets = new RawTarget[numTargets]; + + for (int i = 0; i < numTargets; i++) { + int baseIndex = i * valsPerEntry; + double txnc = extractArrayEntry(rawTargetArray, baseIndex); + double tync = extractArrayEntry(rawTargetArray, baseIndex + 1); + double ta = extractArrayEntry(rawTargetArray, baseIndex + 2); + + rawTargets[i] = new RawTarget(txnc, tync, ta); + } + + return rawTargets; + } + + /** + * Gets the corner coordinates of detected targets from NetworkTables. + * Requires "send contours" to be enabled in the Limelight Output tab. + * + * @param limelightName Name/identifier of the Limelight + * @return Array of doubles containing corner coordinates [x0, y0, x1, y1, ...] + */ + public static double[] getCornerCoordinates(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "tcornxy"); + } + + /** + * Prints detailed information about a PoseEstimate to standard output. + * Includes timestamp, latency, tag count, tag span, average tag distance, + * average tag area, and detailed information about each detected fiducial. + * + * @param pose The PoseEstimate object to print. If null, prints "No PoseEstimate available." + */ + public static void printPoseEstimate(PoseEstimate pose) { + if (pose == null) { + System.out.println("No PoseEstimate available."); + return; + } + + System.out.printf("Pose Estimate Information:%n"); + System.out.printf("Timestamp (Seconds): %.3f%n", pose.timestampSeconds); + System.out.printf("Latency: %.3f ms%n", pose.latency); + System.out.printf("Tag Count: %d%n", pose.tagCount); + System.out.printf("Tag Span: %.2f meters%n", pose.tagSpan); + System.out.printf("Average Tag Distance: %.2f meters%n", pose.avgTagDist); + System.out.printf("Average Tag Area: %.2f%% of image%n", pose.avgTagArea); + System.out.printf("Is MegaTag2: %b%n", pose.isMegaTag2); + System.out.println(); + + if (pose.rawFiducials == null || pose.rawFiducials.length == 0) { + System.out.println("No RawFiducials data available."); + return; + } + + System.out.println("Raw Fiducials Details:"); + for (int i = 0; i < pose.rawFiducials.length; i++) { + RawFiducial fiducial = pose.rawFiducials[i]; + System.out.printf(" Fiducial #%d:%n", i + 1); + System.out.printf(" ID: %d%n", fiducial.id); + System.out.printf(" TXNC: %.2f%n", fiducial.txnc); + System.out.printf(" TYNC: %.2f%n", fiducial.tync); + System.out.printf(" TA: %.2f%n", fiducial.ta); + System.out.printf(" Distance to Camera: %.2f meters%n", fiducial.distToCamera); + System.out.printf(" Distance to Robot: %.2f meters%n", fiducial.distToRobot); + System.out.printf(" Ambiguity: %.2f%n", fiducial.ambiguity); + System.out.println(); + } + } + + public static Boolean validPoseEstimate(PoseEstimate pose) { + return pose != null && pose.rawFiducials != null && pose.rawFiducials.length != 0; + } + + public static NetworkTable getLimelightNTTable(String tableName) { + return NetworkTableInstance.getDefault().getTable(sanitizeName(tableName)); + } + + public static void Flush() { + NetworkTableInstance.getDefault().flush(); + } + + public static NetworkTableEntry getLimelightNTTableEntry(String tableName, String entryName) { + return getLimelightNTTable(tableName).getEntry(entryName); + } + + public static DoubleArrayEntry getLimelightDoubleArrayEntry(String tableName, String entryName) { + String key = tableName + "/" + entryName; + return doubleArrayEntries.computeIfAbsent(key, k -> { + NetworkTable table = getLimelightNTTable(tableName); + return table.getDoubleArrayTopic(entryName).getEntry(new double[0]); + }); + } + + public static double getLimelightNTDouble(String tableName, String entryName) { + return getLimelightNTTableEntry(tableName, entryName).getDouble(0.0); + } + + public static void setLimelightNTDouble(String tableName, String entryName, double val) { + getLimelightNTTableEntry(tableName, entryName).setDouble(val); + } + + public static void setLimelightNTDoubleArray(String tableName, String entryName, double[] val) { + getLimelightNTTableEntry(tableName, entryName).setDoubleArray(val); + } + + public static double[] getLimelightNTDoubleArray(String tableName, String entryName) { + return getLimelightNTTableEntry(tableName, entryName).getDoubleArray(new double[0]); + } + + + public static String getLimelightNTString(String tableName, String entryName) { + return getLimelightNTTableEntry(tableName, entryName).getString(""); + } + + public static String[] getLimelightNTStringArray(String tableName, String entryName) { + return getLimelightNTTableEntry(tableName, entryName).getStringArray(new String[0]); + } + + + ///// + + /** + * Does the Limelight have a valid target? + * @param limelightName Name of the Limelight camera ("" for default) + * @return True if a valid target is present, false otherwise + */ + public static boolean getTV(String limelightName) { + return 1.0 == getLimelightNTDouble(limelightName, "tv"); + } + + /** + * Gets the horizontal offset from the crosshair to the target in degrees. + * @param limelightName Name of the Limelight camera ("" for default) + * @return Horizontal offset angle in degrees + */ + public static double getTX(String limelightName) { + return getLimelightNTDouble(limelightName, "tx"); + } + + /** + * Gets the vertical offset from the crosshair to the target in degrees. + * @param limelightName Name of the Limelight camera ("" for default) + * @return Vertical offset angle in degrees + */ + public static double getTY(String limelightName) { + return getLimelightNTDouble(limelightName, "ty"); + } + + /** + * Gets the horizontal offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality. + * @param limelightName Name of the Limelight camera ("" for default) + * @return Horizontal offset angle in degrees + */ + public static double getTXNC(String limelightName) { + return getLimelightNTDouble(limelightName, "txnc"); + } + + /** + * Gets the vertical offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality. + * @param limelightName Name of the Limelight camera ("" for default) + * @return Vertical offset angle in degrees + */ + public static double getTYNC(String limelightName) { + return getLimelightNTDouble(limelightName, "tync"); + } + + /** + * Gets the target area as a percentage of the image (0-100%). + * @param limelightName Name of the Limelight camera ("" for default) + * @return Target area percentage (0-100) + */ + public static double getTA(String limelightName) { + return getLimelightNTDouble(limelightName, "ta"); + } + + /** + * T2D is an array that contains several targeting metrcis + * @param limelightName Name of the Limelight camera + * @return Array containing [targetValid, targetCount, targetLatency, captureLatency, tx, ty, txnc, tync, ta, tid, targetClassIndexDetector, + * targetClassIndexClassifier, targetLongSidePixels, targetShortSidePixels, targetHorizontalExtentPixels, targetVerticalExtentPixels, targetSkewDegrees] + */ + public static double[] getT2DArray(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "t2d"); + } + + /** + * Gets the number of targets currently detected. + * @param limelightName Name of the Limelight camera + * @return Number of detected targets + */ + public static int getTargetCount(String limelightName) { + double[] t2d = getT2DArray(limelightName); + if(t2d.length == 17) + { + return (int)t2d[1]; + } + return 0; + } + + /** + * Gets the classifier class index from the currently running neural classifier pipeline + * @param limelightName Name of the Limelight camera + * @return Class index from classifier pipeline + */ + public static int getClassifierClassIndex (String limelightName) { + double[] t2d = getT2DArray(limelightName); + if(t2d.length == 17) + { + return (int)t2d[11]; + } + return 0; + } + + /** + * Gets the detector class index from the primary result of the currently running neural detector pipeline. + * @param limelightName Name of the Limelight camera + * @return Class index from detector pipeline + */ + public static int getDetectorClassIndex (String limelightName) { + double[] t2d = getT2DArray(limelightName); + if(t2d.length == 17) + { + return (int)t2d[10]; + } + return 0; + } + + /** + * Gets the current neural classifier result class name. + * @param limelightName Name of the Limelight camera + * @return Class name string from classifier pipeline + */ + public static String getClassifierClass (String limelightName) { + return getLimelightNTString(limelightName, "tcclass"); + } + + /** + * Gets the primary neural detector result class name. + * @param limelightName Name of the Limelight camera + * @return Class name string from detector pipeline + */ + public static String getDetectorClass (String limelightName) { + return getLimelightNTString(limelightName, "tdclass"); + } + + /** + * Gets the pipeline's processing latency contribution. + * @param limelightName Name of the Limelight camera + * @return Pipeline latency in milliseconds + */ + public static double getLatency_Pipeline(String limelightName) { + return getLimelightNTDouble(limelightName, "tl"); + } + + /** + * Gets the capture latency. + * @param limelightName Name of the Limelight camera + * @return Capture latency in milliseconds + */ + public static double getLatency_Capture(String limelightName) { + return getLimelightNTDouble(limelightName, "cl"); + } + + /** + * Gets the active pipeline index. + * @param limelightName Name of the Limelight camera + * @return Current pipeline index (0-9) + */ + public static double getCurrentPipelineIndex(String limelightName) { + return getLimelightNTDouble(limelightName, "getpipe"); + } + + /** + * Gets the current pipeline type. + * @param limelightName Name of the Limelight camera + * @return Pipeline type string (e.g. "retro", "apriltag", etc) + */ + public static String getCurrentPipelineType(String limelightName) { + return getLimelightNTString(limelightName, "getpipetype"); + } + + /** + * Gets the full JSON results dump. + * @param limelightName Name of the Limelight camera + * @return JSON string containing all current results + */ + public static String getJSONDump(String limelightName) { + return getLimelightNTString(limelightName, "json"); + } + + /** + * Switch to getBotPose + * + * @param limelightName + * @return + */ + @Deprecated + public static double[] getBotpose(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose"); + } + + /** + * Switch to getBotPose_wpiRed + * + * @param limelightName + * @return + */ + @Deprecated + public static double[] getBotpose_wpiRed(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose_wpired"); + } + + /** + * Switch to getBotPose_wpiBlue + * + * @param limelightName + * @return + */ + @Deprecated + public static double[] getBotpose_wpiBlue(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose_wpiblue"); + } + + public static double[] getBotPose(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose"); + } + + public static double[] getBotPose_wpiRed(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose_wpired"); + } + + public static double[] getBotPose_wpiBlue(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose_wpiblue"); + } + + public static double[] getBotPose_TargetSpace(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "botpose_targetspace"); + } + + public static double[] getCameraPose_TargetSpace(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "camerapose_targetspace"); + } + + public static double[] getTargetPose_CameraSpace(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "targetpose_cameraspace"); + } + + public static double[] getTargetPose_RobotSpace(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "targetpose_robotspace"); + } + + /** + * Gets the average color under the crosshair region as a 3-element array. + * @param limelightName Name of the Limelight camera + * @return Array containing [Blue, Green, Red] color values (BGR order) + */ + public static double[] getTargetColor(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "tc"); + } + + public static double getFiducialID(String limelightName) { + return getLimelightNTDouble(limelightName, "tid"); + } + + /** + * Gets the Limelight heartbeat value. Increments once per frame, allowing you to detect if the Limelight is connected and alive. + * @param limelightName Name of the Limelight camera + * @return Heartbeat value that increments each frame + */ + public static double getHeartbeat(String limelightName) { + return getLimelightNTDouble(limelightName, "hb"); + } + + public static String getNeuralClassID(String limelightName) { + return getLimelightNTString(limelightName, "tclass"); + } + + public static String[] getRawBarcodeData(String limelightName) { + return getLimelightNTStringArray(limelightName, "rawbarcodes"); + } + + ///// + ///// + + public static Pose3d getBotPose3d(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose"); + return toPose3D(poseArray); + } + + /** + * (Not Recommended) Gets the robot's 3D pose in the WPILib Red Alliance Coordinate System. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the robot's position and orientation in Red Alliance field space + */ + public static Pose3d getBotPose3d_wpiRed(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose_wpired"); + return toPose3D(poseArray); + } + + /** + * (Recommended) Gets the robot's 3D pose in the WPILib Blue Alliance Coordinate System. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the robot's position and orientation in Blue Alliance field space + */ + public static Pose3d getBotPose3d_wpiBlue(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose_wpiblue"); + return toPose3D(poseArray); + } + + /** + * Gets the robot's 3D pose with respect to the currently tracked target's coordinate system. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the robot's position and orientation relative to the target + */ + public static Pose3d getBotPose3d_TargetSpace(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "botpose_targetspace"); + return toPose3D(poseArray); + } + + /** + * Gets the camera's 3D pose with respect to the currently tracked target's coordinate system. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the camera's position and orientation relative to the target + */ + public static Pose3d getCameraPose3d_TargetSpace(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "camerapose_targetspace"); + return toPose3D(poseArray); + } + + /** + * Gets the target's 3D pose with respect to the camera's coordinate system. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the target's position and orientation relative to the camera + */ + public static Pose3d getTargetPose3d_CameraSpace(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "targetpose_cameraspace"); + return toPose3D(poseArray); + } + + /** + * Gets the target's 3D pose with respect to the robot's coordinate system. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the target's position and orientation relative to the robot + */ + public static Pose3d getTargetPose3d_RobotSpace(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "targetpose_robotspace"); + return toPose3D(poseArray); + } + + /** + * Gets the camera's 3D pose with respect to the robot's coordinate system. + * @param limelightName Name/identifier of the Limelight + * @return Pose3d object representing the camera's position and orientation relative to the robot + */ + public static Pose3d getCameraPose3d_RobotSpace(String limelightName) { + double[] poseArray = getLimelightNTDoubleArray(limelightName, "camerapose_robotspace"); + return toPose3D(poseArray); + } + + /** + * Gets the Pose2d for easy use with Odometry vision pose estimator + * (addVisionMeasurement) + * + * @param limelightName + * @return + */ + public static Pose2d getBotPose2d_wpiBlue(String limelightName) { + + double[] result = getBotPose_wpiBlue(limelightName); + return toPose2D(result); + } + + /** + * Gets the MegaTag1 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system. + * + * @param limelightName + * @return + */ + public static PoseEstimate getBotPoseEstimate_wpiBlue(String limelightName) { + return getBotPoseEstimate(limelightName, "botpose_wpiblue", false); + } + + /** + * Gets the MegaTag2 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system. + * Make sure you are calling setRobotOrientation() before calling this method. + * + * @param limelightName + * @return + */ + public static PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2(String limelightName) { + return getBotPoseEstimate(limelightName, "botpose_orb_wpiblue", true); + } + + /** + * Gets the Pose2d for easy use with Odometry vision pose estimator + * (addVisionMeasurement) + * + * @param limelightName + * @return + */ + public static Pose2d getBotPose2d_wpiRed(String limelightName) { + + double[] result = getBotPose_wpiRed(limelightName); + return toPose2D(result); + + } + + /** + * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED + * alliance + * @param limelightName + * @return + */ + public static PoseEstimate getBotPoseEstimate_wpiRed(String limelightName) { + return getBotPoseEstimate(limelightName, "botpose_wpired", false); + } + + /** + * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED + * alliance + * @param limelightName + * @return + */ + public static PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2(String limelightName) { + return getBotPoseEstimate(limelightName, "botpose_orb_wpired", true); + } + + /** + * Gets the Pose2d for easy use with Odometry vision pose estimator + * (addVisionMeasurement) + * + * @param limelightName + * @return + */ + public static Pose2d getBotPose2d(String limelightName) { + + double[] result = getBotPose(limelightName); + return toPose2D(result); + + } + + /** + * Gets the current IMU data from NetworkTables. + * IMU data is formatted as [robotYaw, Roll, Pitch, Yaw, gyroX, gyroY, gyroZ, accelX, accelY, accelZ]. + * Returns all zeros if data is invalid or unavailable. + * + * @param limelightName Name/identifier of the Limelight + * @return IMUData object containing all current IMU data + */ + public static IMUData getIMUData(String limelightName) { + double[] imuData = getLimelightNTDoubleArray(limelightName, "imu"); + if (imuData == null || imuData.length < 10) { + return new IMUData(); // Returns object with all zeros + } + return new IMUData(imuData); + } + + ///// + ///// + + public static void setPipelineIndex(String limelightName, int pipelineIndex) { + setLimelightNTDouble(limelightName, "pipeline", pipelineIndex); + } + + + public static void setPriorityTagID(String limelightName, int ID) { + setLimelightNTDouble(limelightName, "priorityid", ID); + } + + /** + * Sets LED mode to be controlled by the current pipeline. + * @param limelightName Name of the Limelight camera + */ + public static void setLEDMode_PipelineControl(String limelightName) { + setLimelightNTDouble(limelightName, "ledMode", 0); + } + + public static void setLEDMode_ForceOff(String limelightName) { + setLimelightNTDouble(limelightName, "ledMode", 1); + } + + public static void setLEDMode_ForceBlink(String limelightName) { + setLimelightNTDouble(limelightName, "ledMode", 2); + } + + public static void setLEDMode_ForceOn(String limelightName) { + setLimelightNTDouble(limelightName, "ledMode", 3); + } + + /** + * Enables standard side-by-side stream mode. + * @param limelightName Name of the Limelight camera + */ + public static void setStreamMode_Standard(String limelightName) { + setLimelightNTDouble(limelightName, "stream", 0); + } + + /** + * Enables Picture-in-Picture mode with secondary stream in the corner. + * @param limelightName Name of the Limelight camera + */ + public static void setStreamMode_PiPMain(String limelightName) { + setLimelightNTDouble(limelightName, "stream", 1); + } + + /** + * Enables Picture-in-Picture mode with primary stream in the corner. + * @param limelightName Name of the Limelight camera + */ + public static void setStreamMode_PiPSecondary(String limelightName) { + setLimelightNTDouble(limelightName, "stream", 2); + } + + + /** + * Sets the crop window for the camera. The crop window in the UI must be completely open. + * @param limelightName Name of the Limelight camera + * @param cropXMin Minimum X value (-1 to 1) + * @param cropXMax Maximum X value (-1 to 1) + * @param cropYMin Minimum Y value (-1 to 1) + * @param cropYMax Maximum Y value (-1 to 1) + */ + public static void setCropWindow(String limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax) { + double[] entries = new double[4]; + entries[0] = cropXMin; + entries[1] = cropXMax; + entries[2] = cropYMin; + entries[3] = cropYMax; + setLimelightNTDoubleArray(limelightName, "crop", entries); + } + + /** + * Sets the keystone modification for the crop window. + * @param limelightName Name of the Limelight camera + * @param horizontal Horizontal keystone value (-0.95 to 0.95) + * @param vertical Vertical keystone value (-0.95 to 0.95) + */ + public static void setKeystone(String limelightName, double horizontal, double vertical) { + double[] entries = new double[2]; + entries[0] = horizontal; + entries[1] = vertical; + setLimelightNTDoubleArray(limelightName, "keystone_set", entries); + } + + /** + * Sets 3D offset point for easy 3D targeting. + */ + public static void setFiducial3DOffset(String limelightName, double offsetX, double offsetY, double offsetZ) { + double[] entries = new double[3]; + entries[0] = offsetX; + entries[1] = offsetY; + entries[2] = offsetZ; + setLimelightNTDoubleArray(limelightName, "fiducial_offset_set", entries); + } + + /** + * Sets robot orientation values used by MegaTag2 localization algorithm. + * + * @param limelightName Name/identifier of the Limelight + * @param yaw Robot yaw in degrees. 0 = robot facing red alliance wall in FRC + * @param yawRate (Unnecessary) Angular velocity of robot yaw in degrees per second + * @param pitch (Unnecessary) Robot pitch in degrees + * @param pitchRate (Unnecessary) Angular velocity of robot pitch in degrees per second + * @param roll (Unnecessary) Robot roll in degrees + * @param rollRate (Unnecessary) Angular velocity of robot roll in degrees per second + */ + public static void SetRobotOrientation(String limelightName, double yaw, double yawRate, + double pitch, double pitchRate, + double roll, double rollRate) { + SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, true); + } + + public static void SetRobotOrientation_NoFlush(String limelightName, double yaw, double yawRate, + double pitch, double pitchRate, + double roll, double rollRate) { + SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, false); + } + + private static void SetRobotOrientation_INTERNAL(String limelightName, double yaw, double yawRate, + double pitch, double pitchRate, + double roll, double rollRate, boolean flush) { + + double[] entries = new double[6]; + entries[0] = yaw; + entries[1] = yawRate; + entries[2] = pitch; + entries[3] = pitchRate; + entries[4] = roll; + entries[5] = rollRate; + setLimelightNTDoubleArray(limelightName, "robot_orientation_set", entries); + if(flush) + { + Flush(); + } + } + + /** + * Configures the IMU mode for MegaTag2 Localization + * + * @param limelightName Name/identifier of the Limelight + * @param mode IMU mode. + */ + public static void SetIMUMode(String limelightName, int mode) { + setLimelightNTDouble(limelightName, "imumode_set", mode); + } + + /** + * Configures the complementary filter alpha value for IMU Assist Modes (Modes 3 and 4) + * + * @param limelightName Name/identifier of the Limelight + * @param alpha Defaults to .001. Higher values will cause the internal IMU to converge onto the assist source more rapidly. + */ + public static void SetIMUAssistAlpha(String limelightName, double alpha) { + setLimelightNTDouble(limelightName, "imuassistalpha_set", alpha); + } + + + /** + * Configures the throttle value. Set to 100-200 while disabled to reduce thermal output/temperature. + * + * @param limelightName Name/identifier of the Limelight + * @param throttle Defaults to 0. Your Limelgiht will process one frame after skipping frames. + */ + public static void SetThrottle(String limelightName, int throttle) { + setLimelightNTDouble(limelightName, "throttle_set", throttle); + } + + /** + * Overrides the valid AprilTag IDs that will be used for localization. + * Tags not in this list will be ignored for robot pose estimation. + * + * @param limelightName Name/identifier of the Limelight + * @param validIDs Array of valid AprilTag IDs to track + */ + public static void SetFiducialIDFiltersOverride(String limelightName, int[] validIDs) { + double[] validIDsDouble = new double[validIDs.length]; + for (int i = 0; i < validIDs.length; i++) { + validIDsDouble[i] = validIDs[i]; + } + setLimelightNTDoubleArray(limelightName, "fiducial_id_filters_set", validIDsDouble); + } + + /** + * Sets the downscaling factor for AprilTag detection. + * Increasing downscale can improve performance at the cost of potentially reduced detection range. + * + * @param limelightName Name/identifier of the Limelight + * @param downscale Downscale factor. Valid values: 1.0 (no downscale), 1.5, 2.0, 3.0, 4.0. Set to 0 for pipeline control. + */ + public static void SetFiducialDownscalingOverride(String limelightName, float downscale) + { + int d = 0; // pipeline + if (downscale == 1.0) + { + d = 1; + } + if (downscale == 1.5) + { + d = 2; + } + if (downscale == 2) + { + d = 3; + } + if (downscale == 3) + { + d = 4; + } + if (downscale == 4) + { + d = 5; + } + setLimelightNTDouble(limelightName, "fiducial_downscale_set", d); + } + + /** + * Sets the camera pose relative to the robot. + * @param limelightName Name of the Limelight camera + * @param forward Forward offset in meters + * @param side Side offset in meters + * @param up Up offset in meters + * @param roll Roll angle in degrees + * @param pitch Pitch angle in degrees + * @param yaw Yaw angle in degrees + */ + public static void setCameraPose_RobotSpace(String limelightName, double forward, double side, double up, double roll, double pitch, double yaw) { + double[] entries = new double[6]; + entries[0] = forward; + entries[1] = side; + entries[2] = up; + entries[3] = roll; + entries[4] = pitch; + entries[5] = yaw; + setLimelightNTDoubleArray(limelightName, "camerapose_robotspace_set", entries); + } + + ///// + ///// + + public static void setPythonScriptData(String limelightName, double[] outgoingPythonData) { + setLimelightNTDoubleArray(limelightName, "llrobot", outgoingPythonData); + } + + public static double[] getPythonScriptData(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "llpython"); + } + + ///// + ///// + + /** + * Triggers a snapshot capture via NetworkTables by incrementing the snapshot counter. + * Rate-limited to once per 10 frames on the Limelight. + * @param limelightName Name of the Limelight camera + */ + public static void triggerSnapshot(String limelightName) { + double current = getLimelightNTDouble(limelightName, "snapshot"); + setLimelightNTDouble(limelightName, "snapshot", current + 1); + } + + /** + * Enables or pauses the rewind buffer recording. + * @param limelightName Name of the Limelight camera + * @param enabled True to enable recording, false to pause + */ + public static void setRewindEnabled(String limelightName, boolean enabled) { + setLimelightNTDouble(limelightName, "rewind_enable_set", enabled ? 1 : 0); + } + + /** + * Triggers a rewind capture with the specified duration. + * Maximum duration is 165 seconds. Rate-limited on the Limelight. + * @param limelightName Name of the Limelight camera + * @param durationSeconds Duration of rewind capture in seconds (max 165) + */ + public static void triggerRewindCapture(String limelightName, double durationSeconds) { + double[] currentArray = getLimelightNTDoubleArray(limelightName, "capture_rewind"); + double counter = (currentArray.length > 0) ? currentArray[0] : 0; + double[] entries = new double[2]; + entries[0] = counter + 1; + entries[1] = Math.min(durationSeconds, 165); + setLimelightNTDoubleArray(limelightName, "capture_rewind", entries); + } + + /** + * Gets the latest JSON results output and returns a LimelightResults object. + * @param limelightName Name of the Limelight camera + * @return LimelightResults object containing all current target data + */ + public static LimelightResults getLatestResults(String limelightName) { + + long start = System.nanoTime(); + LimelightHelpers.LimelightResults results = new LimelightHelpers.LimelightResults(); + if (mapper == null) { + mapper = new ObjectMapper().configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false); + } + + try { + String jsonString = getJSONDump(limelightName); + if (jsonString == null || jsonString.isEmpty() || jsonString.isBlank()) { + results.error = "lljson error: empty json"; + } else { + results = mapper.readValue(jsonString, LimelightResults.class); + if (results.imuResults != null) { + results.imuResults.parseDataArray(); + } + } + } catch (JsonProcessingException e) { + results.error = "lljson error: " + e.getMessage(); + } + + long end = System.nanoTime(); + double millis = (end - start) * .000001; + results.latency_jsonParse = millis; + if (profileJSON) { + System.out.printf("lljson: %.2f\r\n", millis); + } + + return results; + } + + /** + * Sets up port forwarding for a Limelight 3A/3G connected via USB. + * This allows access to the Limelight web interface and video stream + * when connected to the robot over USB. + * + * For usbIndex 0: ports 5800-5809 forward to 172.29.0.1 + * For usbIndex 1: ports 5810-5819 forward to 172.29.1.1 + * etc. + * + * Call this method once during robot initialization. + * To access the interface of the camera with usbIndex0, you would go to roboRIO-(teamnum)-FRC.local:5801. Port 5811 for usb index 1 + * + * @param usbIndex The USB index of the Limelight (0, 1, 2, etc.) + */ + public static void setupPortForwardingUSB(int usbIndex) { + String ip = "172.29." + usbIndex + ".1"; + int basePort = 5800 + (usbIndex * 10); + + for (int i = 0; i < 10; i++) { + PortForwarder.add(basePort + i, ip, 5800 + i); + } + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..4ca4b2f --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,29 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what you are doing, do + * not modify this file except to change the parameter class to the startRobot call. + */ +public final class Main +{ + + private Main() + { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) + { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..0704b9b --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,190 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import com.pathplanner.lib.auto.AutoBuilder; + +import edu.wpi.first.networktables.GenericEntry; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.subsystems.TargetingSubsystems; + +/** + * The VM is configured to automatically run this class, and to call the + * functions corresponding to each mode, as + * described in the TimedRobot documentation. If you change the name of this + * class or the package after creating this + * project, you must also update the build.gradle file in the project. + */ +public class Robot extends TimedRobot { + private static Robot instance; + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + private Timer disabledTimer; + private static NetworkTable table; + private static GenericEntry distanceFromLimelight; + + public Robot() { + instance = this; + } + + public static Robot getInstance() { + return instance; + } + + /** + * This function is run when the robot is first started up and should be used + * for any initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + + // Create a timer to disable motor brake a few seconds after disable. This will + // let the robot stop + // immediately when disabled, but then also let it be pushed more + disabledTimer = new Timer(); + + if (isSimulation()) { + DriverStation.silenceJoystickConnectionWarning(true); + } + + table = NetworkTableInstance.getDefault().getTable(Constants.LimeLight.LIMELIGHT_NAME); + distanceFromLimelight = Shuffleboard.getTab("Programming").add("Distance from Limelight", 0).getEntry(); + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items + * like diagnostics that you want ran + * during disabled, autonomous, teleoperated and test. + * + *

+ * This runs after the mode specific periodic functions, but before LiveWindow + * and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding + // newly-scheduled + // commands, running already-scheduled commands, removing finished or + // interrupted commands, + // and running subsystem periodic() methods. This must be called from the + // robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + + // Constants.ShooterConstants.getRampAndIndexerMotorSpeed(); + Constants.IntakeConstants.getIntakeWheelsSpeed(); + Constants.ShooterConstants.getShooterVelocity(); + Constants.LimeLight.LIMELIGHT_TY = table.getEntry("ty").getDouble(0); + //distanceFromLimelight.setDouble(TargetingSubsystems.getDistanceFromAprilTag()); + } + + /** + * This function is called once each time the robot enters Disabled mode. + */ + @Override + public void disabledInit() { + m_robotContainer.setMotorBrake(true); + disabledTimer.reset(); + disabledTimer.start(); + } + + @Override + public void disabledPeriodic() { + if (disabledTimer.hasElapsed(Constants.DrivebaseConstants.WHEEL_LOCK_TIME)) { + m_robotContainer.setMotorBrake(false); + disabledTimer.stop(); + disabledTimer.reset(); + } + } + + /** + * This autonomous runs the autonomous command selected by your + * {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + m_robotContainer.setMotorBrake(true); + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + // Print the selected autonomous command upon autonomous init + System.out.println("Auto selected: " + m_autonomousCommand); + + // schedule the autonomous command selected in the autoChooser + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + /** + * This function is called periodically during autonomous. + */ + @Override + public void autonomousPeriodic() { + } + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } else { + CommandScheduler.getInstance().cancelAll(); + } + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + } + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() { + } + + /** + * This function is called once when the robot is first started up. + */ + @Override + public void simulationInit() { + } + + /** + * This function is called periodically whilst in simulation. + */ + @Override + public void simulationPeriodic() { + } + +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..115ea0b --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,308 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.auto.NamedCommands; + +import edu.wpi.first.math.MathUtil; +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.TrapezoidProfile.Constraints; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.OperatorConstants; +import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.subsystems.ShooterSubsystem; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.io.File; +import java.lang.annotation.Target; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.function.DoubleSupplier; +import frc.robot.subsystems.TargetingSubsystems; +import swervelib.SwerveInputStream; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.subsystems.ClimberSubsystem; + +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a "declarative" paradigm, very + * little robot logic should actually be handled in the {@link Robot} periodic + * methods (other than the scheduler calls). + * Instead, the structure of the robot (including subsystems, commands, and + * trigger mappings) should be declared here. + */ +public class RobotContainer { + + // Replace with CommandPS4Controller or CommandJoystick if needed + final CommandXboxController driverXbox = new CommandXboxController(0); + // The robot's subsystems and commands are defined here... + private final SwerveSubsystem drivebase = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), + "swerve/neo")); + + // Establish a Sendable Chooser that will be able to be sent to the + // SmartDashboard, allowing selection of desired auto + private final SendableChooser autoChooser; + + private final IntakeSubsystem m_IntakeSubsystem = new IntakeSubsystem(); + // private final TargetingSubsystems m_TargetingSubsystems = new + // TargetingSubsystems(); + private final ShooterSubsystem m_ShooterSubsystem = new ShooterSubsystem(); + private final ClimberSubsystem m_ClimberSubsystem = new ClimberSubsystem(); + + /** + * Converts driver input into a field-relative ChassisSpeeds that is controlled + * by angular velocity. + */ + SwerveInputStream driveAngularVelocity = SwerveInputStream.of(drivebase.getSwerveDrive(), + () -> driverXbox.getLeftY() * -1, + () -> driverXbox.getLeftX() * -1) + .withControllerRotationAxis(() -> driverXbox.getRightX() * -1) + .deadband(OperatorConstants.DEADBAND) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + + /** + * Clone's the angular velocity input stream and converts it to a fieldRelative + * input stream. + */ + SwerveInputStream driveDirectAngle = driveAngularVelocity.copy().withControllerHeadingAxis(driverXbox::getRightX, + driverXbox::getRightY) + .headingWhile(true); + + /** + * Clone's the angular velocity input stream and converts it to a robotRelative + * input stream. + */ + SwerveInputStream driveRobotOriented = driveAngularVelocity.copy().robotRelative(false) + .allianceRelativeControl(true); + + SwerveInputStream driveAngularVelocityKeyboard = SwerveInputStream.of(drivebase.getSwerveDrive(), + () -> -driverXbox.getLeftY(), + () -> -driverXbox.getLeftX()) + .withControllerRotationAxis(() -> driverXbox.getRawAxis( + 2)) + .deadband(OperatorConstants.DEADBAND) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + // Derive the heading axis with math! + SwerveInputStream driveDirectAngleKeyboard = driveAngularVelocityKeyboard.copy() + .withControllerHeadingAxis(() -> Math.sin( + driverXbox.getRawAxis( + 2) * + Math.PI) + * + (Math.PI * + 2), + () -> Math.cos( + driverXbox.getRawAxis( + 2) * + Math.PI) + * + (Math.PI * + 2)) + .headingWhile(true) + .translationHeadingOffset(true) + .translationHeadingOffset(Rotation2d.fromDegrees( + 0)); + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + // Configure the trigger bindings + configureBindings(); + DriverStation.silenceJoystickConnectionWarning(true); + + // Create the NamedCommands that will be used in PathPlanner + NamedCommands.registerCommand("test", Commands.print("I EXIST")); + + // Have the autoChooser pull in all PathPlanner autos as options + autoChooser = AutoBuilder.buildAutoChooser(); + + // Set the default auto (do nothing) + autoChooser.setDefaultOption("Do Nothing", Commands.none()); + + // Add a simple auto option to have the robot drive forward for 1 second then + // stop + autoChooser.addOption("Drive Forward", drivebase.driveForward().withTimeout(1)); + + // Put the autoChooser on the SmartDashboard + SmartDashboard.putData("Auto Chooser", autoChooser); + + } + + /** + * Use this method to define your trigger->command mappings. Triggers can be + * created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with + * an arbitrary predicate, or via the + * named factories in + * {@link edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses + * for + * {@link CommandXboxController + * Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller PS4} + * controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick + * Flight joysticks}. + */ + private void configureBindings() { + Command driveFieldOrientedDirectAngle = drivebase.driveFieldOriented(driveDirectAngle); + Command driveFieldOrientedAnglularVelocity = drivebase.driveFieldOriented(driveAngularVelocity); + Command driveRobotOrientedAngularVelocity = drivebase.driveFieldOriented(driveRobotOriented); + Command driveSetpointGen = drivebase.driveWithSetpointGeneratorFieldRelative( + driveDirectAngle); + Command driveFieldOrientedDirectAngleKeyboard = drivebase.driveFieldOriented(driveDirectAngleKeyboard); + Command driveFieldOrientedAnglularVelocityKeyboard = drivebase.driveFieldOriented(driveAngularVelocityKeyboard); + Command driveSetpointGenKeyboard = drivebase.driveWithSetpointGeneratorFieldRelative( + driveDirectAngleKeyboard); + + driverXbox.leftTrigger().onTrue(m_IntakeSubsystem.startIntakeMotorCommand()) + .onFalse(m_IntakeSubsystem.stopIntakeMotorCommand()); + driverXbox.leftBumper().whileTrue(m_IntakeSubsystem.reverseIntakeMotorCommand()) + .onFalse(m_IntakeSubsystem.stopIntakeMotorCommand()); + + // command for + // full shooting system including linear actuators + driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.shootFuelCommand() + .andThen(m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly())); + + driverXbox.rightBumper().onTrue(m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly()); + + driverXbox.y().onTrue(m_ClimberSubsystem.lowerRobotCommand()).onFalse(m_ClimberSubsystem.stopClimberCommand()); + driverXbox.a().onTrue(m_ClimberSubsystem.liftRobotCommand()).onFalse(m_ClimberSubsystem.stopClimberCommand()); + driverXbox.povDown().onTrue(m_IntakeSubsystem.retractIntakeCommand()); + driverXbox.povUp().onTrue(m_IntakeSubsystem.deployintakeCommand()); + driverXbox.povLeft().onTrue(m_ClimberSubsystem.toggleRatchetCommand(true)); + driverXbox.povRight().onTrue(m_ClimberSubsystem.toggleRatchetCommand(false)); + + + // driverXbox.rightTrigger().onTrue(m_ShooterSubsystem.shootFuelCommand()); + driverXbox.x().onTrue(m_ShooterSubsystem.stopShooterCommand().andThen(m_IntakeSubsystem.deployintakeCommand())); + // driverXbox.a().whileTrue(aimAtHopperCommand(() -> -driverXbox.getLeftY(), + // () -> -driverXbox.getLeftX())); + if (driverXbox.getRightY() < -0.4) { + m_ClimberSubsystem.liftRobotCommand(); + } else if (driverXbox.getRightY() > 0.4) { + m_ClimberSubsystem.lowerRobotCommand(); + } else { + m_ClimberSubsystem.stopClimberCommand(); + } + + // driverXbox.b().whileTrue(m_TargetingSubsystems.aimAndRangeToPose(Constants.TargetingConstants.LEFT_CLIMB_POSE)); + + if (RobotBase.isSimulation()) { + drivebase.setDefaultCommand(driveFieldOrientedDirectAngleKeyboard); + } else { + drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); + } + + if (Robot.isSimulation()) { + Pose2d target = new Pose2d(new Translation2d(1, 4), + Rotation2d.fromDegrees(90)); + // drivebase.getSwerveDrive().field.getObject("targetPose").setPose(target); + driveDirectAngleKeyboard.driveToPose(() -> target, + new ProfiledPIDController(5, + 0, + 0, + new Constraints(5, 2)), + new ProfiledPIDController(5, + 0, + 0, + new Constraints(Units.degreesToRadians(360), + Units.degreesToRadians(180)))); + driverXbox.start() + .onTrue(Commands.runOnce(() -> drivebase.resetOdometry(new Pose2d(3, 3, new Rotation2d())))); + driverXbox.button(1).whileTrue(drivebase.sysIdDriveMotorCommand()); + driverXbox.button(2).whileTrue(Commands.runEnd(() -> driveDirectAngleKeyboard.driveToPoseEnabled(true), + () -> driveDirectAngleKeyboard.driveToPoseEnabled(false))); + + // driverXbox.b().whileTrue( + // drivebase.driveToPose( + // new Pose2d(new Translation2d(4, 4), Rotation2d.fromDegrees(0))) + // ); + + } + if (DriverStation.isTest()) { + drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); // Overrides drive command above! + + driverXbox.x().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); + driverXbox.start().onTrue((Commands.runOnce(drivebase::zeroGyro))); + driverXbox.back().whileTrue(drivebase.centerModulesCommand()); + driverXbox.leftBumper().onTrue(Commands.none()); + driverXbox.rightBumper().onTrue(Commands.none()); + } else { + driverXbox.a().onTrue((Commands.runOnce(drivebase::zeroGyro))); + driverXbox.x().onTrue(Commands.runOnce(drivebase::addFakeVisionReading)); + driverXbox.start().whileTrue(Commands.none()); + driverXbox.back().whileTrue(Commands.none()); + driverXbox.leftBumper().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); + driverXbox.rightBumper().onTrue(Commands.none()); + } + + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // Pass in the selected auto from the SmartDashboard as our desired autnomous + // commmand + return autoChooser.getSelected(); + } + + public void setMotorBrake(boolean brake) { + drivebase.setMotorBrake(brake); + } + + public Command aimAtHopperCommand(DoubleSupplier xSup, DoubleSupplier ySup) { + try (PIDController aimPIDs = new PIDController(0.3, 0, 0.001)) { + aimPIDs.setTolerance(1.0); + + return Commands.run(() -> { + + double xSpeed = xSup.getAsDouble(); + double ySpeed = ySup.getAsDouble(); + + double rot = 0.0; + + if (LimelightHelpers.getTV("limelight")) { + double tx = LimelightHelpers.getTX("limelight"); + rot = aimPIDs.calculate(tx, 0); + rot = MathUtil.clamp(rot, -1.5, 1.5); + } + + drivebase.drive(new Translation2d(xSpeed, ySpeed), rot, false); + }, + drivebase); + } + } + + public SwerveSubsystem getSwerveDriveBase() { + return drivebase; + } + + public CommandXboxController getDriverXbox() { + return driverXbox; + } + + public SequentialCommandGroup fullShootFuelSystemCommand = new SequentialCommandGroup( + // m_ShooterSubsystem.moveActuatorCommand(Constants.ShooterConstants.DESIRED_POTENTIOMETER_DISTANCE), + m_ShooterSubsystem.shootFuelCommand(), m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly()); + +} diff --git a/src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java b/src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java new file mode 100644 index 0000000..6919e45 --- /dev/null +++ b/src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java @@ -0,0 +1,86 @@ +package frc.robot.commands.swervedrive.auto; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; + + +/** + * Auto Balance command using a simple PID controller. Created by Team 3512 + * ... + */ +public class AutoBalanceCommand extends Command +{ + + private final SwerveSubsystem swerveSubsystem; + private final PIDController controller; + + public AutoBalanceCommand(SwerveSubsystem swerveSubsystem) + { + this.swerveSubsystem = swerveSubsystem; + controller = new PIDController(1.0, 0.0, 0.0); + controller.setTolerance(1); + controller.setSetpoint(0.0); + // each subsystem used by the command must be passed into the + // addRequirements() method (which takes a vararg of Subsystem) + addRequirements(this.swerveSubsystem); + } + + /** + * The initial subroutine of a command. Called once when the command is initially scheduled. + */ + @Override + public void initialize() + { + + } + + /** + * The main body of a command. Called repeatedly while the command is scheduled. (That is, it is called repeatedly + * until {@link #isFinished()}) returns true.) + */ + @Override + public void execute() + { + SmartDashboard.putBoolean("At Tolerance", controller.atSetpoint()); + + double translationVal = MathUtil.clamp(controller.calculate(swerveSubsystem.getPitch().getDegrees(), 0.0), -0.5, + 0.5); + swerveSubsystem.drive(new Translation2d(translationVal, 0.0), 0.0, true); + } + + /** + *

+ * Returns whether this command has finished. Once a command finishes -- indicated by this method returning true -- + * the scheduler will call its {@link #end(boolean)} method. + *

+ * Returning false will result in the command never ending automatically. It may still be cancelled manually or + * interrupted by another command. Hard coding this command to always return true will result in the command executing + * once and finishing immediately. It is recommended to use * + * {@link edu.wpi.first.wpilibj2.command.InstantCommand InstantCommand} for such an operation. + *

+ * + * @return whether this command has finished. + */ + @Override + public boolean isFinished() + { + return controller.atSetpoint(); + } + + /** + * The action to take when the command ends. Called when either the command finishes normally -- that is it is called + * when {@link #isFinished()} returns true -- or when it is interrupted/canceled. This is where you may want to wrap + * up loose ends, like shutting off a motor that was being used in the command. + * + * @param interrupted whether the command was interrupted/canceled + */ + @Override + public void end(boolean interrupted) + { + swerveSubsystem.lock(); + } +} diff --git a/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java new file mode 100644 index 0000000..9ab90b7 --- /dev/null +++ b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java @@ -0,0 +1,120 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.swervedrive.drivebase; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.List; +import java.util.function.DoubleSupplier; +import swervelib.SwerveController; +import swervelib.math.SwerveMath; + +/** + * An example command that uses an example subsystem. + */ +public class AbsoluteDrive extends Command +{ + + private final SwerveSubsystem swerve; + private final DoubleSupplier vX, vY; + private final DoubleSupplier headingHorizontal, headingVertical; + private boolean initRotation = false; + + /** + * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is + * torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian + * coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot + * will rotate to. + * + * @param swerve The swerve drivebase subsystem. + * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 + * to 1 with deadband already accounted for. Positive X is away from the alliance wall. + * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 + * to 1 with deadband already accounted for. Positive Y is towards the left wall when + * looking through the driver station glass. + * @param headingHorizontal DoubleSupplier that supplies the horizontal component of the robot's heading angle. In the + * robot coordinate system, this is along the same axis as vY. Should range from -1 to 1 with + * no deadband. Positive is towards the left wall when looking through the driver station + * glass. + * @param headingVertical DoubleSupplier that supplies the vertical component of the robot's heading angle. In the + * robot coordinate system, this is along the same axis as vX. Should range from -1 to 1 + * with no deadband. Positive is away from the alliance wall. + */ + public AbsoluteDrive(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingHorizontal, + DoubleSupplier headingVertical) + { + this.swerve = swerve; + this.vX = vX; + this.vY = vY; + this.headingHorizontal = headingHorizontal; + this.headingVertical = headingVertical; + + addRequirements(swerve); + } + + @Override + public void initialize() + { + initRotation = true; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() + { + + // Get the desired chassis speeds based on a 2 joystick module. + ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), + headingHorizontal.getAsDouble(), + headingVertical.getAsDouble()); + + // Prevent Movement After Auto + if (initRotation) + { + if (headingHorizontal.getAsDouble() == 0 && headingVertical.getAsDouble() == 0) + { + // Get the curretHeading + Rotation2d firstLoopHeading = swerve.getHeading(); + + // Set the Current Heading to the desired Heading + desiredSpeeds = swerve.getTargetSpeeds(0, 0, firstLoopHeading.getSin(), firstLoopHeading.getCos()); + } + //Dont Init Rotation Again + initRotation = false; + } + + // Limit velocity to prevent tippy + Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); + translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), + Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), + swerve.getSwerveDriveConfiguration()); + SmartDashboard.putNumber("LimitedTranslation", translation.getX()); + SmartDashboard.putString("Translation", translation.toString()); + + // Make the robot move + swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) + { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() + { + return false; + } + + +} diff --git a/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java new file mode 100644 index 0000000..a92904f --- /dev/null +++ b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java @@ -0,0 +1,154 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.swervedrive.drivebase; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.List; +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; +import swervelib.SwerveController; +import swervelib.math.SwerveMath; + +/** + * A more advanced Swerve Control System that has 4 buttons for which direction to face + */ +public class AbsoluteDriveAdv extends Command +{ + + private final SwerveSubsystem swerve; + private final DoubleSupplier vX, vY; + private final DoubleSupplier headingAdjust; + private final BooleanSupplier lookAway, lookTowards, lookLeft, lookRight; + private boolean resetHeading = false; + + /** + * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is + * torwards/away from alliance wall and y is left/right. Heading Adjust changes the current heading after being + * multipied by a constant. The look booleans are shortcuts to get the robot to face a certian direction. Based off of + * ideas in https://www.chiefdelphi.com/t/experiments-with-a-swerve-steering-knob/446172 + * + * @param swerve The swerve drivebase subsystem. + * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 to 1 + * with deadband already accounted for. Positive X is away from the alliance wall. + * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 to 1 + * with deadband already accounted for. Positive Y is towards the left wall when looking through + * the driver station glass. + * @param headingAdjust DoubleSupplier that supplies the component of the robot's heading angle that should be + * adjusted. Should range from -1 to 1 with deadband already accounted for. + * @param lookAway Face the robot towards the opposing alliance's wall in the same direction the driver is + * facing + * @param lookTowards Face the robot towards the driver + * @param lookLeft Face the robot left + * @param lookRight Face the robot right + */ + public AbsoluteDriveAdv(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingAdjust, + BooleanSupplier lookAway, BooleanSupplier lookTowards, BooleanSupplier lookLeft, + BooleanSupplier lookRight) + { + this.swerve = swerve; + this.vX = vX; + this.vY = vY; + this.headingAdjust = headingAdjust; + this.lookAway = lookAway; + this.lookTowards = lookTowards; + this.lookLeft = lookLeft; + this.lookRight = lookRight; + + addRequirements(swerve); + } + + @Override + public void initialize() + { + resetHeading = true; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() + { + double headingX = 0; + double headingY = 0; + + // These are written to allow combinations for 45 angles + // Face Away from Drivers + if (lookAway.getAsBoolean()) + { + headingY = -1; + } + // Face Right + if (lookRight.getAsBoolean()) + { + headingX = 1; + } + // Face Left + if (lookLeft.getAsBoolean()) + { + headingX = -1; + } + // Face Towards the Drivers + if (lookTowards.getAsBoolean()) + { + headingY = 1; + } + + // Prevent Movement After Auto + if (resetHeading) + { + if (headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) == 0) + { + // Get the curret Heading + Rotation2d currentHeading = swerve.getHeading(); + + // Set the Current Heading to the desired Heading + headingX = currentHeading.getSin(); + headingY = currentHeading.getCos(); + } + //Dont reset Heading Again + resetHeading = false; + } + + ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), headingX, headingY); + + // Limit velocity to prevent tippy + Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); + translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), + Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), + swerve.getSwerveDriveConfiguration()); + SmartDashboard.putNumber("LimitedTranslation", translation.getX()); + SmartDashboard.putString("Translation", translation.toString()); + + // Make the robot move + if (headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) > 0) + { + resetHeading = true; + swerve.drive(translation, (Constants.OperatorConstants.TURN_CONSTANT * -headingAdjust.getAsDouble()), true); + } else + { + swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) + { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() + { + return false; + } + + +} diff --git a/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java new file mode 100644 index 0000000..b91489f --- /dev/null +++ b/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java @@ -0,0 +1,95 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.swervedrive.drivebase; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.List; +import java.util.function.DoubleSupplier; +import swervelib.SwerveController; +import swervelib.math.SwerveMath; + +/** + * An example command that uses an example subsystem. + */ +public class AbsoluteFieldDrive extends Command +{ + + private final SwerveSubsystem swerve; + private final DoubleSupplier vX, vY, heading; + + /** + * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is + * torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian + * coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot + * will rotate to. + * + * @param swerve The swerve drivebase subsystem. + * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 to 1 with + * deadband already accounted for. Positive X is away from the alliance wall. + * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 to 1 with + * deadband already accounted for. Positive Y is towards the left wall when looking through the driver + * station glass. + * @param heading DoubleSupplier that supplies the robot's heading angle. + */ + public AbsoluteFieldDrive(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, + DoubleSupplier heading) + { + this.swerve = swerve; + this.vX = vX; + this.vY = vY; + this.heading = heading; + + addRequirements(swerve); + } + + @Override + public void initialize() + { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() + { + + // Get the desired chassis speeds based on a 2 joystick module. + + ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), + new Rotation2d(heading.getAsDouble() * Math.PI)); + + // Limit velocity to prevent tippy + Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); + translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), + Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), + swerve.getSwerveDriveConfiguration()); + SmartDashboard.putNumber("LimitedTranslation", translation.getX()); + SmartDashboard.putString("Translation", translation.toString()); + + // Make the robot move + swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) + { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() + { + return false; + } + + +} diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java new file mode 100644 index 0000000..384f309 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java @@ -0,0 +1,55 @@ +package frc.robot.subsystems; + +import com.ctre.phoenix6.hardware.TalonFX; + +import edu.wpi.first.wpilibj.Servo; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; + +public class ClimberSubsystem extends SubsystemBase{ + private static TalonFX climberMotor = new TalonFX(Constants.ClimberConstants.CLIMB_MOTOR_ID); + private static Servo climberRatchet = new Servo(Constants.ClimberConstants.RATCHET_PWM_PORT); + + public void liftRobot() { + climberMotor.set(Constants.ClimberConstants.CLIMBER_SPEED); + } + + public void lowerRobot() { + climberMotor.set(Constants.ClimberConstants.CLIMBER_SPEED * -1); + } + + public void stopClimber() { + climberMotor.set(0); + } + + public Command liftRobotCommand() { + return runOnce(() -> toggleRatchet(true)).andThen(() -> liftRobot()); + } + + public Command lowerRobotCommand() { + return runOnce(() -> toggleRatchet(false)).andThen(() -> lowerRobot()); + } + + public Command stopClimberCommand() { + return runOnce(() -> stopClimber()); + } + + public static void toggleRatchet(boolean toggle) { + if (toggle == true) { + climberRatchet.setAngle(Constants.ClimberConstants.RATCHET_LOCK_ANGLE); + } else + climberRatchet.setAngle(Constants.ClimberConstants.RATCHET_UNLOCK_ANGLE); + } + + public Command toggleRatchetCommand(boolean toggle) { + return runOnce(() -> toggleRatchet(toggle)); + } + + @Override + public void periodic() + { + SmartDashboard.putNumber("Ratchet Position" , climberRatchet.getPosition()); + } +} diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java new file mode 100644 index 0000000..c6344a1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -0,0 +1,94 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.WaitCommand; +import frc.robot.Constants; + +import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.config.SparkFlexConfig; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.spark.SparkBase.ControlType; + +public class IntakeSubsystem extends SubsystemBase { + + private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID, + MotorType.kBrushless); + + private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID, + MotorType.kBrushless); + private static SparkClosedLoopController intakeRotatorPIDController; + public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig(); + + public IntakeSubsystem() { + intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P, + Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I, + Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D); + intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters, + com.revrobotics.PersistMode.kNoPersistParameters); + intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController(); + } + + public void startIntakeMotor() { + intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED); + } + + public void reverseIntakeMotor() { + intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED * -1); + } + + public void stopIntakeMotor() { + intakeMotor.set(0); + } + + public Command startIntakeMotorCommand() { + return runOnce(() -> startIntakeMotor()); + } + + public Command reverseIntakeMotorCommand() { + return runOnce(() -> reverseIntakeMotor()); + } + + public Command stopIntakeMotorCommand() { + return runOnce(() -> stopIntakeMotor()); + } + + public void deployIntake() { + intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE, + ControlType.kPosition); + } + + public Command deployintakeCommand() { + return runOnce(() -> deployIntake()); + } + + public void retractIntake() { + intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition); + } + + public Command retractIntakeCommand() { + return runOnce(() -> retractIntake()); + } + + public void assistFuelIntake() { + intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE, + ControlType.kPosition); + } + + public Command assistFuelIntakeCommand() { + return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand()) + .andThen(new WaitCommand(2)); + } + + @Override + public void periodic() { + SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition()); + } +} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java new file mode 100644 index 0000000..a40fb9e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -0,0 +1,124 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.PneumaticsModuleType; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; + +import java.util.function.BooleanSupplier; + +import com.ctre.phoenix6.controls.Follower; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.spark.SparkBase.ControlType; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.config.SparkFlexConfig; +import com.revrobotics.spark.config.SparkBaseConfig; +import edu.wpi.first.wpilibj2.command.WaitCommand; +import frc.robot.LimelightHelpers; +import edu.wpi.first.wpilibj.AnalogPotentiometer; + +public class ShooterSubsystem extends SubsystemBase { + private static SparkFlex centerShooterMotor = new SparkFlex(Constants.ShooterConstants.CENTER_SHOOTER_MOTOR_ID, + MotorType.kBrushless); + + private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID, + MotorType.kBrushless); + + private static SparkFlex rightShooterMotor = new SparkFlex(Constants.ShooterConstants.RIGHT_SHOOTER_MOTOR_ID, + MotorType.kBrushless); + + private static SparkFlex indexerMotor = new SparkFlex(Constants.ShooterConstants.INDEXER_MOTOR_ID, + MotorType.kBrushless); + + //private static SparkMax leftActuatorMotor = new SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT, + // MotorType.kBrushless); + + //private static SparkMax rightActuatorMotor = new SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT, + //MotorType.kBrushless); + + //private static AnalogPotentiometer leftPotentiometer = new AnalogPotentiometer(0, 1, 0); + //private static AnalogPotentiometer rightPotentiometer = new AnalogPotentiometer(0, 1, 0); + + private static double currentPotentiometerPosition; // might need second value for the right potentiometer + + public void startShooterMotors() { + centerShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER); + leftShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER); + rightShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER); + } + + public double getShooterMotorVelocity() { + return leftShooterMotor.getEncoder().getVelocity(); + } + + public void startIndexerMotor() { + // if (LimelightHelpers.getTX("limelight") < 1.5 && + // LimelightHelpers.getTX("limelight") > -1.5) { + indexerMotor.set(Constants.ShooterConstants.INDEXER_MOTOR_SPEED); + // } else + // indexerMotor.set(0); + } + + /* public Command shootFuelCommand() { + return run(() -> startShooterMotors()) + .until(() -> { + return (getShooterMotorVelocity() >= Constants.ShooterConstants.SHOOTER_VELOCITY); + }) + .andThen(() -> startIndexerMotor()); + } */ + + + public Command shootFuelCommand() { + return runOnce(() -> startShooterMotors()).andThen(new WaitCommand(2)) + .andThen(() -> startIndexerMotor()); + }; + + + public void stopShooters() { + centerShooterMotor.set(0); + leftShooterMotor.set(0); + rightShooterMotor.set(0); + indexerMotor.set(0); + } + + public Command stopShooterCommand() { + return runOnce(() -> stopShooters()); + } + + public void moveActuator(double desiredPotentiometerPosition) { + if (desiredPotentiometerPosition > currentPotentiometerPosition) { + //TODO: Test for positive or negative power + //leftActuatorMotor.set(0.1); + //rightActuatorMotor.set(0.1); + } else { + //leftActuatorMotor.set(-0.1); + //rightActuatorMotor.set(-0.1); + } + } + + public void stopActuator() { + //leftActuatorMotor.set(0); + //rightActuatorMotor.set(0); + } + + public Command moveActuatorCommand(double desiredPotentiometerPosition) { + return run(() -> moveActuator(desiredPotentiometerPosition)) + .until(() -> currentPotentiometerPosition == currentPotentiometerPosition) + .andThen(() -> stopActuator()); + } + + @Override + public void periodic() { + /* SmartDashboard.putNumber("Left Potentiometer Distance", leftPotentiometer.get()); + SmartDashboard.putNumber("Right Potentiometer Distance", rightPotentiometer.get()); + currentPotentiometerPosition = leftPotentiometer.get(); */ + } +} diff --git a/src/main/java/frc/robot/subsystems/TargetingSubsystems.java b/src/main/java/frc/robot/subsystems/TargetingSubsystems.java new file mode 100644 index 0000000..4b2174f --- /dev/null +++ b/src/main/java/frc/robot/subsystems/TargetingSubsystems.java @@ -0,0 +1,182 @@ +package frc.robot.subsystems; + +import java.util.List; +import java.util.Optional; + +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.PhotonPoseEstimator.PoseStrategy; +import org.photonvision.targeting.PhotonTrackedTarget; + +import com.pathplanner.lib.path.GoalEndState; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.path.PathPoint; +import com.pathplanner.lib.path.RotationTarget; +import com.pathplanner.lib.path.Waypoint; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; +import frc.robot.Constants; +import frc.robot.LimelightHelpers; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardComponent; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.RunCommand; +import frc.robot.RobotContainer; +import frc.robot.Constants; + +public class TargetingSubsystems extends SubsystemBase { + + PhotonCamera photonVision = new PhotonCamera("Arducam_OV9281_USB_Camera"); + Transform3d BACK_LEFT_CAMERA_OFFSETS = new Transform3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0)); + PhotonPoseEstimator photonEstimator = new PhotonPoseEstimator( + AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark), + BACK_LEFT_CAMERA_OFFSETS); + PIDController photonAimPIDController = new PIDController(0.3, 0, 0.001); + + public TargetingSubsystems() { + photonAimPIDController.enableContinuousInput(-180, 180); + } + + Pose2d currentRobotPose; + + public List rightClimbWaypoints; + + public Command pathPlanToRightClimbPoseCommand(SwerveSubsystem swerveDrive) { + GoalEndState goalEndState = new GoalEndState(0, Constants.TargetingConstants.RIGHT_CLIMB_POSE.getRotation()); + PathConstraints goToClimbConstraints = new PathConstraints(3.0, 3.0, 3.0, 6.0, 12.0); + currentRobotPose = swerveDrive.getPose(); + rightClimbWaypoints = PathPlannerPath.waypointsFromPoses( + currentRobotPose, Constants.TargetingConstants.RIGHT_CLIMB_POSE); + + PathPlannerPath goToClimbPath = new PathPlannerPath(rightClimbWaypoints, goToClimbConstraints, null, + goalEndState); + goToClimbPath.preventFlipping = true; + + return swerveDrive.getAutonomousCommand("goToClimbPath"); + } + + public Command aimAndRangeToPose(Pose2d desiredPose, SwerveSubsystem swerveDrive) { + return new RunCommand(() -> { + currentRobotPose = swerveDrive.getPose(); + + Transform2d errorFromDesiredPose = desiredPose.minus(currentRobotPose); + + double xError = errorFromDesiredPose.getX(); + double yError = errorFromDesiredPose.getY(); + double angleError = errorFromDesiredPose.getRotation().getRadians(); + + PIDController xController = new PIDController(1.5, 0, 0); + PIDController yController = new PIDController(1.5, 0, 0); + PIDController angleController = new PIDController(3.0, 0, 0); + + angleController.enableContinuousInput(-Math.PI, Math.PI); + + double xSpeed = xController.calculate(currentRobotPose.getX(), desiredPose.getX()); + double ySpeed = yController.calculate(currentRobotPose.getY(), desiredPose.getY()); + double angleSpeed = angleController.calculate(currentRobotPose.getRotation().getRadians(), + desiredPose.getRotation().getRadians()); + + swerveDrive.drive(new Translation2d(xSpeed, ySpeed), angleSpeed, true); + }, swerveDrive); + } + + Command photonAimAtClimb(SwerveSubsystem swerveDrive, CommandXboxController driverXbox) { + return new RunCommand(() -> { + double rot = 0.0; + var result = photonVision.getLatestResult(); + if (result.hasTargets()) { + double yawError = result.getBestTarget().getYaw(); + rot = photonAimPIDController.calculate(yawError, 0); + } + + rot = MathUtil.clamp(rot, -3.0, 3.0); + + swerveDrive.drive(new Translation2d(driverXbox.getLeftY() * -1, + driverXbox.getLeftX() * -1), rot, true); + }, swerveDrive); +} + + + public PhotonPoseEstimator getPhotonPoseEstimator() { + return photonEstimator; + } + + // static public NetworkTable table = + // NetworkTableInstance.getDefault().getTable(Constants.LimeLight.LIMELIGHT_NAME); + // static public NetworkTableEntry ty = table.getEntry("ty"); + // static double targetOffsetAngle_Vertical = ty.getDouble(0.0); + + // how many degrees back is your limelight rotated from perfectly vertical? + static double limelightMountAngleDegrees = 25.0; + + // distance from the center of the Limelight lens to the floor + static double limelightLensHeightInches = 27.5; + + // distance from the target to the floor + static double goalHeightInches = 44; + + static double angleToGoalDegrees = limelightMountAngleDegrees + Constants.LimeLight.LIMELIGHT_TY; + static double angleToGoalRadians = angleToGoalDegrees * (3.14159 / 180.0); + + // calculate distance + static double distanceFromLimelightToGoalInches = (goalHeightInches - limelightLensHeightInches) + / Math.tan(angleToGoalRadians); + + public static double getDistanceFromAprilTag() { + angleToGoalDegrees = limelightMountAngleDegrees + Constants.LimeLight.LIMELIGHT_TY; + angleToGoalRadians = angleToGoalDegrees * (3.14159 / 180.0); + distanceFromLimelightToGoalInches = (goalHeightInches - limelightLensHeightInches) + / Math.tan(angleToGoalRadians); + return distanceFromLimelightToGoalInches; + } + + public void updateRobotPose(SwerveSubsystem swerveDrive) { + Optional result = photonEstimator.update(photonVision.getLatestResult()); + + if (result.isPresent()) { + EstimatedRobotPose estimatedPose = result.get(); + swerveDrive.getSwerveDrive() + .addVisionMeasurement(estimatedPose.estimatedPose.toPose2d(), estimatedPose.timestampSeconds); + } + } + @Override + public void periodic() { + + /* + * Shuffleboard.getTab("Vision").add("Photon Vision Yaw Value", + * photonVision.getLatestResult().getBestTarget().getYaw()); + * Shuffleboard.getTab("Vision").add("Photon Vision Pitch Value", + * photonVision.getLatestResult().getBestTarget().getPitch()); + * Shuffleboard.getTab("Vision").add("Limelight TX Value", + * LimelightHelpers.getTX("limelight")); + * Shuffleboard.getTab("Vision").add("Limelight April Tag ID", + * LimelightHelpers.getFiducialID("limelight")); + * Shuffleboard.getTab("Vision").addCamera("Limelight", "limelight", null); + * Shuffleboard.getTab("Vision").addCamera("Photon", + * "Arducam_OV9281_USB_Camera", + * "http://photonvision.local:5800"); + */ + } +} + diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java new file mode 100644 index 0000000..c5abbbe --- /dev/null +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -0,0 +1,720 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems.swervedrive; + +import static edu.wpi.first.units.Units.Meter; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.commands.PathPlannerAuto; +import com.pathplanner.lib.commands.PathfindingCommand; +import com.pathplanner.lib.config.PIDConstants; +import com.pathplanner.lib.config.RobotConfig; +import com.pathplanner.lib.controllers.PPHolonomicDriveController; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.util.DriveFeedforwards; +import com.pathplanner.lib.util.swerve.SwerveSetpoint; +import com.pathplanner.lib.util.swerve.SwerveSetpointGenerator; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +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.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.Vision.Cameras; +import java.io.File; +import java.io.IOException; +import java.util.Arrays; +import java.util.Optional; +import java.util.concurrent.atomic.AtomicReference; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; +import org.json.simple.parser.ParseException; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.targeting.PhotonPipelineResult; +import swervelib.SwerveController; +import swervelib.SwerveDrive; +import swervelib.SwerveDriveTest; +import swervelib.math.SwerveMath; +import swervelib.parser.SwerveControllerConfiguration; +import swervelib.parser.SwerveDriveConfiguration; +import swervelib.parser.SwerveParser; +import swervelib.telemetry.SwerveDriveTelemetry; +import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity; + +public class SwerveSubsystem extends SubsystemBase { + /** + * Swerve drive object. + */ + private final SwerveDrive swerveDrive; + + /** + * Enable vision odometry updates while driving. + */ + private final boolean visionDriveTest = false; + + /** + * PhotonVision class to keep an accurate odometry. + */ + private Vision vision; + + /** + * Initialize {@link SwerveDrive} with the directory provided. + * + * @param directory Directory of swerve drive config files. + */ + public SwerveSubsystem(File directory) { + boolean blueAlliance = false; + Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), + Meter.of(4)), + Rotation2d.fromDegrees(0)) + : new Pose2d(new Translation2d(Meter.of(16), + Meter.of(4)), + Rotation2d.fromDegrees(180)); + // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary + // objects being created. + SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH; + try { + swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED, startingPose); + // Alternative method if you don't want to supply the conversion factor via JSON + // files. + // swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, + // angleConversionFactor, driveConversionFactor); + } catch (Exception e) { + throw new RuntimeException(e); + } + swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot + // via + // angle. + swerveDrive.setCosineCompensator(false);// !SwerveDriveTelemetry.isSimulation); // Disables cosine compensation + // for + // simulations since it causes discrepancies not seen in real life. + swerveDrive.setAngularVelocityCompensation(true, + true, + 0.1); // Correct for skew that gets worse as angular velocity increases. Start with a + // coefficient of 0.1. + swerveDrive.setModuleEncoderAutoSynchronize(false, + 1); // Enable if you want to resynchronize your absolute encoders and motor encoders + // periodically when they are not moving. + // swerveDrive.pushOffsetsToEncoders(); // Set the absolute encoder to be used + // over the internal encoder and push the offsets onto it. Throws warning if not + // possible + if (visionDriveTest) { + setupPhotonVision(); + // Stop the odometry thread if we are using vision that way we can synchronize + // updates better. + swerveDrive.stopOdometryThread(); + } + setupPathPlanner(); + } + + /** + * Construct the swerve drive. + * + * @param driveCfg SwerveDriveConfiguration for the swerve. + * @param controllerCfg Swerve Controller. + */ + public SwerveSubsystem(SwerveDriveConfiguration driveCfg, SwerveControllerConfiguration controllerCfg) { + swerveDrive = new SwerveDrive(driveCfg, + controllerCfg, + Constants.MAX_SPEED, + new Pose2d(new Translation2d(Meter.of(2), Meter.of(0)), + Rotation2d.fromDegrees(0))); + } + + /** + * Setup the photon vision class. + */ + public void setupPhotonVision() { + vision = new Vision(swerveDrive::getPose, swerveDrive.field); + } + + @Override + public void periodic() { + + // When vision is enabled we must manually update odometry in SwerveDrive + if (visionDriveTest) { + swerveDrive.updateOdometry(); + vision.updatePoseEstimation(swerveDrive); + } + } + + @Override + public void simulationPeriodic() { + } + + /** + * Setup AutoBuilder for PathPlanner. + */ + public void setupPathPlanner() { + // Load the RobotConfig from the GUI settings. You should probably + // store this in your Constants file + RobotConfig config; + try { + config = RobotConfig.fromGUISettings(); + + final boolean enableFeedforward = true; + // Configure AutoBuilder last + AutoBuilder.configure( + this::getPose, + // Robot pose supplier + this::resetOdometry, + // Method to reset odometry (will be called if your auto has a starting pose) + this::getRobotVelocity, + // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE + (speedsRobotRelative, moduleFeedForwards) -> { + if (enableFeedforward) { + swerveDrive.drive( + speedsRobotRelative, + swerveDrive.kinematics.toSwerveModuleStates(speedsRobotRelative), + moduleFeedForwards.linearForces()); + } else { + swerveDrive.setChassisSpeeds(speedsRobotRelative); + } + }, + // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also + // optionally outputs individual module feedforwards + new PPHolonomicDriveController( + // PPHolonomicController is the built in path following controller for holonomic + // drive trains + new PIDConstants(5.0, 0.0, 0.0), + // Translation PID constants + new PIDConstants(3.8, 0.0, 0.0) + // Rotation PID constants + ), + config, + // The robot configuration + () -> { + // Boolean supplier that controls when the path will be mirrored for the red + // alliance + // This will flip the path being followed to the red side of the field. + // THE ORIGIN WILL REMAIN ON THE BLUE SIDE + + var alliance = DriverStation.getAlliance(); + if (alliance.isPresent()) { + return alliance.get() == DriverStation.Alliance.Red; + } + return false; + }, + this + // Reference to this subsystem to set requirements + ); + + } catch (Exception e) { + // Handle exception as needed + e.printStackTrace(); + } + + // Preload PathPlanner Path finding + // IF USING CUSTOM PATHFINDER ADD BEFORE THIS LINE + PathfindingCommand.warmupCommand().schedule(); + } + + /** + * Aim the robot at the target returned by PhotonVision. + * + * @return A {@link Command} which will run the alignment. + */ + public Command aimAtTarget(Cameras camera) { + + return run(() -> { + Optional resultO = camera.getBestResult(); + if (resultO.isPresent()) { + var result = resultO.get(); + if (result.hasTargets()) { + drive(getTargetSpeeds(0, + 0, + Rotation2d.fromDegrees(result.getBestTarget() + .getYaw()))); // Not sure if this will work, more math may be required. + } + } + }); + } + + /** + * Get the path follower with events. + * + * @param pathName PathPlanner path name. + * @return {@link AutoBuilder#followPath(PathPlannerPath)} path command. + */ + public Command getAutonomousCommand(String pathName) { + // Create a path following command using AutoBuilder. This will also trigger + // event markers. + return new PathPlannerAuto(pathName); + } + + /** + * Use PathPlanner Path finding to go to a point on the field. + * + * @param pose Target {@link Pose2d} to go to. + * @return PathFinding command + */ + public Command driveToPose(Pose2d pose) { + // Create the constraints to use while pathfinding + PathConstraints constraints = new PathConstraints( + swerveDrive.getMaximumChassisVelocity(), 4.0, + swerveDrive.getMaximumChassisAngularVelocity(), Units.degreesToRadians(720)); + + // Since AutoBuilder is configured, we can use it to build pathfinding commands + return AutoBuilder.pathfindToPose( + pose, + constraints, + edu.wpi.first.units.Units.MetersPerSecond.of(0) // Goal end velocity in meters/sec + ); + } + + /** + * Drive with {@link SwerveSetpointGenerator} from 254, implemented by + * PathPlanner. + * + * @param robotRelativeChassisSpeed Robot relative {@link ChassisSpeeds} to + * achieve. + * @return {@link Command} to run. + * @throws IOException If the PathPlanner GUI settings is invalid + * @throws ParseException If PathPlanner GUI settings is nonexistent. + */ + private Command driveWithSetpointGenerator(Supplier robotRelativeChassisSpeed) + throws IOException, ParseException { + SwerveSetpointGenerator setpointGenerator = new SwerveSetpointGenerator(RobotConfig.fromGUISettings(), + swerveDrive.getMaximumChassisAngularVelocity()); + AtomicReference prevSetpoint = new AtomicReference<>( + new SwerveSetpoint(swerveDrive.getRobotVelocity(), + swerveDrive.getStates(), + DriveFeedforwards.zeros(swerveDrive.getModules().length))); + AtomicReference previousTime = new AtomicReference<>(); + + return startRun(() -> previousTime.set(Timer.getFPGATimestamp()), + () -> { + double newTime = Timer.getFPGATimestamp(); + SwerveSetpoint newSetpoint = setpointGenerator.generateSetpoint(prevSetpoint.get(), + robotRelativeChassisSpeed.get(), + newTime - previousTime.get()); + swerveDrive.drive(newSetpoint.robotRelativeSpeeds(), + newSetpoint.moduleStates(), + newSetpoint.feedforwards().linearForces()); + prevSetpoint.set(newSetpoint); + previousTime.set(newTime); + + }); + } + + /** + * Drive with 254's Setpoint generator; port written by PathPlanner. + * + * @param fieldRelativeSpeeds Field-Relative {@link ChassisSpeeds} + * @return Command to drive the robot using the setpoint generator. + */ + public Command driveWithSetpointGeneratorFieldRelative(Supplier fieldRelativeSpeeds) { + try { + return driveWithSetpointGenerator(() -> { + return ChassisSpeeds.fromFieldRelativeSpeeds(fieldRelativeSpeeds.get(), getHeading()); + + }); + } catch (Exception e) { + DriverStation.reportError(e.toString(), true); + } + return Commands.none(); + + } + + /** + * Command to characterize the robot drive motors using SysId + * + * @return SysId Drive Command + */ + public Command sysIdDriveMotorCommand() { + return SwerveDriveTest.generateSysIdCommand( + SwerveDriveTest.setDriveSysIdRoutine( + new Config(), + this, swerveDrive, 12, true), + 3.0, 5.0, 3.0); + } + + /** + * Command to characterize the robot angle motors using SysId + * + * @return SysId Angle Command + */ + public Command sysIdAngleMotorCommand() { + return SwerveDriveTest.generateSysIdCommand( + SwerveDriveTest.setAngleSysIdRoutine( + new Config(), + this, swerveDrive), + 3.0, 5.0, 3.0); + } + + /** + * Returns a Command that centers the modules of the SwerveDrive subsystem. + * + * @return a Command that centers the modules of the SwerveDrive subsystem + */ + public Command centerModulesCommand() { + return run(() -> Arrays.asList(swerveDrive.getModules()) + .forEach(it -> it.setAngle(0.0))); + } + + /** + * Returns a Command that tells the robot to drive forward until the command + * ends. + * + * @return a Command that tells the robot to drive forward until the command + * ends + */ + public Command driveForward() { + return run(() -> { + swerveDrive.drive(new Translation2d(1, 0), 0, false, false); + }).finallyDo(() -> swerveDrive.drive(new Translation2d(0, 0), 0, false, false)); + } + + /** + * Replaces the swerve module feedforward with a new SimpleMotorFeedforward + * object. + * + * @param kS the static gain of the feedforward + * @param kV the velocity gain of the feedforward + * @param kA the acceleration gain of the feedforward + */ + public void replaceSwerveModuleFeedforward(double kS, double kV, double kA) { + swerveDrive.replaceSwerveModuleFeedforward(new SimpleMotorFeedforward(kS, kV, kA)); + } + + /** + * Command to drive the robot using translative values and heading as angular + * velocity. + * + * @param translationX Translation in the X direction. Cubed for smoother + * controls. + * @param translationY Translation in the Y direction. Cubed for smoother + * controls. + * @param angularRotationX Angular velocity of the robot to set. Cubed for + * smoother controls. + * @return Drive command. + */ + public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, + DoubleSupplier angularRotationX) { + return run(() -> { + // Make the robot move + swerveDrive.drive(SwerveMath.scaleTranslation(new Translation2d( + translationX.getAsDouble() * swerveDrive.getMaximumChassisVelocity(), + translationY.getAsDouble() * swerveDrive.getMaximumChassisVelocity()), 0.8), + Math.pow(angularRotationX.getAsDouble(), 3) * swerveDrive.getMaximumChassisAngularVelocity(), + true, + false); + }); + } + + /** + * Command to drive the robot using translative values and heading as a + * setpoint. + * + * @param translationX Translation in the X direction. Cubed for smoother + * controls. + * @param translationY Translation in the Y direction. Cubed for smoother + * controls. + * @param headingX Heading X to calculate angle of the joystick. + * @param headingY Heading Y to calculate angle of the joystick. + * @return Drive command. + */ + public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier headingX, + DoubleSupplier headingY) { + // swerveDrive.setHeadingCorrection(true); // Normally you would want heading + // correction for this kind of control. + return run(() -> { + + Translation2d scaledInputs = SwerveMath.scaleTranslation(new Translation2d(translationX.getAsDouble(), + translationY.getAsDouble()), 0.8); + + // Make the robot move + driveFieldOriented(swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), scaledInputs.getY(), + headingX.getAsDouble(), + headingY.getAsDouble(), + swerveDrive.getOdometryHeading().getRadians(), + swerveDrive.getMaximumChassisVelocity())); + }); + } + + /** + * The primary method for controlling the drivebase. Takes a + * {@link Translation2d} and a rotation rate, and + * calculates and commands module states accordingly. Can use either open-loop + * or closed-loop velocity control for + * the wheel velocities. Also has field- and robot-relative modes, which affect + * how the translation vector is used. + * + * @param translation {@link Translation2d} that is the commanded linear + * velocity of the robot, in meters per + * second. In robot-relative mode, positive x is torwards + * the bow (front) and positive y is + * torwards port (left). In field-relative mode, positive x + * is away from the alliance wall + * (field North) and positive y is torwards the left wall + * when looking through the driver station + * glass (field West). + * @param rotation Robot angular rate, in radians per second. CCW positive. + * Unaffected by field/robot + * relativity. + * @param fieldRelative Drive mode. True for field-relative, false for + * robot-relative. + */ + public void drive(Translation2d translation, double rotation, boolean fieldRelative) { + swerveDrive.drive(translation, + rotation, + fieldRelative, + false); // Open loop is disabled since it shouldn't be used most of the time. + } + + /** + * Drive the robot given a chassis field oriented velocity. + * + * @param velocity Velocity according to the field. + */ + public void driveFieldOriented(ChassisSpeeds velocity) { + swerveDrive.driveFieldOriented(velocity); + } + + /** + * Drive the robot given a chassis field oriented velocity. + * + * @param velocity Velocity according to the field. + */ + public Command driveFieldOriented(Supplier velocity) { + return run(() -> { + swerveDrive.driveFieldOriented(velocity.get()); + }); + } + + /** + * Drive according to the chassis robot oriented velocity. + * + * @param velocity Robot oriented {@link ChassisSpeeds} + */ + public void drive(ChassisSpeeds velocity) { + swerveDrive.drive(velocity); + } + + /** + * Get the swerve drive kinematics object. + * + * @return {@link SwerveDriveKinematics} of the swerve drive. + */ + public SwerveDriveKinematics getKinematics() { + return swerveDrive.kinematics; + } + + /** + * Resets odometry to the given pose. Gyro angle and module positions do not + * need to be reset when calling this + * method. However, if either gyro angle or module position is reset, this must + * be called in order for odometry to + * keep working. + * + * @param initialHolonomicPose The pose to set the odometry to + */ + public void resetOdometry(Pose2d initialHolonomicPose) { + swerveDrive.resetOdometry(initialHolonomicPose); + } + + /** + * Gets the current pose (position and rotation) of the robot, as reported by + * odometry. + * + * @return The robot's pose + */ + public Pose2d getPose() { + return swerveDrive.getPose(); + } + + /** + * Set chassis speeds with closed-loop velocity control. + * + * @param chassisSpeeds Chassis Speeds to set. + */ + public void setChassisSpeeds(ChassisSpeeds chassisSpeeds) { + swerveDrive.setChassisSpeeds(chassisSpeeds); + } + + /** + * Post the trajectory to the field. + * + * @param trajectory The trajectory to post. + */ + public void postTrajectory(Trajectory trajectory) { + swerveDrive.postTrajectory(trajectory); + } + + /** + * Resets the gyro angle to zero and resets odometry to the same position, but + * facing toward 0. + */ + public void zeroGyro() { + swerveDrive.zeroGyro(); + } + + /** + * Checks if the alliance is red, defaults to false if alliance isn't available. + * + * @return true if the red alliance, false if blue. Defaults to false if none is + * available. + */ + private boolean isRedAlliance() { + var alliance = DriverStation.getAlliance(); + return alliance.isPresent() ? alliance.get() == DriverStation.Alliance.Red : false; + } + + /** + * This will zero (calibrate) the robot to assume the current position is facing + * forward + *

+ * If red alliance rotate the robot 180 after the drviebase zero command + */ + public void zeroGyroWithAlliance() { + if (isRedAlliance()) { + zeroGyro(); + // Set the pose 180 degrees + resetOdometry(new Pose2d(getPose().getTranslation(), Rotation2d.fromDegrees(180))); + } else { + zeroGyro(); + } + } + + /** + * Sets the drive motors to brake/coast mode. + * + * @param brake True to set motors to brake mode, false for coast. + */ + public void setMotorBrake(boolean brake) { + swerveDrive.setMotorIdleMode(brake); + } + + /** + * Gets the current yaw angle of the robot, as reported by the swerve pose + * estimator in the underlying drivebase. + * Note, this is not the raw gyro reading, this may be corrected from calls to + * resetOdometry(). + * + * @return The yaw angle + */ + public Rotation2d getHeading() { + return getPose().getRotation(); + } + + /** + * Get the chassis speeds based on controller input of 2 joysticks. One for + * speeds in which direction. The other for + * the angle of the robot. + * + * @param xInput X joystick input for the robot to move in the X direction. + * @param yInput Y joystick input for the robot to move in the Y direction. + * @param headingX X joystick which controls the angle of the robot. + * @param headingY Y joystick which controls the angle of the robot. + * @return {@link ChassisSpeeds} which can be sent to the Swerve Drive. + */ + public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, double headingX, double headingY) { + Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(xInput, yInput)); + return swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), + scaledInputs.getY(), + headingX, + headingY, + getHeading().getRadians(), + Constants.MAX_SPEED); + } + + /** + * Get the chassis speeds based on controller input of 1 joystick and one angle. + * Control the robot at an offset of + * 90deg. + * + * @param xInput X joystick input for the robot to move in the X direction. + * @param yInput Y joystick input for the robot to move in the Y direction. + * @param angle The angle in as a {@link Rotation2d}. + * @return {@link ChassisSpeeds} which can be sent to the Swerve Drive. + */ + public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, Rotation2d angle) { + Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(xInput, yInput)); + + return swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), + scaledInputs.getY(), + angle.getRadians(), + getHeading().getRadians(), + Constants.MAX_SPEED); + } + + /** + * Gets the current field-relative velocity (x, y and omega) of the robot + * + * @return A ChassisSpeeds object of the current field-relative velocity + */ + public ChassisSpeeds getFieldVelocity() { + return swerveDrive.getFieldVelocity(); + } + + /** + * Gets the current velocity (x, y and omega) of the robot + * + * @return A {@link ChassisSpeeds} object of the current velocity + */ + public ChassisSpeeds getRobotVelocity() { + return swerveDrive.getRobotVelocity(); + } + + /** + * Get the {@link SwerveController} in the swerve drive. + * + * @return {@link SwerveController} from the {@link SwerveDrive}. + */ + public SwerveController getSwerveController() { + return swerveDrive.swerveController; + } + + /** + * Get the {@link SwerveDriveConfiguration} object. + * + * @return The {@link SwerveDriveConfiguration} fpr the current drive. + */ + public SwerveDriveConfiguration getSwerveDriveConfiguration() { + return swerveDrive.swerveDriveConfiguration; + } + + /** + * Lock the swerve drive to prevent it from moving. + */ + public void lock() { + swerveDrive.lockPose(); + } + + /** + * Gets the current pitch angle of the robot, as reported by the imu. + * + * @return The heading as a {@link Rotation2d} angle + */ + public Rotation2d getPitch() { + return swerveDrive.getPitch(); + } + + /** + * Add a fake vision reading for testing purposes. + */ + public void addFakeVisionReading() { + swerveDrive.addVisionMeasurement(new Pose2d(3, 3, Rotation2d.fromDegrees(65)), Timer.getFPGATimestamp()); + } + + /** + * Gets the swerve drive object. + * + * @return {@link SwerveDrive} + */ + public SwerveDrive getSwerveDrive() { + return swerveDrive; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/swervedrive/Vision.java b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java new file mode 100644 index 0000000..713fbb1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java @@ -0,0 +1,629 @@ +package frc.robot.subsystems.swervedrive; + +import static edu.wpi.first.units.Units.Microseconds; +import static edu.wpi.first.units.Units.Seconds; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.networktables.NetworkTablesJNI; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import frc.robot.Robot; +import java.awt.Desktop; +import java.util.ArrayList; +import java.util.List; +import java.util.Optional; +import java.util.function.Supplier; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.PhotonPoseEstimator.PoseStrategy; +import org.photonvision.PhotonUtils; +import org.photonvision.simulation.PhotonCameraSim; +import org.photonvision.simulation.SimCameraProperties; +import org.photonvision.simulation.VisionSystemSim; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; +import swervelib.SwerveDrive; +import swervelib.telemetry.SwerveDriveTelemetry; + + +/** + * Example PhotonVision class to aid in the pursuit of accurate odometry. Taken from + * https://gitlab.com/ironclad_code/ironclad-2024/-/blob/master/src/main/java/frc/robot/vision/Vision.java?ref_type=heads + */ +public class Vision +{ + + /** + * April Tag Field Layout of the year. + */ + public static final AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadField( + AprilTagFields.k2026RebuiltAndymark); + /** + * Ambiguity defined as a value between (0,1). Used in {@link Vision#filterPose}. + */ + private final double maximumAmbiguity = 0.25; + /** + * Photon Vision Simulation + */ + public VisionSystemSim visionSim; + /** + * Count of times that the odom thinks we're more than 10meters away from the april tag. + */ + private double longDistangePoseEstimationCount = 0; + /** + * Current pose from the pose estimator using wheel odometry. + */ + private Supplier currentPose; + /** + * Field from {@link swervelib.SwerveDrive#field} + */ + private Field2d field2d; + + + /** + * Constructor for the Vision class. + * + * @param currentPose Current pose supplier, should reference {@link SwerveDrive#getPose()} + * @param field Current field, should be {@link SwerveDrive#field} + */ + public Vision(Supplier currentPose, Field2d field) + { + this.currentPose = currentPose; + this.field2d = field; + + if (Robot.isSimulation()) + { + visionSim = new VisionSystemSim("Vision"); + visionSim.addAprilTags(fieldLayout); + + for (Cameras c : Cameras.values()) + { + c.addToVisionSim(visionSim); + } + + openSimCameraViews(); + } + } + + /** + * Calculates a target pose relative to an AprilTag on the field. + * + * @param aprilTag The ID of the AprilTag. + * @param robotOffset The offset {@link Transform2d} of the robot to apply to the pose for the robot to position + * itself correctly. + * @return The target pose of the AprilTag. + */ + public static Pose2d getAprilTagPose(int aprilTag, Transform2d robotOffset) + { + Optional aprilTagPose3d = fieldLayout.getTagPose(aprilTag); + if (aprilTagPose3d.isPresent()) + { + return aprilTagPose3d.get().toPose2d().transformBy(robotOffset); + } else + { + throw new RuntimeException("Cannot get AprilTag " + aprilTag + " from field " + fieldLayout.toString()); + } + + } + + /** + * Update the pose estimation inside of {@link SwerveDrive} with all of the given poses. + * + * @param swerveDrive {@link SwerveDrive} instance. + */ + public void updatePoseEstimation(SwerveDrive swerveDrive) + { + if (SwerveDriveTelemetry.isSimulation && swerveDrive.getSimulationDriveTrainPose().isPresent()) + { + /* + * In the maple-sim, odometry is simulated using encoder values, accounting for factors like skidding and drifting. + * As a result, the odometry may not always be 100% accurate. + * However, the vision system should be able to provide a reasonably accurate pose estimation, even when odometry is incorrect. + * (This is why teams implement vision system to correct odometry.) + * Therefore, we must ensure that the actual robot pose is provided in the simulator when updating the vision simulation during the simulation. + */ + visionSim.update(swerveDrive.getSimulationDriveTrainPose().get()); + } + for (Cameras camera : Cameras.values()) + { + Optional poseEst = getEstimatedGlobalPose(camera); + if (poseEst.isPresent()) + { + var pose = poseEst.get(); + swerveDrive.addVisionMeasurement(pose.estimatedPose.toPose2d(), + pose.timestampSeconds, + camera.curStdDevs); + } + } + + } + + /** + * Generates the estimated robot pose. Returns empty if: + *

    + *
  • No Pose Estimates could be generated
    • + *
  • The generated pose estimate was considered not accurate
    • + *
+ * + * @return an {@link EstimatedRobotPose} with an estimated pose, timestamp, and targets used to create the estimate + */ + public Optional getEstimatedGlobalPose(Cameras camera) + { + Optional poseEst = camera.getEstimatedGlobalPose(); + if (Robot.isSimulation()) + { + Field2d debugField = visionSim.getDebugField(); + // Uncomment to enable outputting of vision targets in sim. + poseEst.ifPresentOrElse( + est -> + debugField + .getObject("VisionEstimation") + .setPose(est.estimatedPose.toPose2d()), + () -> { + debugField.getObject("VisionEstimation").setPoses(); + }); + } + return poseEst; + } + + + /** + * Filter pose via the ambiguity and find best estimate between all of the camera's throwing out distances more than + * 10m for a short amount of time. + * + * @param pose Estimated robot pose. + * @return Could be empty if there isn't a good reading. + */ + @Deprecated(since = "2024", forRemoval = true) + private Optional filterPose(Optional pose) + { + if (pose.isPresent()) + { + double bestTargetAmbiguity = 1; // 1 is max ambiguity + for (PhotonTrackedTarget target : pose.get().targetsUsed) + { + double ambiguity = target.getPoseAmbiguity(); + if (ambiguity != -1 && ambiguity < bestTargetAmbiguity) + { + bestTargetAmbiguity = ambiguity; + } + } + //ambiguity to high dont use estimate + if (bestTargetAmbiguity > maximumAmbiguity) + { + return Optional.empty(); + } + + //est pose is very far from recorded robot pose + if (PhotonUtils.getDistanceToPose(currentPose.get(), pose.get().estimatedPose.toPose2d()) > 1) + { + longDistangePoseEstimationCount++; + + //if it calculates that were 10 meter away for more than 10 times in a row its probably right + if (longDistangePoseEstimationCount < 10) + { + return Optional.empty(); + } + } else + { + longDistangePoseEstimationCount = 0; + } + return pose; + } + return Optional.empty(); + } + + + /** + * Get distance of the robot from the AprilTag pose. + * + * @param id AprilTag ID + * @return Distance + */ + public double getDistanceFromAprilTag(int id) + { + Optional tag = fieldLayout.getTagPose(id); + return tag.map(pose3d -> PhotonUtils.getDistanceToPose(currentPose.get(), pose3d.toPose2d())).orElse(-1.0); + } + + /** + * Get tracked target from a camera of AprilTagID + * + * @param id AprilTag ID + * @param camera Camera to check. + * @return Tracked target. + */ + public PhotonTrackedTarget getTargetFromId(int id, Cameras camera) + { + PhotonTrackedTarget target = null; + for (PhotonPipelineResult result : camera.resultsList) + { + if (result.hasTargets()) + { + for (PhotonTrackedTarget i : result.getTargets()) + { + if (i.getFiducialId() == id) + { + return i; + } + } + } + } + return target; + + } + + /** + * Vision simulation. + * + * @return Vision Simulation + */ + public VisionSystemSim getVisionSim() + { + return visionSim; + } + + /** + * Open up the photon vision camera streams on the localhost, assumes running photon vision on localhost. + */ + private void openSimCameraViews() + { + if (Desktop.isDesktopSupported() && Desktop.getDesktop().isSupported(Desktop.Action.BROWSE)) + { +// try +// { +// Desktop.getDesktop().browse(new URI("http://localhost:1182/")); +// Desktop.getDesktop().browse(new URI("http://localhost:1184/")); +// Desktop.getDesktop().browse(new URI("http://localhost:1186/")); +// } catch (IOException | URISyntaxException e) +// { +// e.printStackTrace(); +// } + } + } + + /** + * Update the {@link Field2d} to include tracked targets/ + */ + public void updateVisionField() + { + + List targets = new ArrayList(); + for (Cameras c : Cameras.values()) + { + if (!c.resultsList.isEmpty()) + { + PhotonPipelineResult latest = c.resultsList.get(0); + if (latest.hasTargets()) + { + targets.addAll(latest.targets); + } + } + } + + List poses = new ArrayList<>(); + for (PhotonTrackedTarget target : targets) + { + if (fieldLayout.getTagPose(target.getFiducialId()).isPresent()) + { + Pose2d targetPose = fieldLayout.getTagPose(target.getFiducialId()).get().toPose2d(); + poses.add(targetPose); + } + } + + field2d.getObject("tracked targets").setPoses(poses); + } + + /** + * Camera Enum to select each camera + */ + enum Cameras + { + /** + * Left Camera + */ + LEFT_CAM("left", + new Rotation3d(0, Math.toRadians(-24.094), Math.toRadians(30)), + new Translation3d(Units.inchesToMeters(12.056), + Units.inchesToMeters(10.981), + Units.inchesToMeters(8.44)), + VecBuilder.fill(4, 4, 8), VecBuilder.fill(0.5, 0.5, 1)), + /** + * Right Camera + */ + RIGHT_CAM("right", + new Rotation3d(0, Math.toRadians(-24.094), Math.toRadians(-30)), + new Translation3d(Units.inchesToMeters(12.056), + Units.inchesToMeters(-10.981), + Units.inchesToMeters(8.44)), + VecBuilder.fill(4, 4, 8), VecBuilder.fill(0.5, 0.5, 1)), + /** + * Center Camera + */ + CENTER_CAM("center", + new Rotation3d(0, Units.degreesToRadians(18), 0), + new Translation3d(Units.inchesToMeters(-4.628), + Units.inchesToMeters(-10.687), + Units.inchesToMeters(16.129)), + VecBuilder.fill(4, 4, 8), VecBuilder.fill(0.5, 0.5, 1)); + + /** + * Latency alert to use when high latency is detected. + */ + public final Alert latencyAlert; + /** + * Camera instance for comms. + */ + public final PhotonCamera camera; + /** + * Pose estimator for camera. + */ + public final PhotonPoseEstimator poseEstimator; + /** + * Standard Deviation for single tag readings for pose estimation. + */ + private final Matrix singleTagStdDevs; + /** + * Standard deviation for multi-tag readings for pose estimation. + */ + private final Matrix multiTagStdDevs; + /** + * Transform of the camera rotation and translation relative to the center of the robot + */ + private final Transform3d robotToCamTransform; + /** + * Current standard deviations used. + */ + public Matrix curStdDevs; + /** + * Estimated robot pose. + */ + public Optional estimatedRobotPose = Optional.empty(); + + /** + * Simulated camera instance which only exists during simulations. + */ + public PhotonCameraSim cameraSim; + /** + * Results list to be updated periodically and cached to avoid unnecessary queries. + */ + public List resultsList = new ArrayList<>(); + /** + * Last read from the camera timestamp to prevent lag due to slow data fetches. + */ + private double lastReadTimestamp = Microseconds.of(NetworkTablesJNI.now()).in(Seconds); + + /** + * Construct a Photon Camera class with help. Standard deviations are fake values, experiment and determine + * estimation noise on an actual robot. + * + * @param name Name of the PhotonVision camera found in the PV UI. + * @param robotToCamRotation {@link Rotation3d} of the camera. + * @param robotToCamTranslation {@link Translation3d} relative to the center of the robot. + * @param singleTagStdDevs Single AprilTag standard deviations of estimated poses from the camera. + * @param multiTagStdDevsMatrix Multi AprilTag standard deviations of estimated poses from the camera. + */ + Cameras(String name, Rotation3d robotToCamRotation, Translation3d robotToCamTranslation, + Matrix singleTagStdDevs, Matrix multiTagStdDevsMatrix) + { + latencyAlert = new Alert("'" + name + "' Camera is experiencing high latency.", AlertType.kWarning); + + camera = new PhotonCamera(name); + + // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html + robotToCamTransform = new Transform3d(robotToCamTranslation, robotToCamRotation); + + poseEstimator = new PhotonPoseEstimator(Vision.fieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + robotToCamTransform); + poseEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); + + this.singleTagStdDevs = singleTagStdDevs; + this.multiTagStdDevs = multiTagStdDevsMatrix; + + if (Robot.isSimulation()) + { + SimCameraProperties cameraProp = new SimCameraProperties(); + // A 640 x 480 camera with a 100 degree diagonal FOV. + cameraProp.setCalibration(960, 720, Rotation2d.fromDegrees(100)); + // Approximate detection noise with average and standard deviation error in pixels. + cameraProp.setCalibError(0.25, 0.08); + // Set the camera image capture framerate (Note: this is limited by robot loop rate). + cameraProp.setFPS(30); + // The average and standard deviation in milliseconds of image data latency. + cameraProp.setAvgLatencyMs(35); + cameraProp.setLatencyStdDevMs(5); + + cameraSim = new PhotonCameraSim(camera, cameraProp); + cameraSim.enableDrawWireframe(true); + } + } + + /** + * Add camera to {@link VisionSystemSim} for simulated photon vision. + * + * @param systemSim {@link VisionSystemSim} to use. + */ + public void addToVisionSim(VisionSystemSim systemSim) + { + if (Robot.isSimulation()) + { + systemSim.addCamera(cameraSim, robotToCamTransform); + } + } + + /** + * Get the result with the least ambiguity from the best tracked target within the Cache. This may not be the most + * recent result! + * + * @return The result in the cache with the least ambiguous best tracked target. This is not the most recent result! + */ + public Optional getBestResult() + { + if (resultsList.isEmpty()) + { + return Optional.empty(); + } + + PhotonPipelineResult bestResult = resultsList.get(0); + double amiguity = bestResult.getBestTarget().getPoseAmbiguity(); + double currentAmbiguity = 0; + for (PhotonPipelineResult result : resultsList) + { + currentAmbiguity = result.getBestTarget().getPoseAmbiguity(); + if (currentAmbiguity < amiguity && currentAmbiguity > 0) + { + bestResult = result; + amiguity = currentAmbiguity; + } + } + return Optional.of(bestResult); + } + + /** + * Get the latest result from the current cache. + * + * @return Empty optional if nothing is found. Latest result if something is there. + */ + public Optional getLatestResult() + { + return resultsList.isEmpty() ? Optional.empty() : Optional.of(resultsList.get(0)); + } + + /** + * Get the estimated robot pose. Updates the current robot pose estimation, standard deviations, and flushes the + * cache of results. + * + * @return Estimated pose. + */ + public Optional getEstimatedGlobalPose() + { + updateUnreadResults(); + return estimatedRobotPose; + } + + /** + * Update the latest results, cached with a maximum refresh rate of 1req/15ms. Sorts the list by timestamp. + */ + private void updateUnreadResults() + { + double mostRecentTimestamp = resultsList.isEmpty() ? 0.0 : resultsList.get(0).getTimestampSeconds(); + + for (PhotonPipelineResult result : resultsList) + { + mostRecentTimestamp = Math.max(mostRecentTimestamp, result.getTimestampSeconds()); + } + + resultsList = Robot.isReal() ? camera.getAllUnreadResults() : cameraSim.getCamera().getAllUnreadResults(); + resultsList.sort((PhotonPipelineResult a, PhotonPipelineResult b) -> { + return a.getTimestampSeconds() >= b.getTimestampSeconds() ? 1 : -1; + }); + if (!resultsList.isEmpty()) + { + updateEstimatedGlobalPose(); + } + + } + + /** + * The latest estimated robot pose on the field from vision data. This may be empty. This should only be called once + * per loop. + * + *

Also includes updates for the standard deviations, which can (optionally) be retrieved with + * {@link Cameras#updateEstimationStdDevs} + * + * @return An {@link EstimatedRobotPose} with an estimated pose, estimate timestamp, and targets used for + * estimation. + */ + private void updateEstimatedGlobalPose() + { + Optional visionEst = Optional.empty(); + for (var change : resultsList) + { + visionEst = poseEstimator.update(change); + updateEstimationStdDevs(visionEst, change.getTargets()); + } + estimatedRobotPose = visionEst; + } + + /** + * Calculates new standard deviations This algorithm is a heuristic that creates dynamic standard deviations based + * on number of tags, estimation strategy, and distance from the tags. + * + * @param estimatedPose The estimated pose to guess standard deviations for. + * @param targets All targets in this camera frame + */ + private void updateEstimationStdDevs( + Optional estimatedPose, List targets) + { + if (estimatedPose.isEmpty()) + { + // No pose input. Default to single-tag std devs + curStdDevs = singleTagStdDevs; + + } else + { + // Pose present. Start running Heuristic + var estStdDevs = singleTagStdDevs; + int numTags = 0; + double avgDist = 0; + + // Precalculation - see how many tags we found, and calculate an average-distance metric + for (var tgt : targets) + { + var tagPose = poseEstimator.getFieldTags().getTagPose(tgt.getFiducialId()); + if (tagPose.isEmpty()) + { + continue; + } + numTags++; + avgDist += + tagPose + .get() + .toPose2d() + .getTranslation() + .getDistance(estimatedPose.get().estimatedPose.toPose2d().getTranslation()); + } + + if (numTags == 0) + { + // No tags visible. Default to single-tag std devs + curStdDevs = singleTagStdDevs; + } else + { + // One or more tags visible, run the full heuristic. + avgDist /= numTags; + // Decrease std devs if multiple targets are visible + if (numTags > 1) + { + estStdDevs = multiTagStdDevs; + } + // Increase std devs based on (average) distance + if (numTags == 1 && avgDist > 4) + { + estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE); + } else + { + estStdDevs = estStdDevs.times(1 + (avgDist * avgDist / 30)); + } + curStdDevs = estStdDevs; + } + } + } + } +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib-2026.1.2.json b/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "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/vendordeps/Phoenix5-replay-5.36.0.json b/vendordeps/Phoenix5-replay-5.36.0.json new file mode 100644 index 0000000..0e799ed --- /dev/null +++ b/vendordeps/Phoenix5-replay-5.36.0.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0", + "frcYear": "2026", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6-replay-26.1.0.json b/vendordeps/Phoenix6-replay-26.1.0.json new file mode 100644 index 0000000..e49c760 --- /dev/null +++ b/vendordeps/Phoenix6-replay-26.1.0.json @@ -0,0 +1,497 @@ +{ + "fileName": "Phoenix6-replay-26.1.0.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.1.0", + "frcYear": "2026", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.1.0", + "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": "26.1.0", + "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": "26.1.0", + "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": "26.1.0", + "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": "26.1.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.1.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.1.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.1.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..d8ba7ce --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,133 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2026.0.2", + "frcYear": "2026", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2026.0.2" + } + ], + "jniDependencies": [ + 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