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Upgrade to Gradle 7.2 and WPILib 2022 (#316)

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This commit is contained in:
Tyler Veness
2021-11-21 17:22:56 -08:00
committed by GitHub
parent ffe34f00fe
commit 5ca39e7f84
316 changed files with 671 additions and 1019 deletions
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1
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java
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@@ -14,7 +14,6 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest;
import edu.wpi.first.wpilibj.RobotBase;

18
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java
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@@ -14,17 +14,16 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import java.util.List;
/**
@@ -34,7 +33,6 @@ import java.util.List;
* thinks it ought to be.
*/
public class AutoController {
private Trajectory trajectory;
private RamseteController ramsete = new RamseteController();
@@ -46,7 +44,6 @@ public class AutoController {
Trajectory.State desiredDtState;
public AutoController() {
// Change this trajectory if you need the robot to follow different paths.
trajectory =
TrajectoryGenerator.generateTrajectory(
@@ -83,7 +80,6 @@ public class AutoController {
* @return The commanded drivetrain motion
*/
public ChassisSpeeds getCurMotorCmds(Pose2d curEstPose) {
if (isRunning) {
double elapsed = timer.get();
desiredDtState = trajectory.sample(elapsed);

12
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
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@@ -14,14 +14,13 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.util.Units;
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.Translation2d;
import edu.wpi.first.math.util.Units;
import org.photonvision.SimVisionTarget;
/**
@@ -31,7 +30,6 @@ import org.photonvision.SimVisionTarget;
* at the field drawings 3) Match with how your vision coprocessor is configured.
*/
public class Constants {
//////////////////////////////////////////////////////////////////
// Drivetrain Physical
//////////////////////////////////////////////////////////////////

22
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java
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@@ -14,18 +14,17 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
/**
* Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor
@@ -33,15 +32,14 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
* speed.
*/
public class Drivetrain {
// PWM motor controller output definitions
PWMVictorSPX leftLeader = new PWMVictorSPX(Constants.kDtLeftLeaderPin);
PWMVictorSPX leftFollower = new PWMVictorSPX(Constants.kDtLeftFollowerPin);
PWMVictorSPX rightLeader = new PWMVictorSPX(Constants.kDtRightLeaderPin);
PWMVictorSPX rightFollower = new PWMVictorSPX(Constants.kDtRightFollowerPin);
SpeedControllerGroup leftGroup = new SpeedControllerGroup(leftLeader, leftFollower);
SpeedControllerGroup rightGroup = new SpeedControllerGroup(rightLeader, rightFollower);
MotorControllerGroup leftGroup = new MotorControllerGroup(leftLeader, leftFollower);
MotorControllerGroup rightGroup = new MotorControllerGroup(rightLeader, rightFollower);
// Drivetrain wheel speed sensors
// Used both for speed control and pose estimation.

23
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
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@@ -14,21 +14,20 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N5;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N3;
import edu.wpi.first.wpiutil.math.numbers.N5;
import org.photonvision.PhotonCamera;
/**
@@ -37,7 +36,6 @@ import org.photonvision.PhotonCamera;
* filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at.
*/
public class DrivetrainPoseEstimator {
// Sensors used as part of the Pose Estimation
private final AnalogGyro gyro = new AnalogGyro(Constants.kGyroPin);
private PhotonCamera cam = new PhotonCamera(Constants.kCamName);
@@ -75,7 +73,6 @@ public class DrivetrainPoseEstimator {
*/
public void update(
DifferentialDriveWheelSpeeds actWheelSpeeds, double leftDist, double rightDist) {
m_poseEstimator.update(gyro.getRotation2d(), actWheelSpeeds, leftDist, rightDist);
var res = cam.getLatestResult();

8
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/OperatorInterface.java
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@@ -14,11 +14,9 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.wpilibj.XboxController;
public class OperatorInterface {
@@ -34,7 +32,7 @@ public class OperatorInterface {
public double getFwdRevSpdCmd() {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
return -speedLimiter.calculate(opCtrl.getY(GenericHID.Hand.kLeft)) * Constants.kMaxSpeed;
return -speedLimiter.calculate(opCtrl.getLeftY()) * Constants.kMaxSpeed;
}
public double getRotateSpdCmd() {
@@ -42,7 +40,7 @@ public class OperatorInterface {
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
return -rotLimiter.calculate(opCtrl.getX(GenericHID.Hand.kRight)) * Constants.kMaxAngularSpeed;
return -rotLimiter.calculate(opCtrl.getRightX()) * Constants.kMaxAngularSpeed;
}
public boolean getSimKickCmd() {

4
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/PoseTelemetry.java
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@@ -14,16 +14,14 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/** Reports our expected, desired, and actual poses to dashboards */
public class PoseTelemetry {
Field2d field = new Field2d();
Pose2d actPose = new Pose2d();

6
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Robot.java
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@@ -14,16 +14,14 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.robot;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import org.photonlib.examples.simposeest.sim.DrivetrainSim;
public class Robot extends TimedRobot {
AutoController autoCtrl = new AutoController();
Drivetrain dt = new Drivetrain();
OperatorInterface opInf = new OperatorInterface();

21
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
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@@ -14,23 +14,22 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonlib.examples.simposeest.sim;
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.Translation2d;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.numbers.N2;
import org.photonlib.examples.simposeest.robot.Constants;
import org.photonvision.SimVisionSystem;
@@ -42,7 +41,6 @@ import org.photonvision.SimVisionSystem;
* real motors/sensors/physics are used instead.
*/
public class DrivetrainSim {
// Simulated Sensors
AnalogGyroSim gyroSim = new AnalogGyroSim(Constants.kGyroPin);
EncoderSim leftEncoderSim = EncoderSim.createForChannel(Constants.kDtLeftEncoderPinA);
@@ -100,11 +98,10 @@ public class DrivetrainSim {
* physics forward by a single 20ms step.
*/
public void update() {
double leftMotorCmd = 0;
double rightMotorCmd = 0;
if (DriverStation.getInstance().isEnabled() && !RobotController.isBrownedOut()) {
if (DriverStation.isEnabled() && !RobotController.isBrownedOut()) {
// If the motor controllers are enabled...
// Roughly model the effect of leader and follower motor pushing on the same
// gearbox.