mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Update to wpilib 2023 beta 7 (#607)
We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.
This commit is contained in:
shueja-personal
162
photonlib-java-examples/aimandrange/.gitignore
vendored
Normal file
162
photonlib-java-examples/aimandrange/.gitignore
vendored
Normal file
@@ -0,0 +1,162 @@
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### C++ ###
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
### Java ###
|
||||
# Compiled class file
|
||||
*.class
|
||||
|
||||
# Log file
|
||||
*.log
|
||||
|
||||
# BlueJ files
|
||||
*.ctxt
|
||||
|
||||
# Mobile Tools for Java (J2ME)
|
||||
.mtj.tmp/
|
||||
|
||||
# Package Files #
|
||||
*.jar
|
||||
*.war
|
||||
*.nar
|
||||
*.ear
|
||||
*.zip
|
||||
*.tar.gz
|
||||
*.rar
|
||||
|
||||
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
|
||||
hs_err_pid*
|
||||
|
||||
### Linux ###
|
||||
*~
|
||||
|
||||
# temporary files which can be created if a process still has a handle open of a deleted file
|
||||
.fuse_hidden*
|
||||
|
||||
# KDE directory preferences
|
||||
.directory
|
||||
|
||||
# Linux trash folder which might appear on any partition or disk
|
||||
.Trash-*
|
||||
|
||||
# .nfs files are created when an open file is removed but is still being accessed
|
||||
.nfs*
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
|
||||
### Windows ###
|
||||
# Windows thumbnail cache files
|
||||
Thumbs.db
|
||||
ehthumbs.db
|
||||
ehthumbs_vista.db
|
||||
|
||||
# Dump file
|
||||
*.stackdump
|
||||
|
||||
# Folder config file
|
||||
[Dd]esktop.ini
|
||||
|
||||
# Recycle Bin used on file shares
|
||||
$RECYCLE.BIN/
|
||||
|
||||
# Windows Installer files
|
||||
*.cab
|
||||
*.msi
|
||||
*.msix
|
||||
*.msm
|
||||
*.msp
|
||||
|
||||
# Windows shortcuts
|
||||
*.lnk
|
||||
|
||||
### Gradle ###
|
||||
.gradle
|
||||
/build/
|
||||
|
||||
# Ignore Gradle GUI config
|
||||
gradle-app.setting
|
||||
|
||||
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||
!gradle-wrapper.jar
|
||||
|
||||
# Cache of project
|
||||
.gradletasknamecache
|
||||
|
||||
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2023Beta",
|
||||
"teamNumber": 6995
|
||||
}
|
||||
24
photonlib-java-examples/aimandrange/WPILib-License.md
Normal file
24
photonlib-java-examples/aimandrange/WPILib-License.md
Normal file
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2021 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.
|
||||
94
photonlib-java-examples/aimandrange/build.gradle
Normal file
94
photonlib-java-examples/aimandrange/build.gradle
Normal file
@@ -0,0 +1,94 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2023.1.1-beta-7"
|
||||
}
|
||||
|
||||
sourceCompatibility = JavaVersion.VERSION_11
|
||||
targetCompatibility = JavaVersion.VERSION_11
|
||||
|
||||
apply from: "${rootDir}/../shared/examples_common.gradle"
|
||||
|
||||
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.getTeamOrDefault(5940)
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 4.
|
||||
dependencies {
|
||||
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 'junit:junit:4.13.1'
|
||||
}
|
||||
|
||||
// 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) } }
|
||||
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'
|
||||
}
|
||||
29
photonlib-java-examples/aimandrange/settings.gradle
Normal file
29
photonlib-java-examples/aimandrange/settings.gradle
Normal file
@@ -0,0 +1,29 @@
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
rootProject.name = 'aimandrange'
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2023'
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
97
photonlib-java-examples/aimandrange/simgui-ds.json
Normal file
97
photonlib-java-examples/aimandrange/simgui-ds.json
Normal file
@@ -0,0 +1,97 @@
|
||||
{
|
||||
"keyboardJoysticks": [
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 65,
|
||||
"incKey": 68
|
||||
},
|
||||
{
|
||||
"decKey": 87,
|
||||
"incKey": 83
|
||||
},
|
||||
{
|
||||
"decKey": 69,
|
||||
"decayRate": 0.0,
|
||||
"incKey": 82,
|
||||
"keyRate": 0.009999999776482582
|
||||
}
|
||||
],
|
||||
"axisCount": 3,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
90,
|
||||
88,
|
||||
67,
|
||||
86
|
||||
],
|
||||
"povConfig": [
|
||||
{
|
||||
"key0": 328,
|
||||
"key135": 323,
|
||||
"key180": 322,
|
||||
"key225": 321,
|
||||
"key270": 324,
|
||||
"key315": 327,
|
||||
"key45": 329,
|
||||
"key90": 326
|
||||
}
|
||||
],
|
||||
"povCount": 1
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 74,
|
||||
"incKey": 76
|
||||
},
|
||||
{
|
||||
"decKey": 73,
|
||||
"incKey": 75
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
77,
|
||||
44,
|
||||
46,
|
||||
47
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 263,
|
||||
"incKey": 262
|
||||
},
|
||||
{
|
||||
"decKey": 265,
|
||||
"incKey": 264
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 6,
|
||||
"buttonKeys": [
|
||||
260,
|
||||
268,
|
||||
266,
|
||||
261,
|
||||
269,
|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{
|
||||
"guid": "Keyboard0"
|
||||
}
|
||||
]
|
||||
}
|
||||
18
photonlib-java-examples/aimandrange/simgui.json
Normal file
18
photonlib-java-examples/aimandrange/simgui.json
Normal file
@@ -0,0 +1,18 @@
|
||||
{
|
||||
"NTProvider": {
|
||||
"types": {
|
||||
"/FMSInfo": "FMSInfo",
|
||||
"/SmartDashboard/Field": "Field2d"
|
||||
}
|
||||
},
|
||||
"NetworkTables": {
|
||||
"transitory": {
|
||||
"SmartDashboard": {
|
||||
"Field": {
|
||||
"open": true
|
||||
},
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.getinrange;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.wpilibj.RobotBase;
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.aimandrange;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
162
photonlib-java-examples/aimattarget/.gitignore
vendored
Normal file
162
photonlib-java-examples/aimattarget/.gitignore
vendored
Normal file
@@ -0,0 +1,162 @@
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### C++ ###
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
### Java ###
|
||||
# Compiled class file
|
||||
*.class
|
||||
|
||||
# Log file
|
||||
*.log
|
||||
|
||||
# BlueJ files
|
||||
*.ctxt
|
||||
|
||||
# Mobile Tools for Java (J2ME)
|
||||
.mtj.tmp/
|
||||
|
||||
# Package Files #
|
||||
*.jar
|
||||
*.war
|
||||
*.nar
|
||||
*.ear
|
||||
*.zip
|
||||
*.tar.gz
|
||||
*.rar
|
||||
|
||||
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
|
||||
hs_err_pid*
|
||||
|
||||
### Linux ###
|
||||
*~
|
||||
|
||||
# temporary files which can be created if a process still has a handle open of a deleted file
|
||||
.fuse_hidden*
|
||||
|
||||
# KDE directory preferences
|
||||
.directory
|
||||
|
||||
# Linux trash folder which might appear on any partition or disk
|
||||
.Trash-*
|
||||
|
||||
# .nfs files are created when an open file is removed but is still being accessed
|
||||
.nfs*
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
|
||||
### Windows ###
|
||||
# Windows thumbnail cache files
|
||||
Thumbs.db
|
||||
ehthumbs.db
|
||||
ehthumbs_vista.db
|
||||
|
||||
# Dump file
|
||||
*.stackdump
|
||||
|
||||
# Folder config file
|
||||
[Dd]esktop.ini
|
||||
|
||||
# Recycle Bin used on file shares
|
||||
$RECYCLE.BIN/
|
||||
|
||||
# Windows Installer files
|
||||
*.cab
|
||||
*.msi
|
||||
*.msix
|
||||
*.msm
|
||||
*.msp
|
||||
|
||||
# Windows shortcuts
|
||||
*.lnk
|
||||
|
||||
### Gradle ###
|
||||
.gradle
|
||||
/build/
|
||||
|
||||
# Ignore Gradle GUI config
|
||||
gradle-app.setting
|
||||
|
||||
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||
!gradle-wrapper.jar
|
||||
|
||||
# Cache of project
|
||||
.gradletasknamecache
|
||||
|
||||
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2023Beta",
|
||||
"teamNumber": 6995
|
||||
}
|
||||
24
photonlib-java-examples/aimattarget/WPILib-License.md
Normal file
24
photonlib-java-examples/aimattarget/WPILib-License.md
Normal file
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2021 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.
|
||||
94
photonlib-java-examples/aimattarget/build.gradle
Normal file
94
photonlib-java-examples/aimattarget/build.gradle
Normal file
@@ -0,0 +1,94 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2023.1.1-beta-7"
|
||||
}
|
||||
|
||||
sourceCompatibility = JavaVersion.VERSION_11
|
||||
targetCompatibility = JavaVersion.VERSION_11
|
||||
|
||||
def ROBOT_MAIN_CLASS = "frc.robot.Main"
|
||||
|
||||
apply from: "${rootDir}/../shared/examples_common.gradle"
|
||||
|
||||
// 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.getTeamOrDefault(5940)
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 4.
|
||||
dependencies {
|
||||
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 'junit:junit:4.13.1'
|
||||
}
|
||||
|
||||
// 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) } }
|
||||
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'
|
||||
}
|
||||
29
photonlib-java-examples/aimattarget/settings.gradle
Normal file
29
photonlib-java-examples/aimattarget/settings.gradle
Normal file
@@ -0,0 +1,29 @@
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
rootProject.name = 'aimattarget'
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2023'
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
97
photonlib-java-examples/aimattarget/simgui-ds.json
Normal file
97
photonlib-java-examples/aimattarget/simgui-ds.json
Normal file
@@ -0,0 +1,97 @@
|
||||
{
|
||||
"keyboardJoysticks": [
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 65,
|
||||
"incKey": 68
|
||||
},
|
||||
{
|
||||
"decKey": 87,
|
||||
"incKey": 83
|
||||
},
|
||||
{
|
||||
"decKey": 69,
|
||||
"decayRate": 0.0,
|
||||
"incKey": 82,
|
||||
"keyRate": 0.009999999776482582
|
||||
}
|
||||
],
|
||||
"axisCount": 3,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
90,
|
||||
88,
|
||||
67,
|
||||
86
|
||||
],
|
||||
"povConfig": [
|
||||
{
|
||||
"key0": 328,
|
||||
"key135": 323,
|
||||
"key180": 322,
|
||||
"key225": 321,
|
||||
"key270": 324,
|
||||
"key315": 327,
|
||||
"key45": 329,
|
||||
"key90": 326
|
||||
}
|
||||
],
|
||||
"povCount": 1
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 74,
|
||||
"incKey": 76
|
||||
},
|
||||
{
|
||||
"decKey": 73,
|
||||
"incKey": 75
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
77,
|
||||
44,
|
||||
46,
|
||||
47
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 263,
|
||||
"incKey": 262
|
||||
},
|
||||
{
|
||||
"decKey": 265,
|
||||
"incKey": 264
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 6,
|
||||
"buttonKeys": [
|
||||
260,
|
||||
268,
|
||||
266,
|
||||
261,
|
||||
269,
|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{
|
||||
"guid": "Keyboard0"
|
||||
}
|
||||
]
|
||||
}
|
||||
18
photonlib-java-examples/aimattarget/simgui.json
Normal file
18
photonlib-java-examples/aimattarget/simgui.json
Normal file
@@ -0,0 +1,18 @@
|
||||
{
|
||||
"NTProvider": {
|
||||
"types": {
|
||||
"/FMSInfo": "FMSInfo",
|
||||
"/SmartDashboard/Field": "Field2d"
|
||||
}
|
||||
},
|
||||
"NetworkTables": {
|
||||
"transitory": {
|
||||
"SmartDashboard": {
|
||||
"Field": {
|
||||
"open": true
|
||||
},
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.aimandrange;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.wpilibj.RobotBase;
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.aimattarget;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
@@ -1,142 +1,35 @@
|
||||
import edu.wpi.first.toolchain.NativePlatforms
|
||||
|
||||
apply plugin: "java"
|
||||
apply plugin: "cpp"
|
||||
apply plugin: "edu.wpi.first.NativeUtils"
|
||||
|
||||
apply from: "${rootDir}/shared/config.gradle"
|
||||
|
||||
// Configure wpigui, libglass, libglassnt.
|
||||
nativeUtils {
|
||||
nativeDependencyContainer {
|
||||
wpigui(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
|
||||
groupId = "edu.wpi.first.wpigui"
|
||||
artifactId = "wpigui-cpp"
|
||||
headerClassifier = "headers"
|
||||
sourceClassifier = "sources"
|
||||
ext = "zip"
|
||||
version = wpilibVersion
|
||||
targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
|
||||
}
|
||||
libglass(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
|
||||
groupId = "edu.wpi.first.glass"
|
||||
artifactId = "libglass"
|
||||
headerClassifier = "headers"
|
||||
sourceClassifier = "sources"
|
||||
ext = "zip"
|
||||
version = wpilibVersion
|
||||
targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
|
||||
}
|
||||
libglassnt(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
|
||||
groupId = "edu.wpi.first.glass"
|
||||
artifactId = "libglassnt"
|
||||
headerClassifier = "headers"
|
||||
sourceClassifier = "sources"
|
||||
ext = "zip"
|
||||
version = wpilibVersion
|
||||
targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
|
||||
}
|
||||
|
||||
// Combined
|
||||
gui(getNativeDependencyTypeClass('AllPlatformsCombinedNativeDependency')) {
|
||||
dependencies = [
|
||||
"libglassnt", "libglass", "wpigui", "imgui_static",
|
||||
"wpimath_static", "ntcore_static", "wpiutil_static"]
|
||||
}
|
||||
}
|
||||
plugins {
|
||||
id "com.diffplug.spotless" version "6.1.2"
|
||||
}
|
||||
|
||||
ext {
|
||||
exampleFile = new File("$projectDir/src/main/java/org/photonlib/examples/examples.json")
|
||||
}
|
||||
|
||||
dependencies {
|
||||
implementation project(":photon-lib")
|
||||
implementation project(":photon-targeting")
|
||||
|
||||
implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
|
||||
implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
|
||||
implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
|
||||
implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
|
||||
implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
|
||||
implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
|
||||
implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
|
||||
implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
|
||||
implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
|
||||
implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
|
||||
implementation "edu.wpi.first.thirdparty.frc2022.opencv:opencv-java:$opencvVersion"
|
||||
}
|
||||
|
||||
model {
|
||||
components {
|
||||
dev(NativeExecutableSpec) {
|
||||
targetBuildTypes "debug"
|
||||
sources {
|
||||
cpp {
|
||||
source {
|
||||
srcDirs "src/dev/native/cpp"
|
||||
include "**/*.cpp"
|
||||
}
|
||||
exportedHeaders {
|
||||
srcDirs "src/dev/native/include"
|
||||
}
|
||||
}
|
||||
}
|
||||
binaries.all { binary ->
|
||||
nativeUtils.useRequiredLibrary(binary, "wpilib_executable_shared")
|
||||
nativeUtils.useRequiredLibrary(binary, "opencv_shared")
|
||||
}
|
||||
}
|
||||
}
|
||||
tasks {
|
||||
def found = false
|
||||
$.components.each {
|
||||
if (it in NativeExecutableSpec && it.name == "dev") {
|
||||
it.binaries.each {
|
||||
if (found)
|
||||
return
|
||||
|
||||
def arch = it.targetPlatform.name
|
||||
if (arch == NativePlatforms.desktop) {
|
||||
found = true
|
||||
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"
|
||||
|
||||
def doFirstTask = { task ->
|
||||
def extensions = ""
|
||||
it.tasks.install.installDirectory.get().getAsFile().eachFileRecurse {
|
||||
def name = it.name
|
||||
if (!(name.endsWith(".dll") || name.endsWith(".so") || name.endsWith(".dylib"))) {
|
||||
return
|
||||
}
|
||||
def file = it
|
||||
if (name.startsWith("halsim_gui") || name.startsWith("libhalsim_gui".toString())) {
|
||||
extensions += file.absolutePath + File.pathSeparator
|
||||
}
|
||||
}
|
||||
if (extensions != "") {
|
||||
task.environment "HALSIM_EXTENSIONS", extensions
|
||||
}
|
||||
}
|
||||
|
||||
new groovy.json.JsonSlurper().parseText(exampleFile.text).each { entry ->
|
||||
project.tasks.create("run${entry.foldername}", JavaExec) { run ->
|
||||
main = "org.photonlib.examples." + entry.foldername + ".Main"
|
||||
classpath = sourceSets.main.runtimeClasspath
|
||||
run.dependsOn it.tasks.install
|
||||
run.systemProperty "java.library.path", filePath
|
||||
run.environment "LD_LIBRARY_PATH", filePath
|
||||
run.workingDir filePath
|
||||
doFirst { doFirstTask(run) }
|
||||
|
||||
if (org.gradle.internal.os.OperatingSystem.current().isMacOsX()) {
|
||||
run.jvmArgs = ["-XstartOnFirstThread"]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
allprojects {
|
||||
repositories {
|
||||
mavenCentral()
|
||||
mavenLocal()
|
||||
maven { url = "https://maven.photonvision.org/repository/internal/" }
|
||||
}
|
||||
}
|
||||
|
||||
spotless {
|
||||
java {
|
||||
toggleOffOn()
|
||||
googleJavaFormat()
|
||||
indentWithTabs(2)
|
||||
indentWithSpaces(4)
|
||||
removeUnusedImports()
|
||||
trimTrailingWhitespace()
|
||||
endWithNewline()
|
||||
}
|
||||
java {
|
||||
target "**/*.java"
|
||||
targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
|
||||
targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
|
||||
}
|
||||
}
|
||||
|
||||
// Task that depends on the build task for every example
|
||||
task buildAllExamples { task ->
|
||||
new File('examples.txt').eachLine { line ->
|
||||
task.dependsOn(line + ":build")
|
||||
}
|
||||
}
|
||||
|
||||
5
photonlib-java-examples/examples.txt
Normal file
5
photonlib-java-examples/examples.txt
Normal file
@@ -0,0 +1,5 @@
|
||||
aimandrange
|
||||
aimattarget
|
||||
getinrange
|
||||
simaimandrange
|
||||
simposeest
|
||||
162
photonlib-java-examples/getinrange/.gitignore
vendored
Normal file
162
photonlib-java-examples/getinrange/.gitignore
vendored
Normal file
@@ -0,0 +1,162 @@
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### C++ ###
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
### Java ###
|
||||
# Compiled class file
|
||||
*.class
|
||||
|
||||
# Log file
|
||||
*.log
|
||||
|
||||
# BlueJ files
|
||||
*.ctxt
|
||||
|
||||
# Mobile Tools for Java (J2ME)
|
||||
.mtj.tmp/
|
||||
|
||||
# Package Files #
|
||||
*.jar
|
||||
*.war
|
||||
*.nar
|
||||
*.ear
|
||||
*.zip
|
||||
*.tar.gz
|
||||
*.rar
|
||||
|
||||
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
|
||||
hs_err_pid*
|
||||
|
||||
### Linux ###
|
||||
*~
|
||||
|
||||
# temporary files which can be created if a process still has a handle open of a deleted file
|
||||
.fuse_hidden*
|
||||
|
||||
# KDE directory preferences
|
||||
.directory
|
||||
|
||||
# Linux trash folder which might appear on any partition or disk
|
||||
.Trash-*
|
||||
|
||||
# .nfs files are created when an open file is removed but is still being accessed
|
||||
.nfs*
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
|
||||
### Windows ###
|
||||
# Windows thumbnail cache files
|
||||
Thumbs.db
|
||||
ehthumbs.db
|
||||
ehthumbs_vista.db
|
||||
|
||||
# Dump file
|
||||
*.stackdump
|
||||
|
||||
# Folder config file
|
||||
[Dd]esktop.ini
|
||||
|
||||
# Recycle Bin used on file shares
|
||||
$RECYCLE.BIN/
|
||||
|
||||
# Windows Installer files
|
||||
*.cab
|
||||
*.msi
|
||||
*.msix
|
||||
*.msm
|
||||
*.msp
|
||||
|
||||
# Windows shortcuts
|
||||
*.lnk
|
||||
|
||||
### Gradle ###
|
||||
.gradle
|
||||
/build/
|
||||
|
||||
# Ignore Gradle GUI config
|
||||
gradle-app.setting
|
||||
|
||||
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||
!gradle-wrapper.jar
|
||||
|
||||
# Cache of project
|
||||
.gradletasknamecache
|
||||
|
||||
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2023Beta",
|
||||
"teamNumber": 6995
|
||||
}
|
||||
24
photonlib-java-examples/getinrange/WPILib-License.md
Normal file
24
photonlib-java-examples/getinrange/WPILib-License.md
Normal file
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2021 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.
|
||||
94
photonlib-java-examples/getinrange/build.gradle
Normal file
94
photonlib-java-examples/getinrange/build.gradle
Normal file
@@ -0,0 +1,94 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2023.1.1-beta-7"
|
||||
}
|
||||
|
||||
sourceCompatibility = JavaVersion.VERSION_11
|
||||
targetCompatibility = JavaVersion.VERSION_11
|
||||
|
||||
apply from: "${rootDir}/../shared/examples_common.gradle"
|
||||
|
||||
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.getTeamOrDefault(5940)
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 4.
|
||||
dependencies {
|
||||
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 'junit:junit:4.13.1'
|
||||
}
|
||||
|
||||
// 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) } }
|
||||
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'
|
||||
}
|
||||
29
photonlib-java-examples/getinrange/settings.gradle
Normal file
29
photonlib-java-examples/getinrange/settings.gradle
Normal file
@@ -0,0 +1,29 @@
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
rootProject.name = 'getinrange'
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2023'
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
97
photonlib-java-examples/getinrange/simgui-ds.json
Normal file
97
photonlib-java-examples/getinrange/simgui-ds.json
Normal file
@@ -0,0 +1,97 @@
|
||||
{
|
||||
"keyboardJoysticks": [
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 65,
|
||||
"incKey": 68
|
||||
},
|
||||
{
|
||||
"decKey": 87,
|
||||
"incKey": 83
|
||||
},
|
||||
{
|
||||
"decKey": 69,
|
||||
"decayRate": 0.0,
|
||||
"incKey": 82,
|
||||
"keyRate": 0.009999999776482582
|
||||
}
|
||||
],
|
||||
"axisCount": 3,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
90,
|
||||
88,
|
||||
67,
|
||||
86
|
||||
],
|
||||
"povConfig": [
|
||||
{
|
||||
"key0": 328,
|
||||
"key135": 323,
|
||||
"key180": 322,
|
||||
"key225": 321,
|
||||
"key270": 324,
|
||||
"key315": 327,
|
||||
"key45": 329,
|
||||
"key90": 326
|
||||
}
|
||||
],
|
||||
"povCount": 1
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 74,
|
||||
"incKey": 76
|
||||
},
|
||||
{
|
||||
"decKey": 73,
|
||||
"incKey": 75
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
77,
|
||||
44,
|
||||
46,
|
||||
47
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 263,
|
||||
"incKey": 262
|
||||
},
|
||||
{
|
||||
"decKey": 265,
|
||||
"incKey": 264
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 6,
|
||||
"buttonKeys": [
|
||||
260,
|
||||
268,
|
||||
266,
|
||||
261,
|
||||
269,
|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{
|
||||
"guid": "Keyboard0"
|
||||
}
|
||||
]
|
||||
}
|
||||
18
photonlib-java-examples/getinrange/simgui.json
Normal file
18
photonlib-java-examples/getinrange/simgui.json
Normal file
@@ -0,0 +1,18 @@
|
||||
{
|
||||
"NTProvider": {
|
||||
"types": {
|
||||
"/FMSInfo": "FMSInfo",
|
||||
"/SmartDashboard/Field": "Field2d"
|
||||
}
|
||||
},
|
||||
"NetworkTables": {
|
||||
"transitory": {
|
||||
"SmartDashboard": {
|
||||
"Field": {
|
||||
"open": true
|
||||
},
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.aimattarget;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.wpilibj.RobotBase;
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.getinrange;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
8
photonlib-java-examples/gradle.properties
Normal file
8
photonlib-java-examples/gradle.properties
Normal file
@@ -0,0 +1,8 @@
|
||||
# The --add-exports flags work around a bug with spotless and JDK 17
|
||||
# https://github.com/diffplug/spotless/issues/834
|
||||
org.gradle.jvmargs= \
|
||||
--add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
|
||||
--add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
|
||||
--add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
|
||||
--add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
|
||||
--add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED
|
||||
BIN
photonlib-java-examples/gradle/wrapper/gradle-wrapper.jar
vendored
Normal file
BIN
photonlib-java-examples/gradle/wrapper/gradle-wrapper.jar
vendored
Normal file
Binary file not shown.
5
photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
5
photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
@@ -0,0 +1,5 @@
|
||||
distributionBase=GRADLE_USER_HOME
|
||||
distributionPath=wrapper/dists
|
||||
distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
|
||||
zipStoreBase=GRADLE_USER_HOME
|
||||
zipStorePath=wrapper/dists
|
||||
190
photonlib-java-examples/gradlew
vendored
Executable file
190
photonlib-java-examples/gradlew
vendored
Executable file
@@ -0,0 +1,190 @@
|
||||
#!/bin/sh
|
||||
|
||||
#
|
||||
# Copyright <20> 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.
|
||||
#
|
||||
|
||||
##############################################################################
|
||||
|
||||
# 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
|
||||
|
||||
APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
|
||||
|
||||
APP_NAME="Gradle"
|
||||
APP_BASE_NAME=${0##*/}
|
||||
|
||||
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
|
||||
|
||||
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
||||
MAX_FD=maximum
|
||||
|
||||
warn () {
|
||||
echo "$*"
|
||||
} >&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: $JAVA_HOME
|
||||
|
||||
Please set the JAVA_HOME variable in your environment to match the
|
||||
location of your Java installation."
|
||||
fi
|
||||
else
|
||||
JAVACMD=java
|
||||
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||
|
||||
Please set the JAVA_HOME variable in your environment to match the
|
||||
location of your Java installation."
|
||||
fi
|
||||
|
||||
# Increase the maximum file descriptors if we can.
|
||||
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
|
||||
case $MAX_FD in #(
|
||||
max*)
|
||||
MAX_FD=$( ulimit -H -n ) ||
|
||||
warn "Could not query maximum file descriptor limit"
|
||||
esac
|
||||
case $MAX_FD in #(
|
||||
'' | soft) :;; #(
|
||||
*)
|
||||
ulimit -n "$MAX_FD" ||
|
||||
warn "Could not set maximum file descriptor limit to $MAX_FD"
|
||||
esac
|
||||
fi
|
||||
|
||||
# Collect all arguments for the java command, stacking in reverse order:
|
||||
# * args from the command line
|
||||
# * the main class name
|
||||
# * -classpath
|
||||
# * -D...appname settings
|
||||
# * --module-path (only if needed)
|
||||
# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
|
||||
|
||||
# For Cygwin or MSYS, switch paths to Windows format before running java
|
||||
if "$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
|
||||
|
||||
# Collect all arguments for the java command;
|
||||
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
|
||||
# shell script including quotes and variable substitutions, so put them in
|
||||
# double quotes to make sure that they get re-expanded; and
|
||||
# * put everything else in single quotes, so that it's not re-expanded.
|
||||
|
||||
set -- \
|
||||
"-Dorg.gradle.appname=$APP_BASE_NAME" \
|
||||
-classpath "$CLASSPATH" \
|
||||
org.gradle.wrapper.GradleWrapperMain \
|
||||
"$@"
|
||||
|
||||
# Use "xargs" to parse quoted args.
|
||||
#
|
||||
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
|
||||
#
|
||||
# In Bash we could simply go:
|
||||
#
|
||||
# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
|
||||
# set -- "${ARGS[@]}" "$@"
|
||||
#
|
||||
# but POSIX shell has neither arrays nor command substitution, so instead we
|
||||
# post-process each arg (as a line of input to sed) to backslash-escape any
|
||||
# character that might be a shell metacharacter, then use eval to reverse
|
||||
# that process (while maintaining the separation between arguments), and wrap
|
||||
# the whole thing up as a single "set" statement.
|
||||
#
|
||||
# This will of course break if any of these variables contains a newline or
|
||||
# an unmatched quote.
|
||||
#
|
||||
|
||||
eval "set -- $(
|
||||
printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
|
||||
xargs -n1 |
|
||||
sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
|
||||
tr '\n' ' '
|
||||
)" '"$@"'
|
||||
|
||||
exec "$JAVACMD" "$@"
|
||||
89
photonlib-java-examples/gradlew.bat
vendored
Normal file
89
photonlib-java-examples/gradlew.bat
vendored
Normal file
@@ -0,0 +1,89 @@
|
||||
@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
|
||||
|
||||
@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=.
|
||||
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%" == "0" goto execute
|
||||
|
||||
echo.
|
||||
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||
echo.
|
||||
echo Please set the JAVA_HOME variable in your environment to match the
|
||||
echo location of your Java installation.
|
||||
|
||||
goto fail
|
||||
|
||||
:findJavaFromJavaHome
|
||||
set JAVA_HOME=%JAVA_HOME:"=%
|
||||
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
|
||||
|
||||
if exist "%JAVA_EXE%" goto execute
|
||||
|
||||
echo.
|
||||
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
|
||||
echo.
|
||||
echo Please set the JAVA_HOME variable in your environment to match the
|
||||
echo location of your Java installation.
|
||||
|
||||
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%"=="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!
|
||||
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
|
||||
exit /b 1
|
||||
|
||||
:mainEnd
|
||||
if "%OS%"=="Windows_NT" endlocal
|
||||
|
||||
:omega
|
||||
6
photonlib-java-examples/settings.gradle
Normal file
6
photonlib-java-examples/settings.gradle
Normal file
@@ -0,0 +1,6 @@
|
||||
include 'photon-targeting'
|
||||
include 'photon-core'
|
||||
include 'photon-server'
|
||||
include 'photon-lib'
|
||||
|
||||
new File('examples.txt').eachLine { line -> include line }
|
||||
162
photonlib-java-examples/simaimandrange/.gitignore
vendored
Normal file
162
photonlib-java-examples/simaimandrange/.gitignore
vendored
Normal file
@@ -0,0 +1,162 @@
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### C++ ###
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
### Java ###
|
||||
# Compiled class file
|
||||
*.class
|
||||
|
||||
# Log file
|
||||
*.log
|
||||
|
||||
# BlueJ files
|
||||
*.ctxt
|
||||
|
||||
# Mobile Tools for Java (J2ME)
|
||||
.mtj.tmp/
|
||||
|
||||
# Package Files #
|
||||
*.jar
|
||||
*.war
|
||||
*.nar
|
||||
*.ear
|
||||
*.zip
|
||||
*.tar.gz
|
||||
*.rar
|
||||
|
||||
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
|
||||
hs_err_pid*
|
||||
|
||||
### Linux ###
|
||||
*~
|
||||
|
||||
# temporary files which can be created if a process still has a handle open of a deleted file
|
||||
.fuse_hidden*
|
||||
|
||||
# KDE directory preferences
|
||||
.directory
|
||||
|
||||
# Linux trash folder which might appear on any partition or disk
|
||||
.Trash-*
|
||||
|
||||
# .nfs files are created when an open file is removed but is still being accessed
|
||||
.nfs*
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
|
||||
### Windows ###
|
||||
# Windows thumbnail cache files
|
||||
Thumbs.db
|
||||
ehthumbs.db
|
||||
ehthumbs_vista.db
|
||||
|
||||
# Dump file
|
||||
*.stackdump
|
||||
|
||||
# Folder config file
|
||||
[Dd]esktop.ini
|
||||
|
||||
# Recycle Bin used on file shares
|
||||
$RECYCLE.BIN/
|
||||
|
||||
# Windows Installer files
|
||||
*.cab
|
||||
*.msi
|
||||
*.msix
|
||||
*.msm
|
||||
*.msp
|
||||
|
||||
# Windows shortcuts
|
||||
*.lnk
|
||||
|
||||
### Gradle ###
|
||||
.gradle
|
||||
/build/
|
||||
|
||||
# Ignore Gradle GUI config
|
||||
gradle-app.setting
|
||||
|
||||
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||
!gradle-wrapper.jar
|
||||
|
||||
# Cache of project
|
||||
.gradletasknamecache
|
||||
|
||||
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2023Beta",
|
||||
"teamNumber": 6995
|
||||
}
|
||||
24
photonlib-java-examples/simaimandrange/WPILib-License.md
Normal file
24
photonlib-java-examples/simaimandrange/WPILib-License.md
Normal file
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2021 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.
|
||||
94
photonlib-java-examples/simaimandrange/build.gradle
Normal file
94
photonlib-java-examples/simaimandrange/build.gradle
Normal file
@@ -0,0 +1,94 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2023.1.1-beta-7"
|
||||
}
|
||||
|
||||
sourceCompatibility = JavaVersion.VERSION_11
|
||||
targetCompatibility = JavaVersion.VERSION_11
|
||||
|
||||
apply from: "${rootDir}/../shared/examples_common.gradle"
|
||||
|
||||
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.getTeamOrDefault(5940)
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 4.
|
||||
dependencies {
|
||||
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 'junit:junit:4.13.1'
|
||||
}
|
||||
|
||||
// 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) } }
|
||||
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'
|
||||
}
|
||||
29
photonlib-java-examples/simaimandrange/settings.gradle
Normal file
29
photonlib-java-examples/simaimandrange/settings.gradle
Normal file
@@ -0,0 +1,29 @@
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
rootProject.name = 'simaimandrange'
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2023'
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
105
photonlib-java-examples/simaimandrange/simgui-ds.json
Normal file
105
photonlib-java-examples/simaimandrange/simgui-ds.json
Normal file
@@ -0,0 +1,105 @@
|
||||
{
|
||||
"Keyboard 0 Settings": {
|
||||
"window": {
|
||||
"visible": true
|
||||
}
|
||||
},
|
||||
"keyboardJoysticks": [
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 87,
|
||||
"incKey": 83
|
||||
},
|
||||
{},
|
||||
{
|
||||
"decKey": 69,
|
||||
"decayRate": 0.0,
|
||||
"incKey": 82,
|
||||
"keyRate": 0.009999999776482582
|
||||
},
|
||||
{},
|
||||
{},
|
||||
{
|
||||
"decKey": 68,
|
||||
"incKey": 65
|
||||
}
|
||||
],
|
||||
"axisCount": 6,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
90,
|
||||
88,
|
||||
67,
|
||||
86
|
||||
],
|
||||
"povConfig": [
|
||||
{
|
||||
"key0": 328,
|
||||
"key135": 323,
|
||||
"key180": 322,
|
||||
"key225": 321,
|
||||
"key270": 324,
|
||||
"key315": 327,
|
||||
"key45": 329,
|
||||
"key90": 326
|
||||
}
|
||||
],
|
||||
"povCount": 1
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 74,
|
||||
"incKey": 76
|
||||
},
|
||||
{
|
||||
"decKey": 73,
|
||||
"incKey": 75
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
77,
|
||||
44,
|
||||
46,
|
||||
47
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 263,
|
||||
"incKey": 262
|
||||
},
|
||||
{
|
||||
"decKey": 265,
|
||||
"incKey": 264
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 6,
|
||||
"buttonKeys": [
|
||||
260,
|
||||
268,
|
||||
266,
|
||||
261,
|
||||
269,
|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{
|
||||
"guid": "Keyboard0"
|
||||
}
|
||||
]
|
||||
}
|
||||
44
photonlib-java-examples/simaimandrange/simgui.json
Normal file
44
photonlib-java-examples/simaimandrange/simgui.json
Normal file
@@ -0,0 +1,44 @@
|
||||
{
|
||||
"NTProvider": {
|
||||
"types": {
|
||||
"/FMSInfo": "FMSInfo",
|
||||
"/SmartDashboard/Field": "Field2d",
|
||||
"/SmartDashboard/photonvision Sim Field": "Field2d"
|
||||
},
|
||||
"windows": {
|
||||
"/SmartDashboard/Field": {
|
||||
"window": {
|
||||
"visible": true
|
||||
}
|
||||
},
|
||||
"/SmartDashboard/photonvision Sim Field": {
|
||||
"window": {
|
||||
"visible": true
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"NetworkTables": {
|
||||
"transitory": {
|
||||
"SmartDashboard": {
|
||||
"Field": {
|
||||
"open": true
|
||||
},
|
||||
"open": true
|
||||
},
|
||||
"photonvision": {
|
||||
"open": true,
|
||||
"photonvision": {
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"Plot": {
|
||||
"Plot <0>": {
|
||||
"window": {
|
||||
"visible": false
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simaimandrange;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.wpilibj.RobotBase;
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simaimandrange;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
@@ -30,7 +30,7 @@ import edu.wpi.first.wpilibj.TimedRobot;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
||||
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
|
||||
import org.photonlib.examples.simaimandrange.sim.DrivetrainSim;
|
||||
import frc.robot.sim.DrivetrainSim;
|
||||
import org.photonvision.PhotonCamera;
|
||||
import org.photonvision.PhotonUtils;
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simaimandrange.sim;
|
||||
package frc.robot.sim;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
@@ -40,7 +40,7 @@ import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
|
||||
import edu.wpi.first.wpilibj.simulation.PWMSim;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import org.photonlib.examples.simaimandrange.Robot;
|
||||
import frc.robot.Robot;
|
||||
import org.photonvision.SimVisionSystem;
|
||||
import org.photonvision.SimVisionTarget;
|
||||
|
||||
162
photonlib-java-examples/simposeest/.gitignore
vendored
Normal file
162
photonlib-java-examples/simposeest/.gitignore
vendored
Normal file
@@ -0,0 +1,162 @@
|
||||
# This gitignore has been specially created by the WPILib team.
|
||||
# If you remove items from this file, intellisense might break.
|
||||
|
||||
### C++ ###
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
### Java ###
|
||||
# Compiled class file
|
||||
*.class
|
||||
|
||||
# Log file
|
||||
*.log
|
||||
|
||||
# BlueJ files
|
||||
*.ctxt
|
||||
|
||||
# Mobile Tools for Java (J2ME)
|
||||
.mtj.tmp/
|
||||
|
||||
# Package Files #
|
||||
*.jar
|
||||
*.war
|
||||
*.nar
|
||||
*.ear
|
||||
*.zip
|
||||
*.tar.gz
|
||||
*.rar
|
||||
|
||||
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
|
||||
hs_err_pid*
|
||||
|
||||
### Linux ###
|
||||
*~
|
||||
|
||||
# temporary files which can be created if a process still has a handle open of a deleted file
|
||||
.fuse_hidden*
|
||||
|
||||
# KDE directory preferences
|
||||
.directory
|
||||
|
||||
# Linux trash folder which might appear on any partition or disk
|
||||
.Trash-*
|
||||
|
||||
# .nfs files are created when an open file is removed but is still being accessed
|
||||
.nfs*
|
||||
|
||||
### macOS ###
|
||||
# General
|
||||
.DS_Store
|
||||
.AppleDouble
|
||||
.LSOverride
|
||||
|
||||
# Icon must end with two \r
|
||||
Icon
|
||||
|
||||
# Thumbnails
|
||||
._*
|
||||
|
||||
# Files that might appear in the root of a volume
|
||||
.DocumentRevisions-V100
|
||||
.fseventsd
|
||||
.Spotlight-V100
|
||||
.TemporaryItems
|
||||
.Trashes
|
||||
.VolumeIcon.icns
|
||||
.com.apple.timemachine.donotpresent
|
||||
|
||||
# Directories potentially created on remote AFP share
|
||||
.AppleDB
|
||||
.AppleDesktop
|
||||
Network Trash Folder
|
||||
Temporary Items
|
||||
.apdisk
|
||||
|
||||
### VisualStudioCode ###
|
||||
.vscode/*
|
||||
!.vscode/settings.json
|
||||
!.vscode/tasks.json
|
||||
!.vscode/launch.json
|
||||
!.vscode/extensions.json
|
||||
|
||||
### Windows ###
|
||||
# Windows thumbnail cache files
|
||||
Thumbs.db
|
||||
ehthumbs.db
|
||||
ehthumbs_vista.db
|
||||
|
||||
# Dump file
|
||||
*.stackdump
|
||||
|
||||
# Folder config file
|
||||
[Dd]esktop.ini
|
||||
|
||||
# Recycle Bin used on file shares
|
||||
$RECYCLE.BIN/
|
||||
|
||||
# Windows Installer files
|
||||
*.cab
|
||||
*.msi
|
||||
*.msix
|
||||
*.msm
|
||||
*.msp
|
||||
|
||||
# Windows shortcuts
|
||||
*.lnk
|
||||
|
||||
### Gradle ###
|
||||
.gradle
|
||||
/build/
|
||||
|
||||
# Ignore Gradle GUI config
|
||||
gradle-app.setting
|
||||
|
||||
# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
|
||||
!gradle-wrapper.jar
|
||||
|
||||
# Cache of project
|
||||
.gradletasknamecache
|
||||
|
||||
# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
|
||||
# gradle/wrapper/gradle-wrapper.properties
|
||||
|
||||
# # VS Code Specific Java Settings
|
||||
# DO NOT REMOVE .classpath and .project
|
||||
.classpath
|
||||
.project
|
||||
.settings/
|
||||
bin/
|
||||
|
||||
# Simulation GUI and other tools window save file
|
||||
*-window.json
|
||||
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"enableCppIntellisense": false,
|
||||
"currentLanguage": "java",
|
||||
"projectYear": "2023Beta",
|
||||
"teamNumber": 6995
|
||||
}
|
||||
24
photonlib-java-examples/simposeest/WPILib-License.md
Normal file
24
photonlib-java-examples/simposeest/WPILib-License.md
Normal file
@@ -0,0 +1,24 @@
|
||||
Copyright (c) 2009-2021 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.
|
||||
94
photonlib-java-examples/simposeest/build.gradle
Normal file
94
photonlib-java-examples/simposeest/build.gradle
Normal file
@@ -0,0 +1,94 @@
|
||||
plugins {
|
||||
id "java"
|
||||
id "edu.wpi.first.GradleRIO" version "2023.1.1-beta-7"
|
||||
}
|
||||
|
||||
sourceCompatibility = JavaVersion.VERSION_11
|
||||
targetCompatibility = JavaVersion.VERSION_11
|
||||
|
||||
apply from: "${rootDir}/../shared/examples_common.gradle"
|
||||
|
||||
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.getTeamOrDefault(5940)
|
||||
debug = project.frc.getDebugOrDefault(false)
|
||||
|
||||
artifacts {
|
||||
// First part is artifact name, 2nd is artifact type
|
||||
// getTargetTypeClass is a shortcut to get the class type using a string
|
||||
|
||||
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
||||
}
|
||||
|
||||
// Static files artifact
|
||||
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
||||
files = project.fileTree('src/main/deploy')
|
||||
directory = '/home/lvuser/deploy'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
|
||||
|
||||
// Set to true to use debug for JNI.
|
||||
wpi.java.debugJni = false
|
||||
|
||||
// Set this to true to enable desktop support.
|
||||
def includeDesktopSupport = true
|
||||
|
||||
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
||||
// Also defines JUnit 4.
|
||||
dependencies {
|
||||
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 'junit:junit:4.13.1'
|
||||
}
|
||||
|
||||
// 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) } }
|
||||
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'
|
||||
}
|
||||
29
photonlib-java-examples/simposeest/settings.gradle
Normal file
29
photonlib-java-examples/simposeest/settings.gradle
Normal file
@@ -0,0 +1,29 @@
|
||||
import org.gradle.internal.os.OperatingSystem
|
||||
|
||||
rootProject.name = 'simposeest'
|
||||
|
||||
pluginManagement {
|
||||
repositories {
|
||||
mavenLocal()
|
||||
gradlePluginPortal()
|
||||
String frcYear = '2023'
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
102
photonlib-java-examples/simposeest/simgui-ds.json
Normal file
102
photonlib-java-examples/simposeest/simgui-ds.json
Normal file
@@ -0,0 +1,102 @@
|
||||
{
|
||||
"Keyboard 0 Settings": {
|
||||
"window": {
|
||||
"visible": true
|
||||
}
|
||||
},
|
||||
"keyboardJoysticks": [
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 65,
|
||||
"incKey": 68
|
||||
},
|
||||
{
|
||||
"decKey": 87,
|
||||
"incKey": 83
|
||||
},
|
||||
{
|
||||
"decKey": 69,
|
||||
"decayRate": 0.0,
|
||||
"incKey": 82,
|
||||
"keyRate": 0.009999999776482582
|
||||
}
|
||||
],
|
||||
"axisCount": 3,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
90,
|
||||
88,
|
||||
67,
|
||||
86
|
||||
],
|
||||
"povConfig": [
|
||||
{
|
||||
"key0": 328,
|
||||
"key135": 323,
|
||||
"key180": 322,
|
||||
"key225": 321,
|
||||
"key270": 324,
|
||||
"key315": 327,
|
||||
"key45": 329,
|
||||
"key90": 326
|
||||
}
|
||||
],
|
||||
"povCount": 1
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 74,
|
||||
"incKey": 76
|
||||
},
|
||||
{
|
||||
"decKey": 73,
|
||||
"incKey": 75
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 4,
|
||||
"buttonKeys": [
|
||||
77,
|
||||
44,
|
||||
46,
|
||||
47
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisConfig": [
|
||||
{
|
||||
"decKey": 263,
|
||||
"incKey": 262
|
||||
},
|
||||
{
|
||||
"decKey": 265,
|
||||
"incKey": 264
|
||||
}
|
||||
],
|
||||
"axisCount": 2,
|
||||
"buttonCount": 6,
|
||||
"buttonKeys": [
|
||||
260,
|
||||
268,
|
||||
266,
|
||||
261,
|
||||
269,
|
||||
267
|
||||
],
|
||||
"povCount": 0
|
||||
},
|
||||
{
|
||||
"axisCount": 0,
|
||||
"buttonCount": 0,
|
||||
"povCount": 0
|
||||
}
|
||||
],
|
||||
"robotJoysticks": [
|
||||
{
|
||||
"guid": "Keyboard0"
|
||||
}
|
||||
]
|
||||
}
|
||||
57
photonlib-java-examples/simposeest/simgui.json
Normal file
57
photonlib-java-examples/simposeest/simgui.json
Normal file
@@ -0,0 +1,57 @@
|
||||
{
|
||||
"HALProvider": {
|
||||
"Other Devices": {
|
||||
"AnalogGyro[0]": {
|
||||
"header": {
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"NTProvider": {
|
||||
"types": {
|
||||
"/FMSInfo": "FMSInfo",
|
||||
"/SmartDashboard/Field": "Field2d",
|
||||
"/SmartDashboard/mainCam Sim Field": "Field2d"
|
||||
},
|
||||
"windows": {
|
||||
"/SmartDashboard/Field": {
|
||||
"window": {
|
||||
"visible": true
|
||||
}
|
||||
},
|
||||
"/SmartDashboard/mainCam Sim Field": {
|
||||
"window": {
|
||||
"visible": true
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"NetworkTables": {
|
||||
"transitory": {
|
||||
"SmartDashboard": {
|
||||
"Field": {
|
||||
"open": true
|
||||
},
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
},
|
||||
"NetworkTables Info": {
|
||||
"Clients": {
|
||||
"open": true
|
||||
},
|
||||
"Connections": {
|
||||
"open": true
|
||||
},
|
||||
"Server": {
|
||||
"Publishers": {
|
||||
"open": true
|
||||
},
|
||||
"Subscribers": {
|
||||
"open": true
|
||||
},
|
||||
"open": true
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.controller.RamseteController;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
@@ -22,12 +22,13 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Rotation3d;
|
||||
import edu.wpi.first.math.geometry.Transform3d;
|
||||
import edu.wpi.first.math.geometry.Translation3d;
|
||||
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import org.photonvision.SimVisionTarget;
|
||||
|
||||
@@ -48,6 +49,9 @@ public class Constants {
|
||||
public static final double kWheelRadius = 0.0508;
|
||||
public static final int kEncoderResolution = 4096;
|
||||
|
||||
public static final DifferentialDriveKinematics kDtKinematics =
|
||||
new DifferentialDriveKinematics(kTrackWidth);
|
||||
|
||||
//////////////////////////////////////////////////////////////////
|
||||
// Electrical IO
|
||||
//////////////////////////////////////////////////////////////////
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
|
||||
@@ -55,7 +55,7 @@ public class Drivetrain {
|
||||
Encoder rightEncoder = new Encoder(Constants.kDtRightEncoderPinA, Constants.kDtRightEncoderPinB);
|
||||
|
||||
// Drivetrain Pose Estimation
|
||||
DrivetrainPoseEstimator poseEst = new DrivetrainPoseEstimator();
|
||||
final DrivetrainPoseEstimator poseEst;
|
||||
|
||||
// Kinematics - defines the physical size and shape of the drivetrain, which is
|
||||
// required to convert from
|
||||
@@ -82,6 +82,8 @@ public class Drivetrain {
|
||||
rightEncoder.reset();
|
||||
|
||||
rightGroup.setInverted(true);
|
||||
|
||||
poseEst = new DrivetrainPoseEstimator(leftEncoder.getDistance(), rightEncoder.getDistance());
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -112,10 +114,7 @@ public class Drivetrain {
|
||||
rightGroup.setVoltage(rightOutput + rightFeedforward);
|
||||
|
||||
// Update the pose estimator with the most recent sensor readings.
|
||||
poseEst.update(
|
||||
new DifferentialDriveWheelSpeeds(leftEncoder.getRate(), rightEncoder.getRate()),
|
||||
leftEncoder.getDistance(),
|
||||
rightEncoder.getDistance());
|
||||
poseEst.update(leftEncoder.getDistance(), rightEncoder.getDistance());
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -128,7 +127,7 @@ public class Drivetrain {
|
||||
public void resetOdometry(Pose2d pose) {
|
||||
leftEncoder.reset();
|
||||
rightEncoder.reset();
|
||||
poseEst.resetToPose(pose);
|
||||
poseEst.resetToPose(pose, leftEncoder.getDistance(), rightEncoder.getDistance());
|
||||
}
|
||||
|
||||
/** @return The current best-guess at drivetrain Pose on the field. */
|
||||
@@ -22,13 +22,12 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.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.kinematics.DifferentialDriveWheelSpeeds;
|
||||
import edu.wpi.first.math.numbers.N1;
|
||||
import edu.wpi.first.math.numbers.N3;
|
||||
import edu.wpi.first.math.numbers.N5;
|
||||
@@ -60,15 +59,17 @@ public class DrivetrainPoseEstimator {
|
||||
Matrix<N3, N1> visionMeasurementStdDevs =
|
||||
VecBuilder.fill(0.01, 0.01, Units.degreesToRadians(0.1));
|
||||
|
||||
private final DifferentialDrivePoseEstimator m_poseEstimator =
|
||||
new DifferentialDrivePoseEstimator(
|
||||
gyro.getRotation2d(),
|
||||
new Pose2d(),
|
||||
stateStdDevs,
|
||||
localMeasurementStdDevs,
|
||||
visionMeasurementStdDevs);
|
||||
private final DifferentialDrivePoseEstimator m_poseEstimator;
|
||||
|
||||
public DrivetrainPoseEstimator() {}
|
||||
public DrivetrainPoseEstimator(double leftDist, double rightDist) {
|
||||
m_poseEstimator =
|
||||
new DifferentialDrivePoseEstimator(
|
||||
Constants.kDtKinematics,
|
||||
gyro.getRotation2d(),
|
||||
0, // Assume zero encoder counts at start
|
||||
0,
|
||||
new Pose2d()); // Default - start at origin. This will get reset by the autonomous init
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform all periodic pose estimation tasks.
|
||||
@@ -77,9 +78,8 @@ public class DrivetrainPoseEstimator {
|
||||
* @param leftDist Distance (in m) the left wheel has traveled
|
||||
* @param rightDist Distance (in m) the right wheel has traveled
|
||||
*/
|
||||
public void update(
|
||||
DifferentialDriveWheelSpeeds actWheelSpeeds, double leftDist, double rightDist) {
|
||||
m_poseEstimator.update(gyro.getRotation2d(), actWheelSpeeds, leftDist, rightDist);
|
||||
public void update(double leftDist, double rightDist) {
|
||||
m_poseEstimator.update(gyro.getRotation2d(), leftDist, rightDist);
|
||||
|
||||
var res = cam.getLatestResult();
|
||||
if (res.hasTargets()) {
|
||||
@@ -95,11 +95,9 @@ public class DrivetrainPoseEstimator {
|
||||
* Force the pose estimator to a particular pose. This is useful for indicating to the software
|
||||
* when you have manually moved your robot in a particular position on the field (EX: when you
|
||||
* place it on the field at the start of the match).
|
||||
*
|
||||
* @param pose
|
||||
*/
|
||||
public void resetToPose(Pose2d pose) {
|
||||
m_poseEstimator.resetPosition(pose, gyro.getRotation2d());
|
||||
public void resetToPose(Pose2d pose, double leftDist, double rightDist) {
|
||||
m_poseEstimator.resetPosition(gyro.getRotation2d(), leftDist, rightDist, pose);
|
||||
}
|
||||
|
||||
/** @return The current best-guess at drivetrain position on the field. */
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.sim;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
@@ -38,7 +38,6 @@ 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 org.photonlib.examples.simposeest.robot.Constants;
|
||||
import org.photonvision.SimVisionSystem;
|
||||
|
||||
/**
|
||||
@@ -0,0 +1,45 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2022 PhotonVision
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
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.
|
||||
*
|
||||
* <p>If you change your main robot class, change the parameter type.
|
||||
*/
|
||||
public static void main(String... args) {
|
||||
RobotBase.startRobot(Robot::new);
|
||||
}
|
||||
}
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.filter.SlewRateLimiter;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
@@ -22,7 +22,7 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
|
||||
@@ -22,12 +22,11 @@
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest.robot;
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.wpilibj.TimedRobot;
|
||||
import org.photonlib.examples.simposeest.sim.DrivetrainSim;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
AutoController autoCtrl = new AutoController();
|
||||
@@ -1,25 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2022 PhotonVision
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
int main() {}
|
||||
@@ -1,62 +0,0 @@
|
||||
[
|
||||
{
|
||||
"name": "AimAtTarget",
|
||||
"description": "Aim at a target",
|
||||
"tags": [],
|
||||
"gradlebase": "java",
|
||||
"language": "java",
|
||||
"commandversion": 1,
|
||||
"mainclass": "Main",
|
||||
"packagetoreplace": null,
|
||||
"dependencies": [],
|
||||
"foldername": "aimattarget"
|
||||
},
|
||||
{
|
||||
"name": "GetInRange",
|
||||
"description": "Get in range of a target",
|
||||
"tags": [],
|
||||
"gradlebase": "java",
|
||||
"language": "java",
|
||||
"commandversion": 1,
|
||||
"mainclass": "Main",
|
||||
"packagetoreplace": null,
|
||||
"dependencies": [],
|
||||
"foldername": "getinrange"
|
||||
},
|
||||
{
|
||||
"name": "AimAndRange",
|
||||
"description": "Aim at a target while at a desired range",
|
||||
"tags": [],
|
||||
"gradlebase": "java",
|
||||
"language": "java",
|
||||
"commandversion": 1,
|
||||
"mainclass": "Main",
|
||||
"packagetoreplace": null,
|
||||
"dependencies": [],
|
||||
"foldername": "aimandrange"
|
||||
},
|
||||
{
|
||||
"name": "SimAimAndRange",
|
||||
"description": "Adding Simulation Support to the Aim And Range example",
|
||||
"tags": [],
|
||||
"gradlebase": "java",
|
||||
"language": "java",
|
||||
"commandversion": 1,
|
||||
"mainclass": "Main",
|
||||
"packagetoreplace": null,
|
||||
"dependencies": [],
|
||||
"foldername": "simaimandrange"
|
||||
},
|
||||
{
|
||||
"name": "SimPoseEstimation",
|
||||
"description": "Integrate 3D vision processing mode results into estimation of robot pose on the field. Includes simulation support.",
|
||||
"tags": [],
|
||||
"gradlebase": "java",
|
||||
"language": "java",
|
||||
"commandversion": 1,
|
||||
"mainclass": "Main",
|
||||
"packagetoreplace": null,
|
||||
"dependencies": [],
|
||||
"foldername": "simposeest"
|
||||
}
|
||||
]
|
||||
@@ -1,46 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2022 PhotonVision
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
package org.photonlib.examples.simposeest;
|
||||
|
||||
import edu.wpi.first.wpilibj.RobotBase;
|
||||
import org.photonlib.examples.simposeest.robot.Robot;
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*
|
||||
* <p>If you change your main robot class, change the parameter type.
|
||||
*/
|
||||
public static void main(String... args) {
|
||||
RobotBase.startRobot(Robot::new);
|
||||
}
|
||||
}
|
||||
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Reference in New Issue
Block a user