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.
2026-06-20 00:51:41 +00:00 · 2022-12-16 17:05:23 -08:00
parent da1aabae3a
commit bb63af601d
198 changed files with 6339 additions and 4525 deletions
--- a/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java
+++ b/photonlib-java-examples/simposeest/src/main/java/frc/robot/Constants.java
@@ -0,0 +1,110 @@
+/*
+ * 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.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;
+
+/**
+ * Holding class for all physical constants that must be used throughout the codebase. These values
+ * should be set by one of a few methods: 1) Talk to your mechanical and electrical teams and
+ * determine how the physical robot is being built and configured. 2) Read the game manual and look
+ * at the field drawings 3) Match with how your vision coprocessor is configured.
+ */
+public class Constants {
+    //////////////////////////////////////////////////////////////////
+    // Drivetrain Physical
+    //////////////////////////////////////////////////////////////////
+    public static final double kMaxSpeed = 3.0; // 3 meters per second.
+    public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second.
+
+    public static final double kTrackWidth = 0.381 * 2;
+    public static final double kWheelRadius = 0.0508;
+    public static final int kEncoderResolution = 4096;
+
+    public static final DifferentialDriveKinematics kDtKinematics =
+            new DifferentialDriveKinematics(kTrackWidth);
+
+    //////////////////////////////////////////////////////////////////
+    // Electrical IO
+    //////////////////////////////////////////////////////////////////
+    public static final int kGyroPin = 0;
+
+    public static final int kDtLeftEncoderPinA = 0;
+    public static final int kDtLeftEncoderPinB = 1;
+    public static final int kDtRightEncoderPinA = 2;
+    public static final int kDtRightEncoderPinB = 3;
+
+    public static final int kDtLeftLeaderPin = 1;
+    public static final int kDtLeftFollowerPin = 2;
+    public static final int kDtRightLeaderPin = 3;
+    public static final int kDtRightFollowerPin = 4;
+
+    //////////////////////////////////////////////////////////////////
+    // Vision Processing
+    //////////////////////////////////////////////////////////////////
+    // Name configured in the PhotonVision GUI for the camera
+    public static final String kCamName = "mainCam";
+
+    // Physical location of the camera on the robot, relative to the center of the
+    // robot.
+    public static final Transform3d kCameraToRobot =
+            new Transform3d(
+                    new Translation3d(-0.25, 0, -.25), // in meters
+                    new Rotation3d());
+
+    // See
+    // https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf
+    // page 208
+    public static final double targetWidth =
+            Units.inchesToMeters(41.30) - Units.inchesToMeters(6.70); // meters
+
+    // See
+    // https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf
+    // page 197
+    public static final double targetHeight =
+            Units.inchesToMeters(98.19) - Units.inchesToMeters(81.19); // meters
+
+    // See https://firstfrc.blob.core.windows.net/frc2020/PlayingField/LayoutandMarkingDiagram.pdf
+    // pages 4 and 5
+    public static final double kFarTgtXPos = Units.feetToMeters(54);
+    public static final double kFarTgtYPos =
+            Units.feetToMeters(27 / 2) - Units.inchesToMeters(43.75) - Units.inchesToMeters(48.0 / 2.0);
+    public static final double kFarTgtZPos =
+            (Units.inchesToMeters(98.19) - targetHeight) / 2 + targetHeight;
+
+    public static final Pose3d kFarTargetPose =
+            new Pose3d(
+                    new Translation3d(kFarTgtXPos, kFarTgtYPos, kFarTgtZPos),
+                    new Rotation3d(0.0, 0.0, Units.degreesToRadians(180)));
+
+    public static final SimVisionTarget kFarTarget =
+            new SimVisionTarget(kFarTargetPose, targetWidth, targetHeight, 42);
+}