It is advised to statically import this class (or one of its inner classes) wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java new file mode 100644 index 0000000000..2dc4e1d1aa --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.examples.romireference; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java new file mode 100644 index 0000000000..153a907099 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java @@ -0,0 +1,113 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.examples.romireference; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * This function is called every robot packet, no matter the mode. Use this for items like + * diagnostics that you want ran during disabled, autonomous, teleoperated and test. + * + *
This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
new file mode 100644
index 0000000000..3db270a70f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.romireference;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.button.Button;
+
+import edu.wpi.first.wpilibj.examples.romireference.commands.TeleopArcadeDrive;
+import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
+import edu.wpi.first.wpilibj.examples.romireference.subsystems.OnBoardIO;
+import edu.wpi.first.wpilibj.examples.romireference.subsystems.OnBoardIO.ChannelMode;
+
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems and commands are defined here...
+ private final Drivetrain m_drivetrain = new Drivetrain();
+ private final OnBoardIO m_onboardIO = new OnBoardIO(ChannelMode.INPUT, ChannelMode.INPUT);
+
+ // Assumes a gamepad plugged into channnel 0
+ private final Joystick m_controller = new Joystick(0);
+
+ // NOTE: The I/O pin functionality of the 5 exposed I/O pins depends on the hardware "overlay"
+ // that is specified when launching the wpilib-ws server on the Romi raspberry pi.
+ // By default, the following are available (listed in order from inside of the board to outside):
+ // - DIO 8 (mapped to Arduino pin 11, closest to the inside of the board)
+ // - Analog In 0 (mapped to Analog Channel 6 / Arduino Pin 4)
+ // - Analog In 1 (mapped to Analog Channel 2 / Arduino Pin 20)
+ // - PWM 2 (mapped to Arduino Pin 21)
+ // - PWM 3 (mapped to Arduino Pin 22)
+ //
+ // Your subsystem configuration should take the overlays into account
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Also set default commands here
+ m_drivetrain.setDefaultCommand(new TeleopArcadeDrive(m_drivetrain,
+ () -> m_controller.getRawAxis(1),
+ () -> -m_controller.getRawAxis(2)));
+
+ // Example of how to use the onboard IO
+ Button onboardButtonA = new Button(m_onboardIO::getButtonAPressed);
+ onboardButtonA
+ .whenActive(new PrintCommand("Button A Pressed"))
+ .whenInactive(new PrintCommand("Button A Released"));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ // An ExampleCommand will run in autonomous
+ return null;
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java
new file mode 100644
index 0000000000..716e8fbb4c
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TeleopArcadeDrive.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.romireference.commands;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
+
+public class TeleopArcadeDrive extends CommandBase {
+ private final Drivetrain m_drivetrain;
+ private final Supplier DIO 0 - Button A (input only)
+ * DIO 1 - Button B (input) or Green LED (output)
+ * DIO 2 - Button C (input) or Red LED (output)
+ * DIO 3 - Yellow LED (output only)
+ */
+public class OnBoardIO extends SubsystemBase {
+ private final DigitalInput m_buttonA = new DigitalInput(0);
+ private final DigitalOutput m_yellowLed = new DigitalOutput(3);
+
+ // DIO 1
+ private DigitalInput m_buttonB;
+ private DigitalOutput m_greenLed;
+
+ // DIO 2
+ private DigitalInput m_buttonC;
+ private DigitalOutput m_redLed;
+
+ private static final double MESSAGE_INTERVAL = 1.0;
+ private double m_nextMessageTime;
+
+ public enum ChannelMode {
+ INPUT,
+ OUTPUT
+ }
+
+ /**
+ * Constructor.
+ *
+ * @param dio1 Mode for DIO 1 (input = Button B, output = green LED)
+ * @param dio2 Mode for DIO 2 (input = Button C, output = red LED)
+ */
+ public OnBoardIO(ChannelMode dio1, ChannelMode dio2) {
+ if (dio1 == ChannelMode.INPUT) {
+ m_buttonB = new DigitalInput(1);
+ } else {
+ m_greenLed = new DigitalOutput(1);
+ }
+
+ if (dio2 == ChannelMode.INPUT) {
+ m_buttonC = new DigitalInput(2);
+ } else {
+ m_redLed = new DigitalOutput(2);
+ }
+ }
+
+ /**
+ * Gets if the A button is pressed.
+ */
+ public boolean getButtonAPressed() {
+ return m_buttonA.get();
+ }
+
+ /**
+ * Gets if the B button is pressed.
+ */
+ public boolean getButtonBPressed() {
+ if (m_buttonB != null) {
+ return m_buttonB.get();
+ }
+
+ double currentTime = Timer.getFPGATimestamp();
+ if (currentTime > m_nextMessageTime) {
+ DriverStation.reportError("Button B was not configured", true);
+ m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+ }
+ return false;
+ }
+
+ /**
+ * Gets if the C button is pressed.
+ */
+ public boolean getButtonCPressed() {
+ if (m_buttonC != null) {
+ return m_buttonC.get();
+ }
+
+ double currentTime = Timer.getFPGATimestamp();
+ if (currentTime > m_nextMessageTime) {
+ DriverStation.reportError("Button C was not configured", true);
+ m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+ }
+ return false;
+ }
+
+ /**
+ * Sets the green LED.
+ */
+ public void setGreenLed(boolean value) {
+ if (m_greenLed != null) {
+ m_greenLed.set(value);
+ } else {
+ double currentTime = Timer.getFPGATimestamp();
+ if (currentTime > m_nextMessageTime) {
+ DriverStation.reportError("Green LED was not configured", true);
+ m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+ }
+ }
+ }
+
+ /**
+ * Sets the red LED.
+ */
+ public void setRedLed(boolean value) {
+ if (m_redLed != null) {
+ m_redLed.set(value);
+ } else {
+ double currentTime = Timer.getFPGATimestamp();
+ if (currentTime > m_nextMessageTime) {
+ DriverStation.reportError("Red LED was not configured", true);
+ m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+ }
+ }
+ }
+
+ /**
+ * Sets the yellow LED.
+ */
+ public void setYellowLed(boolean value) {
+ m_yellowLed.set(value);
+ }
+
+ @Override
+ public void periodic() {
+ // This method will be called once per scheduler run
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
index e0ebce781a..a356ad0bec 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
@@ -53,5 +53,27 @@
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 1
+ },
+ {
+ "name": "Romi - Timed Robot",
+ "description": "Romi - Timed style",
+ "tags": [
+ "Timed", "Romi"
+ ],
+ "foldername": "timed",
+ "gradlebase": "javaromi",
+ "mainclass": "Main",
+ "commandversion": 2
+ },
+ {
+ "name": "Romi - Command Robot",
+ "description": "Romi - Command style",
+ "tags": [
+ "Command", "Romi"
+ ],
+ "foldername": "commandbased",
+ "gradlebase": "javaromi",
+ "mainclass": "Main",
+ "commandversion": 2
}
]