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[hal, wpilib] Add initial systemcore counter implementation (#7723)

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This commit is contained in:
Thad House
2025-01-28 08:58:34 -08:00
committed by GitHub
parent b799b285b3
commit 48ce2dcc8d
47 changed files with 201 additions and 4357 deletions
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5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
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@@ -9,7 +9,6 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Ultrasonic;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
@@ -17,7 +16,6 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
public class Robot extends TimedRobot {
public static final int SHOT_VELOCITY = 200; // rpm
public static final int TOLERANCE = 8; // rpm
public static final int KICKER_THRESHOLD = 15; // mm
private final PWMSparkMax m_shooter = new PWMSparkMax(0);
private final Encoder m_shooterEncoder = new Encoder(0, 1);
@@ -25,7 +23,6 @@ public class Robot extends TimedRobot {
private final SimpleMotorFeedforward m_ff = new SimpleMotorFeedforward(0.1, 0.065);
private final PWMSparkMax m_kicker = new PWMSparkMax(1);
private final Ultrasonic m_kickerSensor = new Ultrasonic(2, 3);
private final PWMSparkMax m_intake = new PWMSparkMax(2);
@@ -37,7 +34,7 @@ public class Robot extends TimedRobot {
m_controller.setTolerance(TOLERANCE);
BooleanEvent isBallAtKicker =
new BooleanEvent(m_loop, () -> m_kickerSensor.getRangeMM() < KICKER_THRESHOLD);
new BooleanEvent(m_loop, () -> false); // m_kickerSensor.getRangeMM() < KICKER_THRESHOLD);
BooleanEvent intakeButton = new BooleanEvent(m_loop, () -> m_joystick.getRawButton(2));
// if the thumb button is held

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -101,33 +101,6 @@
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Ultrasonic",
"description": "View values from a ping-response ultrasonic sensor.",
"tags": [
"Hardware",
"Ultrasonic",
"SmartDashboard"
],
"foldername": "ultrasonic",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Ultrasonic PID",
"description": "Maintain a set distance from an obstacle with an ultrasonic sensor and PID control.",
"tags": [
"Basic Robot",
"Ultrasonic",
"PID",
"Differential Drive"
],
"foldername": "ultrasonicpid",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Potentiometer PID",
"description": "Maintain elevator position setpoints with a potentiometer and PID control.",

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.ultrasonic;
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);
}
}

63
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
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@@ -1,63 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Ultrasonic;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This is a sample program demonstrating how to read from a ping-response ultrasonic sensor with
* the {@link Ultrasonic class}.
*/
public class Robot extends TimedRobot {
// Creates a ping-response Ultrasonic object on DIO 1 and 2.
Ultrasonic m_rangeFinder = new Ultrasonic(1, 2);
/** Called once at the beginning of the robot program. */
public Robot() {
// Add the ultrasonic on the "Sensors" tab of the dashboard
// Data will update automatically
SmartDashboard.putData("Sensors", m_rangeFinder);
}
@Override
public void teleopPeriodic() {
// We can read the distance in millimeters
double distanceMillimeters = m_rangeFinder.getRangeMM();
// ... or in inches
double distanceInches = m_rangeFinder.getRangeInches();
// We can also publish the data itself periodically
SmartDashboard.putNumber("Distance[mm]", distanceMillimeters);
SmartDashboard.putNumber("Distance[inch]", distanceInches);
}
@Override
public void testInit() {
// By default, the Ultrasonic class polls all ultrasonic sensors in a round-robin to prevent
// them from interfering from one another.
// However, manual polling is also possible -- note that this disables automatic mode!
m_rangeFinder.ping();
}
@Override
public void testPeriodic() {
if (m_rangeFinder.isRangeValid()) {
// Data is valid, publish it
SmartDashboard.putNumber("Distance[mm]", m_rangeFinder.getRangeMM());
SmartDashboard.putNumber("Distance[inch]", m_rangeFinder.getRangeInches());
// Ping for next measurement
m_rangeFinder.ping();
}
}
@Override
public void testExit() {
// Enable automatic mode
Ultrasonic.setAutomaticMode(true);
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
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);
}
}

77
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -1,77 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.filter.MedianFilter;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Ultrasonic;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate the use of a PIDController with an ultrasonic sensor to
* reach and maintain a set distance from an object.
*/
public class Robot extends TimedRobot {
// distance the robot wants to stay from an object
// (one meter)
static final double kHoldDistanceMillimeters = 1.0e3;
// proportional speed constant
private static final double kP = 0.001;
// integral speed constant
private static final double kI = 0.0;
// derivative speed constant
private static final double kD = 0.0;
static final int kLeftMotorPort = 0;
static final int kRightMotorPort = 1;
static final int kUltrasonicPingPort = 0;
static final int kUltrasonicEchoPort = 1;
// Ultrasonic sensors tend to be quite noisy and susceptible to sudden outliers,
// so measurements are filtered with a 5-sample median filter
private final MedianFilter m_filter = new MedianFilter(5);
private final Ultrasonic m_ultrasonic = new Ultrasonic(kUltrasonicPingPort, kUltrasonicEchoPort);
private final PWMSparkMax m_leftMotor = new PWMSparkMax(kLeftMotorPort);
private final PWMSparkMax m_rightMotor = new PWMSparkMax(kRightMotorPort);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);
private final PIDController m_pidController = new PIDController(kP, kI, kD);
public Robot() {
SendableRegistry.addChild(m_robotDrive, m_leftMotor);
SendableRegistry.addChild(m_robotDrive, m_rightMotor);
}
@Override
public void autonomousInit() {
// Set setpoint of the pid controller
m_pidController.setSetpoint(kHoldDistanceMillimeters);
}
@Override
public void autonomousPeriodic() {
double measurement = m_ultrasonic.getRangeMM();
double filteredMeasurement = m_filter.calculate(measurement);
double pidOutput = m_pidController.calculate(filteredMeasurement);
// disable input squaring -- PID output is linear
m_robotDrive.arcadeDrive(pidOutput, 0, false);
}
@Override
public void close() {
m_leftMotor.close();
m_rightMotor.close();
m_ultrasonic.close();
m_robotDrive.close();
super.close();
}
}