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[examples] Make Romi/XRP Examples use appropriate vendordeps (#5665)

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This commit is contained in:
Zhiquan Yeo
2023-09-18 22:42:10 -04:00
committed by GitHub
parent daf7702007
commit 51dcb8b55a
33 changed files with 74 additions and 1693 deletions
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6
wpilibcExamples/CMakeLists.txt
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@@ -12,7 +12,7 @@ foreach(example ${EXAMPLES})
add_executable(${example} ${sources})
wpilib_target_warnings(${example})
target_include_directories(${example} PUBLIC src/main/cpp/examples/${example}/include)
target_link_libraries(${example} apriltag wpilibc wpilibNewCommands)
target_link_libraries(${example} apriltag wpilibc wpilibNewCommands romiVendordep xrpVendordep)
if (WITH_TESTS AND EXISTS ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/test/cpp/examples/${example})
wpilib_add_test(${example} src/test/cpp/examples/${example}/cpp)
@@ -21,7 +21,7 @@ foreach(example ${EXAMPLES})
src/main/cpp/examples/${example}/include
src/test/cpp/examples/${example}/include)
target_compile_definitions(${example}_test PUBLIC RUNNING_FRC_TESTS)
target_link_libraries(${example}_test apriltag wpilibc wpilibNewCommands gmock_main)
target_link_libraries(${example}_test apriltag wpilibc wpilibNewCommands romiVendordep xrpVendordep gmock_main)
endif()
endforeach()
@@ -31,5 +31,5 @@ foreach(template ${TEMPLATES})
add_executable(${template} ${sources})
wpilib_target_warnings(${template})
target_include_directories(${template} PUBLIC src/main/cpp/templates/${template}/include)
target_link_libraries(${template} wpilibc wpilibNewCommands)
target_link_libraries(${template} wpilibc wpilibNewCommands romiVendordep xrpVendordep)
endforeach()

8
wpilibcExamples/build.gradle
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@@ -60,6 +60,8 @@ model {
return
}
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
@@ -89,6 +91,8 @@ model {
targetBuildTypes 'debug'
binaries.all { binary ->
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
@@ -138,6 +142,8 @@ model {
targetBuildTypes 'debug'
binaries.all { binary ->
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
@@ -204,6 +210,8 @@ model {
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'

79
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/sensors/RomiGyro.cpp
View File

@@ -1,79 +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.
#include "sensors/RomiGyro.h"
RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
}
}
double RomiGyro::GetRateX() {
if (m_simRateX) {
return m_simRateX.Get();
}
return 0.0;
}
double RomiGyro::GetRateY() {
if (m_simRateY) {
return m_simRateY.Get();
}
return 0.0;
}
double RomiGyro::GetRateZ() {
if (m_simRateZ) {
return m_simRateZ.Get();
}
return 0.0;
}
double RomiGyro::GetAngleX() {
if (m_simAngleX) {
return m_simAngleX.Get() - m_angleXOffset;
}
return 0.0;
}
double RomiGyro::GetAngleY() {
if (m_simAngleY) {
return m_simAngleY.Get() - m_angleYOffset;
}
return 0.0;
}
double RomiGyro::GetAngleZ() {
if (m_simAngleZ) {
return m_simAngleZ.Get() - m_angleZOffset;
}
return 0.0;
}
void RomiGyro::Reset() {
if (m_simAngleX) {
m_angleXOffset = m_simAngleX.Get();
m_angleYOffset = m_simAngleY.Get();
m_angleZOffset = m_simAngleZ.Get();
}
}

81
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp
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@@ -1,81 +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.
#include "subsystems/OnBoardIO.h"
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc/Errors.h>
#include <frc/Timer.h>
OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) {
if (dio1 == ChannelMode::INPUT) {
m_buttonB = std::make_unique<frc::DigitalInput>(1);
} else {
m_greenLed = std::make_unique<frc::DigitalOutput>(1);
}
if (dio2 == ChannelMode::INPUT) {
m_buttonC = std::make_unique<frc::DigitalInput>(2);
} else {
m_redLed = std::make_unique<frc::DigitalOutput>(2);
}
}
bool OnBoardIO::GetButtonAPressed() {
return m_buttonA.Get();
}
bool OnBoardIO::GetButtonBPressed() {
if (m_buttonB) {
return m_buttonB->Get();
}
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "Button {} was not configured", "B");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
}
bool OnBoardIO::GetButtonCPressed() {
if (m_buttonC) {
return m_buttonC->Get();
}
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "Button {} was not configured", "C");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
}
void OnBoardIO::SetGreenLed(bool value) {
if (m_greenLed) {
m_greenLed->Set(value);
} else {
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{} LED was not configured", "Green");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
}
void OnBoardIO::SetRedLed(bool value) {
if (m_redLed) {
m_redLed->Set(value);
} else {
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{} LED was not configured", "Red");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
}
void OnBoardIO::SetYellowLed(bool value) {
m_yellowLed.Set(value);
}

6
wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h
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@@ -5,6 +5,7 @@
#pragma once
#include <frc/Joystick.h>
#include <frc/romi/OnBoardIO.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
@@ -14,7 +15,6 @@
#include "commands/AutonomousDistance.h"
#include "commands/AutonomousTime.h"
#include "subsystems/Drivetrain.h"
#include "subsystems/OnBoardIO.h"
/**
* This class is where the bulk of the robot should be declared. Since
@@ -47,8 +47,8 @@ class RobotContainer {
// The robot's subsystems
Drivetrain m_drive;
OnBoardIO m_onboardIO{OnBoardIO::ChannelMode::INPUT,
OnBoardIO::ChannelMode::INPUT};
frc::OnBoardIO m_onboardIO{frc::OnBoardIO::ChannelMode::INPUT,
frc::OnBoardIO::ChannelMode::INPUT};
// Example button
frc2::Trigger m_onboardButtonA{

60
wpilibcExamples/src/main/cpp/examples/RomiReference/include/sensors/RomiGyro.h
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@@ -1,60 +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.
#pragma once
#include <hal/SimDevice.h>
class RomiGyro {
public:
RomiGyro();
/**
* Gets the rate of turn in degrees-per-second around the X-axis
*/
double GetRateX();
/**
* Gets the rate of turn in degrees-per-second around the Y-axis
*/
double GetRateY();
/**
* Gets the rate of turn in degrees-per-second around the Z-axis
*/
double GetRateZ();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleX();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleY();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleZ();
/**
* Resets the gyro
*/
void Reset();
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simRateX;
hal::SimDouble m_simRateY;
hal::SimDouble m_simRateZ;
hal::SimDouble m_simAngleX;
hal::SimDouble m_simAngleY;
hal::SimDouble m_simAngleZ;
double m_angleXOffset = 0;
double m_angleYOffset = 0;
double m_angleZOffset = 0;
};

5
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
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@@ -8,11 +8,10 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/Spark.h>
#include <frc/romi/RomiGyro.h>
#include <frc2/command/SubsystemBase.h>
#include <units/length.h>
#include "sensors/RomiGyro.h"
class Drivetrain : public frc2::SubsystemBase {
public:
static constexpr double kCountsPerRevolution = 1440.0;
@@ -117,6 +116,6 @@ class Drivetrain : public frc2::SubsystemBase {
frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
RomiGyro m_gyro;
frc::RomiGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;
};

72
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/OnBoardIO.h
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@@ -1,72 +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.
#pragma once
#include <memory>
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc2/command/SubsystemBase.h>
/**
* This class represents the onboard IO of the Romi
* reference robot. This includes the pushbuttons and
* LEDs.
*
* <p>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)
*/
class OnBoardIO : public frc2::SubsystemBase {
public:
enum ChannelMode { INPUT, OUTPUT };
OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
static constexpr auto kMessageInterval = 1_s;
units::second_t m_nextMessageTime = 0_s;
/**
* Gets if the A button is pressed.
*/
bool GetButtonAPressed();
/**
* Gets if the B button is pressed.
*/
bool GetButtonBPressed();
/**
* Gets if the C button is pressed.
*/
bool GetButtonCPressed();
/**
* Sets the green LED.
*/
void SetGreenLed(bool value);
/**
* Sets the red LED.
*/
void SetRedLed(bool value);
/**
* Sets the yellow LED.
*/
void SetYellowLed(bool value);
private:
frc::DigitalInput m_buttonA{0};
frc::DigitalOutput m_yellowLed{3};
// DIO 1
std::unique_ptr<frc::DigitalInput> m_buttonB;
std::unique_ptr<frc::DigitalOutput> m_greenLed;
// DIO 2
std::unique_ptr<frc::DigitalInput> m_buttonC;
std::unique_ptr<frc::DigitalOutput> m_redLed;
};

5
wpilibcExamples/src/main/cpp/examples/examples.json
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@@ -686,7 +686,10 @@
],
"foldername": "RomiReference",
"gradlebase": "cppromi",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "StateSpaceFlywheel",

10
wpilibcExamples/src/main/cpp/templates/templates.json
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@@ -82,7 +82,10 @@
],
"foldername": "commandbased",
"gradlebase": "cppromi",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "Romi - Timed Robot",
@@ -93,6 +96,9 @@
],
"foldername": "timed",
"gradlebase": "cppromi",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
}
]

4
wpilibjExamples/build.gradle
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@@ -22,6 +22,8 @@ dependencies {
implementation project(':cscore')
implementation project(':cameraserver')
implementation project(':wpilibNewCommands')
implementation project(':romiVendordep')
implementation project(':xrpVendordep')
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.0'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.0'
@@ -94,6 +96,8 @@ model {
}
binaries.all { binary ->
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -891,7 +891,10 @@
"foldername": "romireference",
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "XRP Reference",
@@ -906,7 +909,10 @@
"foldername": "xrpreference",
"gradlebase": "javaxrp",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"xrp"
]
},
{
"name": "Digital Communication Sample",

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
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@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.examples.romireference.commands.ArcadeDrive;
import edu.wpi.first.wpilibj.examples.romireference.commands.AutonomousDistance;
import edu.wpi.first.wpilibj.examples.romireference.commands.AutonomousTime;
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;
import edu.wpi.first.wpilibj.romi.OnBoardIO;
import edu.wpi.first.wpilibj.romi.OnBoardIO.ChannelMode;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

132
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/sensors/RomiGyro.java
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@@ -1,132 +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.romireference.sensors;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
public class RomiGyro {
private final SimDouble m_simRateX;
private final SimDouble m_simRateY;
private final SimDouble m_simRateZ;
private final SimDouble m_simAngleX;
private final SimDouble m_simAngleY;
private final SimDouble m_simAngleZ;
private double m_angleXOffset;
private double m_angleYOffset;
private double m_angleZOffset;
/** Create a new RomiGyro. */
public RomiGyro() {
SimDevice gyroSimDevice = SimDevice.create("Gyro:RomiGyro");
if (gyroSimDevice != null) {
gyroSimDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = gyroSimDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = gyroSimDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = gyroSimDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simAngleX = gyroSimDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = gyroSimDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = gyroSimDevice.createDouble("angle_z", Direction.kInput, 0.0);
} else {
m_simRateX = null;
m_simRateY = null;
m_simRateZ = null;
m_simAngleX = null;
m_simAngleY = null;
m_simAngleZ = null;
}
}
/**
* Get the rate of turn in degrees-per-second around the X-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateX() {
if (m_simRateX != null) {
return m_simRateX.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Y-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateY() {
if (m_simRateY != null) {
return m_simRateY.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Z-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateZ() {
if (m_simRateZ != null) {
return m_simRateZ.get();
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around X-axis in degrees
*/
public double getAngleX() {
if (m_simAngleX != null) {
return m_simAngleX.get() - m_angleXOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around Y-axis in degrees
*/
public double getAngleY() {
if (m_simAngleY != null) {
return m_simAngleY.get() - m_angleYOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the Z-axis.
*
* @return current angle around Z-axis in degrees
*/
public double getAngleZ() {
if (m_simAngleZ != null) {
return m_simAngleZ.get() - m_angleZOffset;
}
return 0.0;
}
/** Reset the gyro angles to 0. */
public void reset() {
if (m_simAngleX != null) {
m_angleXOffset = m_simAngleX.get();
m_angleYOffset = m_simAngleY.get();
m_angleZOffset = m_simAngleZ.get();
}
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
View File

@@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj.examples.romireference.subsystems;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.romireference.sensors.RomiGyro;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.romi.RomiGyro;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends SubsystemBase {

132
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java
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@@ -1,132 +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.romireference.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
* This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons
* and LEDs.
*
* <p>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 final DigitalInput m_buttonB;
private final DigitalOutput m_greenLed;
// DIO 2
private final DigitalInput m_buttonC;
private final 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);
m_greenLed = null;
} else {
m_buttonB = null;
m_greenLed = new DigitalOutput(1);
}
if (dio2 == ChannelMode.INPUT) {
m_buttonC = new DigitalInput(2);
m_redLed = null;
} else {
m_buttonC = null;
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
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/RobotContainer.java
View File

@@ -12,9 +12,9 @@ import edu.wpi.first.wpilibj.examples.xrpreference.commands.AutonomousDistance;
import edu.wpi.first.wpilibj.examples.xrpreference.commands.AutonomousTime;
import edu.wpi.first.wpilibj.examples.xrpreference.subsystems.Arm;
import edu.wpi.first.wpilibj.examples.xrpreference.subsystems.Drivetrain;
import edu.wpi.first.wpilibj.examples.xrpreference.subsystems.XRPOnBoardIO;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.xrp.XRPOnBoardIO;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.PrintCommand;

109
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/devices/XRPMotor.java
View File

@@ -1,109 +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.xrpreference.devices;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPMotor.
*
* <p>A SimDevice based motor controller representing the motors on an XRP robot
*/
public class XRPMotor implements MotorController {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPMotor device number. Should be 0-3");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPMotor " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(0, "motorL");
s_simDeviceNameMap.put(1, "motorR");
s_simDeviceNameMap.put(2, "motor3");
s_simDeviceNameMap.put(3, "motor4");
}
private final SimDouble m_simSpeed;
private final SimBoolean m_simInverted;
/** XRPMotor. */
public XRPMotor(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on the WS messages as type: "XRPMotor", device: <motor name>
String simDeviceName = "XRPMotor:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
if (xrpMotorSimDevice != null) {
xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
} else {
m_simInverted = null;
m_simSpeed = null;
}
}
@Override
public void set(double speed) {
if (m_simSpeed != null) {
boolean invert = false;
if (m_simInverted != null) {
invert = m_simInverted.get();
}
m_simSpeed.set(invert ? -speed : speed);
}
}
@Override
public double get() {
if (m_simSpeed != null) {
return m_simSpeed.get();
}
return 0.0;
}
@Override
public void setInverted(boolean isInverted) {
if (m_simInverted != null) {
m_simInverted.set(isInverted);
}
}
@Override
public boolean getInverted() {
if (m_simInverted != null) {
return m_simInverted.get();
}
return false;
}
@Override
public void disable() {
set(0.0);
}
@Override
public void stopMotor() {
set(0.0);
}
}

123
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/devices/XRPServo.java
View File

@@ -1,123 +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.xrpreference.devices;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPServo.
*
* <p>A SimDevice based servo
*/
public class XRPServo {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPServo " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(4, "servo1");
s_simDeviceNameMap.put(5, "servo2");
}
private final SimDouble m_simPosition;
/** XRPServo. */
public XRPServo(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on WS as type: "XRPServo", device: <servo name>
String simDeviceName = "XRPServo:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
if (xrpServoSimDevice != null) {
xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
// This should mimic PWM position [0.0, 1.0]
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
} else {
m_simPosition = null;
}
}
/**
* Set the servo angle.
*
* @param angle Desired angle in degrees
*/
public void setAngle(double angle) {
if (angle < 0.0) {
angle = 0.0;
}
if (angle > 180.0) {
angle = 180.0;
}
double pos = angle / 180.0;
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo angle.
*
* @return Current servo angle
*/
public double getAngle() {
if (m_simPosition != null) {
return m_simPosition.get() * 180.0;
}
return 90.0;
}
/**
* Set the servo position.
*
* @param pos Desired position (Between 0.0 and 1.0)
*/
public void setPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo position.
*
* @return Current servo position
*/
public double getPosition() {
if (m_simPosition != null) {
return m_simPosition.get();
}
return 0.5;
}
}

132
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/sensors/XRPGyro.java
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@@ -1,132 +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.xrpreference.sensors;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
public class XRPGyro {
private final SimDouble m_simRateX;
private final SimDouble m_simRateY;
private final SimDouble m_simRateZ;
private final SimDouble m_simAngleX;
private final SimDouble m_simAngleY;
private final SimDouble m_simAngleZ;
private double m_angleXOffset;
private double m_angleYOffset;
private double m_angleZOffset;
/** Create a new XRPGyro. */
public XRPGyro() {
SimDevice gyroSimDevice = SimDevice.create("Gyro:XRPGyro");
if (gyroSimDevice != null) {
gyroSimDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = gyroSimDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = gyroSimDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = gyroSimDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simAngleX = gyroSimDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = gyroSimDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = gyroSimDevice.createDouble("angle_z", Direction.kInput, 0.0);
} else {
m_simRateX = null;
m_simRateY = null;
m_simRateZ = null;
m_simAngleX = null;
m_simAngleY = null;
m_simAngleZ = null;
}
}
/**
* Get the rate of turn in degrees-per-second around the X-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateX() {
if (m_simRateX != null) {
return m_simRateX.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Y-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateY() {
if (m_simRateY != null) {
return m_simRateY.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Z-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateZ() {
if (m_simRateZ != null) {
return m_simRateZ.get();
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around X-axis in degrees
*/
public double getAngleX() {
if (m_simAngleX != null) {
return m_simAngleX.get() - m_angleXOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around Y-axis in degrees
*/
public double getAngleY() {
if (m_simAngleY != null) {
return m_simAngleY.get() - m_angleYOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the Z-axis.
*
* @return current angle around Z-axis in degrees
*/
public double getAngleZ() {
if (m_simAngleZ != null) {
return m_simAngleZ.get() - m_angleZOffset;
}
return 0.0;
}
/** Reset the gyro angles to 0. */
public void reset() {
if (m_simAngleX != null) {
m_angleXOffset = m_simAngleX.get();
m_angleYOffset = m_simAngleY.get();
m_angleZOffset = m_simAngleZ.get();
}
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Arm.java
View File

@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.examples.xrpreference.subsystems;
import edu.wpi.first.wpilibj.examples.xrpreference.devices.XRPServo;
import edu.wpi.first.wpilibj.xrp.XRPServo;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Arm extends SubsystemBase {

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java
View File

@@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj.examples.xrpreference.subsystems;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.xrpreference.devices.XRPMotor;
import edu.wpi.first.wpilibj.examples.xrpreference.sensors.XRPGyro;
import edu.wpi.first.wpilibj.xrp.XRPGyro;
import edu.wpi.first.wpilibj.xrp.XRPMotor;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends SubsystemBase {

47
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/XRPOnBoardIO.java
View File

@@ -1,47 +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.xrpreference.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
* This class represents the onboard IO of the XRP Reference Robot. This includes the USER
* pushbutton and LED
*/
public class XRPOnBoardIO extends SubsystemBase {
private final DigitalInput m_button = new DigitalInput(0);
private final DigitalOutput m_led = new DigitalOutput(1);
/** Constructor. */
public XRPOnBoardIO() {
// No need to do anything else. Unlike the Romi, there are no other configurable
// I/O ports
}
/**
* Gets if the USER button is pressed.
*
* @return True if the USER button is currently pressed.
*/
public boolean getUserButtonPressed() {
return m_button.get();
}
/**
* Sets the onboard LED.
*
* @param value True to activate LED, false otherwise.
*/
public void setLed(boolean value) {
m_led.set(value);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

30
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
View File

@@ -90,7 +90,10 @@
"foldername": "romicommandbased",
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "Romi - Timed Robot",
@@ -102,7 +105,10 @@
"foldername": "romitimed",
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "XRP - Command Robot",
@@ -114,7 +120,10 @@
"foldername": "xrpcommandbased",
"gradlebase": "javaxrp",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"xrp"
]
},
{
"name": "XRP - Timed Robot",
@@ -126,7 +135,10 @@
"foldername": "xrptimed",
"gradlebase": "javaxrp",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"xrp"
]
},
{
"name": "Educational Robot",
@@ -149,7 +161,10 @@
"foldername": "romieducational",
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "XRP - Educational Robot",
@@ -161,6 +176,9 @@
"foldername": "xrpeducational",
"gradlebase": "javaxrp",
"mainclass": "Main",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"xrp"
]
}
]

109
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/devices/XRPMotor.java
View File

@@ -1,109 +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.templates.xrpcommandbased.devices;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPMotor.
*
* <p>A SimDevice based motor controller representing the motors on an XRP robot
*/
public class XRPMotor implements MotorController {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPMotor device number. Should be 0-3");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPMotor " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(0, "motorL");
s_simDeviceNameMap.put(1, "motorR");
s_simDeviceNameMap.put(2, "motor3");
s_simDeviceNameMap.put(3, "motor4");
}
private final SimDouble m_simSpeed;
private final SimBoolean m_simInverted;
/** XRPMotor. */
public XRPMotor(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on the WS messages as type: "XRPMotor", device: <motor name>
String simDeviceName = "XRPMotor:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
if (xrpMotorSimDevice != null) {
xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
} else {
m_simInverted = null;
m_simSpeed = null;
}
}
@Override
public void set(double speed) {
if (m_simSpeed != null) {
boolean invert = false;
if (m_simInverted != null) {
invert = m_simInverted.get();
}
m_simSpeed.set(invert ? -speed : speed);
}
}
@Override
public double get() {
if (m_simSpeed != null) {
return m_simSpeed.get();
}
return 0.0;
}
@Override
public void setInverted(boolean isInverted) {
if (m_simInverted != null) {
m_simInverted.set(isInverted);
}
}
@Override
public boolean getInverted() {
if (m_simInverted != null) {
return m_simInverted.get();
}
return false;
}
@Override
public void disable() {
set(0.0);
}
@Override
public void stopMotor() {
set(0.0);
}
}

123
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/devices/XRPServo.java
View File

@@ -1,123 +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.templates.xrpcommandbased.devices;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPServo.
*
* <p>A SimDevice based servo
*/
public class XRPServo {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPServo " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(4, "servo1");
s_simDeviceNameMap.put(5, "servo2");
}
private final SimDouble m_simPosition;
/** XRPServo. */
public XRPServo(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on WS as type: "XRPServo", device: <servo name>
String simDeviceName = "XRPServo:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
if (xrpServoSimDevice != null) {
xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
// This should mimic PWM position [0.0, 1.0]
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
} else {
m_simPosition = null;
}
}
/**
* Set the servo angle.
*
* @param angle Desired angle in degrees
*/
public void setAngle(double angle) {
if (angle < 0.0) {
angle = 0.0;
}
if (angle > 180.0) {
angle = 180.0;
}
double pos = angle / 180.0;
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo angle.
*
* @return Current servo angle
*/
public double getAngle() {
if (m_simPosition != null) {
return m_simPosition.get() * 180.0;
}
return 90.0;
}
/**
* Set the servo position.
*
* @param pos Desired position (Between 0.0 and 1.0)
*/
public void setPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo position.
*
* @return Current servo position
*/
public double getPosition() {
if (m_simPosition != null) {
return m_simPosition.get();
}
return 0.5;
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/subsystems/XRPDrivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.templates.xrpcommandbased.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.templates.xrpcommandbased.devices.XRPMotor;
import edu.wpi.first.wpilibj.xrp.XRPMotor;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class XRPDrivetrain extends SubsystemBase {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpeducational/XRPDrivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.templates.xrpeducational;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.templates.xrpeducational.devices.XRPMotor;
import edu.wpi.first.wpilibj.xrp.XRPMotor;
public class XRPDrivetrain {
private static final double kGearRatio =

109
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpeducational/devices/XRPMotor.java
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@@ -1,109 +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.templates.xrpeducational.devices;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPMotor.
*
* <p>A SimDevice based motor controller representing the motors on an XRP robot
*/
public class XRPMotor implements MotorController {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPMotor device number. Should be 0-3");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPMotor " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(0, "motorL");
s_simDeviceNameMap.put(1, "motorR");
s_simDeviceNameMap.put(2, "motor3");
s_simDeviceNameMap.put(3, "motor4");
}
private final SimDouble m_simSpeed;
private final SimBoolean m_simInverted;
/** XRPMotor. */
public XRPMotor(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on the WS messages as type: "XRPMotor", device: <motor name>
String simDeviceName = "XRPMotor:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
if (xrpMotorSimDevice != null) {
xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
} else {
m_simInverted = null;
m_simSpeed = null;
}
}
@Override
public void set(double speed) {
if (m_simSpeed != null) {
boolean invert = false;
if (m_simInverted != null) {
invert = m_simInverted.get();
}
m_simSpeed.set(invert ? -speed : speed);
}
}
@Override
public double get() {
if (m_simSpeed != null) {
return m_simSpeed.get();
}
return 0.0;
}
@Override
public void setInverted(boolean isInverted) {
if (m_simInverted != null) {
m_simInverted.set(isInverted);
}
}
@Override
public boolean getInverted() {
if (m_simInverted != null) {
return m_simInverted.get();
}
return false;
}
@Override
public void disable() {
set(0.0);
}
@Override
public void stopMotor() {
set(0.0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpeducational/devices/XRPServo.java
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@@ -1,123 +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.templates.xrpeducational.devices;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPServo.
*
* <p>A SimDevice based servo
*/
public class XRPServo {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPServo " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(4, "servo1");
s_simDeviceNameMap.put(5, "servo2");
}
private final SimDouble m_simPosition;
/** XRPServo. */
public XRPServo(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on WS as type: "XRPServo", device: <servo name>
String simDeviceName = "XRPServo:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
if (xrpServoSimDevice != null) {
xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
// This should mimic PWM position [0.0, 1.0]
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
} else {
m_simPosition = null;
}
}
/**
* Set the servo angle.
*
* @param angle Desired angle in degrees
*/
public void setAngle(double angle) {
if (angle < 0.0) {
angle = 0.0;
}
if (angle > 180.0) {
angle = 180.0;
}
double pos = angle / 180.0;
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo angle.
*
* @return Current servo angle
*/
public double getAngle() {
if (m_simPosition != null) {
return m_simPosition.get() * 180.0;
}
return 90.0;
}
/**
* Set the servo position.
*
* @param pos Desired position (Between 0.0 and 1.0)
*/
public void setPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo position.
*
* @return Current servo position
*/
public double getPosition() {
if (m_simPosition != null) {
return m_simPosition.get();
}
return 0.5;
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrptimed/XRPDrivetrain.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.templates.xrptimed;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.templates.xrptimed.devices.XRPMotor;
import edu.wpi.first.wpilibj.xrp.XRPMotor;
public class XRPDrivetrain {
private static final double kGearRatio =

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrptimed/devices/XRPMotor.java
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// 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.templates.xrptimed.devices;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPMotor.
*
* <p>A SimDevice based motor controller representing the motors on an XRP robot
*/
public class XRPMotor implements MotorController {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPMotor device number. Should be 0-3");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPMotor " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(0, "motorL");
s_simDeviceNameMap.put(1, "motorR");
s_simDeviceNameMap.put(2, "motor3");
s_simDeviceNameMap.put(3, "motor4");
}
private final SimDouble m_simSpeed;
private final SimBoolean m_simInverted;
/** XRPMotor. */
public XRPMotor(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on the WS messages as type: "XRPMotor", device: <motor name>
String simDeviceName = "XRPMotor:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
if (xrpMotorSimDevice != null) {
xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
} else {
m_simInverted = null;
m_simSpeed = null;
}
}
@Override
public void set(double speed) {
if (m_simSpeed != null) {
boolean invert = false;
if (m_simInverted != null) {
invert = m_simInverted.get();
}
m_simSpeed.set(invert ? -speed : speed);
}
}
@Override
public double get() {
if (m_simSpeed != null) {
return m_simSpeed.get();
}
return 0.0;
}
@Override
public void setInverted(boolean isInverted) {
if (m_simInverted != null) {
m_simInverted.set(isInverted);
}
}
@Override
public boolean getInverted() {
if (m_simInverted != null) {
return m_simInverted.get();
}
return false;
}
@Override
public void disable() {
set(0.0);
}
@Override
public void stopMotor() {
set(0.0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrptimed/devices/XRPServo.java
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// 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.templates.xrptimed.devices;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPServo.
*
* <p>A SimDevice based servo
*/
public class XRPServo {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPServo " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(4, "servo1");
s_simDeviceNameMap.put(5, "servo2");
}
private final SimDouble m_simPosition;
/** XRPServo. */
public XRPServo(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on WS as type: "XRPServo", device: <servo name>
String simDeviceName = "XRPServo:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
if (xrpServoSimDevice != null) {
xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
// This should mimic PWM position [0.0, 1.0]
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
} else {
m_simPosition = null;
}
}
/**
* Set the servo angle.
*
* @param angle Desired angle in degrees
*/
public void setAngle(double angle) {
if (angle < 0.0) {
angle = 0.0;
}
if (angle > 180.0) {
angle = 180.0;
}
double pos = angle / 180.0;
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo angle.
*
* @return Current servo angle
*/
public double getAngle() {
if (m_simPosition != null) {
return m_simPosition.get() * 180.0;
}
return 90.0;
}
/**
* Set the servo position.
*
* @param pos Desired position (Between 0.0 and 1.0)
*/
public void setPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo position.
*
* @return Current servo position
*/
public double getPosition() {
if (m_simPosition != null) {
return m_simPosition.get();
}
return 0.5;
}
}