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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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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
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@@ -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
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@@ -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
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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.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
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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.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
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@@ -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
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@@ -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
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@@ -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
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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.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);
}
}

123
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpeducational/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.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;
}
}

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

@@ -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 =

109
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrptimed/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.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);
}
}

123
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrptimed/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.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;
}
}