It is advised to statically import this class (or one of its inner classes) wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java new file mode 100644 index 0000000000..250f78c02a --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.romicommandbased; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java new file mode 100644 index 0000000000..9d979d1455 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java @@ -0,0 +1,113 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.romicommandbased; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * This function is called every robot packet, no matter the mode. Use this for items like + * diagnostics that you want ran during disabled, autonomous, teleoperated and test. + * + *
This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, running already-scheduled commands, removing finished or interrupted commands, + // and running subsystem periodic() methods. This must be called from the robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** + * This function is called once each time the robot enters Disabled mode. + */ + @Override + public void disabledInit() { + } + + @Override + public void disabledPeriodic() { + } + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + /** + * This function is called periodically during autonomous. + */ + @Override + public void autonomousPeriodic() { + } + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + } + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() { + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java new file mode 100644 index 0000000000..0fe5d5f953 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java @@ -0,0 +1,57 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.romicommandbased; + +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.templates.romicommandbased.commands.ExampleCommand; +import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain; +import edu.wpi.first.wpilibj2.command.Command; + +/** + * This class is where the bulk of the robot should be declared. Since Command-based is a + * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} + * periodic methods (other than the scheduler calls). Instead, the structure of the robot + * (including subsystems, commands, and button mappings) should be declared here. + */ +public class RobotContainer { + // The robot's subsystems and commands are defined here... + private final RomiDrivetrain m_romiDrivetrain = new RomiDrivetrain(); + + private final ExampleCommand m_autoCommand = new ExampleCommand(m_romiDrivetrain); + + + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + // Configure the button bindings + configureButtonBindings(); + } + + /** + * Use this method to define your button->command mappings. Buttons can be created by + * instantiating a {@link GenericHID} or one of its subclasses ({@link + * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a + * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configureButtonBindings() { + } + + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // An ExampleCommand will run in autonomous + return m_autoCommand; + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java new file mode 100644 index 0000000000..31ea674786 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java @@ -0,0 +1,51 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.romicommandbased.commands; + +import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain; +import edu.wpi.first.wpilibj2.command.CommandBase; + +/** + * An example command that uses an example subsystem. + */ +public class ExampleCommand extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private final RomiDrivetrain m_subsystem; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public ExampleCommand(RomiDrivetrain subsystem) { + m_subsystem = subsystem; + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(subsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java new file mode 100644 index 0000000000..e629897ff7 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java @@ -0,0 +1,77 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.romicommandbased.subsystems; + +import edu.wpi.first.wpilibj.Encoder; +import edu.wpi.first.wpilibj.Spark; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class RomiDrivetrain extends SubsystemBase { + private static final double kCountsPerRevolution = 1440.0; + private static final double kWheelDiameterInch = 2.75; + + // The Romi has the left and right motors set to + // PWM channels 0 and 1 respectively + private final Spark m_leftMotor = new Spark(0); + private final Spark m_rightMotor = new Spark(1); + + // The Romi has onboard encoders that are hardcoded + // to use DIO pins 4/5 and 6/7 for the left and right + private final Encoder m_leftEncoder = new Encoder(4, 5); + private final Encoder m_rightEncoder = new Encoder(6, 7); + + // Set up the differential drive controller + private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor); + + /** + * Creates a new RomiDrivetrain. + */ + public RomiDrivetrain() { + // DifferentialDrive defaults to having the right side flipped + // We don't need to do this because the Romi has accounted for this + // in firmware/hardware + m_diffDrive.setRightSideInverted(false); + resetEncoders(); + } + + public void arcadeDrive(double xaxisSpeed, double zaxisRotate) { + m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate); + } + + public void resetEncoders() { + m_leftEncoder.reset(); + m_rightEncoder.reset(); + } + + public int getLeftEncoderCount() { + return m_leftEncoder.get(); + } + + public int getRightEncoderCount() { + return m_rightEncoder.get(); + } + + public double getLeftDistanceInch() { + return Math.PI * kWheelDiameterInch * (getLeftEncoderCount() / kCountsPerRevolution); + } + + public double getRightDistanceInch() { + return Math.PI * kWheelDiameterInch * (getRightEncoderCount() / kCountsPerRevolution); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + } + + @Override + public void simulationPeriodic() { + // This method will be called once per scheduler run during simulation + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java new file mode 100644 index 0000000000..193916cc27 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.romitimed; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
new file mode 100644
index 0000000000..6c01ac8f56
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.templates.romitimed;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private static final String kDefaultAuto = "Default";
+ private static final String kCustomAuto = "My Auto";
+ private String m_autoSelected;
+ private final SendableChooser This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ }
+
+ /**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable
+ * chooser code works with the Java SmartDashboard. If you prefer the
+ * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+ * getString line to get the auto name from the text box below the Gyro
+ *
+ * You can add additional auto modes by adding additional comparisons to
+ * the switch structure below with additional strings. If using the
+ * SendableChooser make sure to add them to the chooser code above as well.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autoSelected = m_chooser.getSelected();
+ // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
+ System.out.println("Auto selected: " + m_autoSelected);
+
+ m_drivetrain.resetEncoders();
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ switch (m_autoSelected) {
+ case kCustomAuto:
+ // Put custom auto code here
+ break;
+ case kDefaultAuto:
+ default:
+ // Put default auto code here
+ break;
+ }
+ }
+
+ /**
+ * This function is called once when teleop is enabled.
+ */
+ @Override
+ public void teleopInit() {
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ /**
+ * This function is called once when the robot is disabled.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ /**
+ * This function is called periodically when disabled.
+ */
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This function is called once when test mode is enabled.
+ */
+ @Override
+ public void testInit() {
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
new file mode 100644
index 0000000000..3b3f3761e4
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.templates.romitimed;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+public class RomiDrivetrain {
+ private static final double kCountsPerRevolution = 1440.0;
+ private static final double kWheelDiameterInch = 2.75;
+
+ // The Romi has the left and right motors set to
+ // PWM channels 0 and 1 respectively
+ private final Spark m_leftMotor = new Spark(0);
+ private final Spark m_rightMotor = new Spark(1);
+
+ // The Romi has onboard encoders that are hardcoded
+ // to use DIO pins 4/5 and 6/7 for the left and right
+ private final Encoder m_leftEncoder = new Encoder(4, 5);
+ private final Encoder m_rightEncoder = new Encoder(6, 7);
+
+ // Set up the differential drive controller
+ private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
+
+ /**
+ * Creates a new RomiDrivetrain.
+ */
+ public RomiDrivetrain() {
+ // DifferentialDrive defaults to having the right side flipped
+ // We don't need to do this because the Romi has accounted for this
+ // in firmware/hardware
+ m_diffDrive.setRightSideInverted(false);
+ resetEncoders();
+ }
+
+ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
+ m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+ }
+
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ public int getLeftEncoderCount() {
+ return m_leftEncoder.get();
+ }
+
+ public int getRightEncoderCount() {
+ return m_rightEncoder.get();
+ }
+
+ public double getLeftDistanceInch() {
+ return Math.PI * kWheelDiameterInch * (getLeftEncoderCount() / kCountsPerRevolution);
+ }
+
+ public double getRightDistanceInch() {
+ return Math.PI * kWheelDiameterInch * (getRightEncoderCount() / kCountsPerRevolution);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
index a356ad0bec..2e0689940f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
@@ -60,7 +60,7 @@
"tags": [
"Timed", "Romi"
],
- "foldername": "timed",
+ "foldername": "romitimed",
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
@@ -71,7 +71,7 @@
"tags": [
"Command", "Romi"
],
- "foldername": "commandbased",
+ "foldername": "romicommandbased",
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2