diff --git a/stage1/ctre/solution/.gitignore b/stage1/ctre/solution/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/stage1/ctre/solution/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/stage1/ctre/solution/.wpilib/wpilib_preferences.json b/stage1/ctre/solution/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..e2fbf11 --- /dev/null +++ b/stage1/ctre/solution/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2027_alpha5", + "teamNumber": null +} \ No newline at end of file diff --git a/stage1/ctre/solution/AdvantageScopeLayout.json b/stage1/ctre/solution/AdvantageScopeLayout.json new file mode 100644 index 0000000..825a1cd --- /dev/null +++ b/stage1/ctre/solution/AdvantageScopeLayout.json @@ -0,0 +1,122 @@ +{ + "hubs": [ + { + "x": 328, + "y": 194, + "width": 1101, + "height": 652, + "state": { + "sidebar": { + "width": 300, + "expanded": [ + "/DrivetrainSim" + ] + }, + "tabs": { + "selected": 1, + "tabs": [ + { + "type": 0, + "title": "", + "controller": null, + "controllerUUID": "vlfwq7pm9tlj70qdvvq45nifwex34k2g", + "renderer": "", + "controlsHeight": 0 + }, + { + "type": 1, + "title": "Line Graph", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "NT:/intake/MotorVoltage", + "logType": "Number", + "visible": true, + "options": { + "color": "#2b66a2", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "NT:/shooter/MotorVoltage", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + } + ], + "rightSources": [ + { + "type": "stepped", + "logKey": "NT:/intake/MotorVelocity", + "logType": "Number", + "visible": true, + "options": { + "color": "#af2437", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "NT:/shooter/MotorVelocity", + "logType": "Number", + "visible": true, + "options": { + "color": "#80588e", + "size": "normal" + } + } + ], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "autoTarget": null, + "preset": null + }, + "rightUnitConversion": { + "autoTarget": null, + "preset": null + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "2htqlla9hnswdie42z4tmy5c6xlm59sh", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 2, + "title": "2D Field", + "controller": { + "sources": [ + { + "type": "robot", + "logKey": "NT:SimPose", + "logType": "Pose2d", + "visible": true, + "options": { + "bumpers": "" + } + } + ], + "field": "FRC:2026 Field", + "orientation": 3, + "size": "large" + }, + "controllerUUID": "9ukgi1echibr7o0wodpgms6ajn3yic95", + "renderer": null, + "controlsHeight": 200 + } + ] + } + } + } + ], + "satellites": [], + "version": "27.0.0-alpha-4" +} diff --git a/stage1/ctre/solution/WPILib-License.md b/stage1/ctre/solution/WPILib-License.md new file mode 100644 index 0000000..eb3061b --- /dev/null +++ b/stage1/ctre/solution/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2026 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/stage1/ctre/solution/build.gradle b/stage1/ctre/solution/build.gradle new file mode 100644 index 0000000..15ddf2d --- /dev/null +++ b/stage1/ctre/solution/build.gradle @@ -0,0 +1,147 @@ +plugins { + id "java" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6" + id "com.gradleup.shadow" version "9.3.0" + id "com.diffplug.spotless" version "8.0.0" +} + +java { + sourceCompatibility = JavaVersion.VERSION_25 + targetCompatibility = JavaVersion.VERSION_25 +} + +def ROBOT_MAIN_CLASS = "first.Main" + +// Define my targets (SystemCore) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + systemcore(getTargetTypeClass('SystemCore')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.wpilib.getTeamNumber() + // Use the default systemcore host name. This must be called after setting team + // as happens on the line above + useDefaultSystemcoreHostName() + debug = project.wpilib.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) { + } + + // Static files artifact + wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava + +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) + + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat/shaded jar') +// in order to make them all available at runtime and merging service files to make JSON work. +// Also adding the manifest so WPILib knows where to look for our Robot Class. +shadowJar { + mergeServiceFiles() + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = shadowJar +wpi.java.configureExecutableTasks(shadowJar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} + +project.compileJava.dependsOn(spotlessApply) +spotless { + java { + target fileTree(".") { + include "**/*.java" + exclude "**/build/**", "**/build-*/**" + } + toggleOffOn() + palantirJavaFormat() + leadingSpacesToTabs(4) + leadingTabsToSpaces(2) + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree(".") { + include "**/*.gradle" + exclude "**/build/**", "**/build-*/**" + } + greclipse() + leadingTabsToSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + format "misc", { + target fileTree(".") { + include "**/*.md", "**/.gitignore" + exclude "**/build/**", "**/build-*/**" + } + trimTrailingWhitespace() + leadingTabsToSpaces(2) + endWithNewline() + } +} diff --git a/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.jar b/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..d997cfc Binary files /dev/null and b/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.jar differ diff --git a/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.properties b/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..42bb5ac --- /dev/null +++ b/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/stage1/ctre/solution/gradlew b/stage1/ctre/solution/gradlew new file mode 100644 index 0000000..739907d --- /dev/null +++ b/stage1/ctre/solution/gradlew @@ -0,0 +1,248 @@ +#!/bin/sh + +# +# Copyright © 2015 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/stage1/ctre/solution/gradlew.bat b/stage1/ctre/solution/gradlew.bat new file mode 100644 index 0000000..c4bdd3a --- /dev/null +++ b/stage1/ctre/solution/gradlew.bat @@ -0,0 +1,93 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/stage1/ctre/solution/settings.gradle b/stage1/ctre/solution/settings.gradle new file mode 100644 index 0000000..e2626a8 --- /dev/null +++ b/stage1/ctre/solution/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + String wpilibYear = '2027_alpha5' + File wpilibHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } + def wpilibHomeMaven = new File(wpilibHome, 'maven') + maven { + name = 'wpilibHome' + url = wpilibHomeMaven + } + mavenLocal() + gradlePluginPortal() + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/stage1/ctre/solution/simgui-ds.json b/stage1/ctre/solution/simgui-ds.json new file mode 100644 index 0000000..109e2dc --- /dev/null +++ b/stage1/ctre/solution/simgui-ds.json @@ -0,0 +1,58 @@ +{ + "Keyboard 0 Settings": {"window": {"visible": true}}, + "keyboardJoysticks": [{ + "axisConfig": [{}, { + "decKey": 568, + "incKey": 564 + }, { + "decayRate": 1, + "keyRate": 1 + }, { + "decayRate": 1, + "keyRate": 1 + }, { + "decKey": 549, + "incKey": 546 + }], + "axisCount": 5, + "buttonCount": 6, + "buttonKeys": [571, 569, 548, 567, 562, 550], + "povConfig": [{ + "keyDown": 614, + "keyDownLeft": 613, + "keyDownRight": 615, + "keyLeft": 616, + "keyRight": 618, + "keyUp": 620, + "keyUpLeft": 619, + "keyUpRight": 621 + }], + "povCount": 1 + }, { + "axisConfig": [{}, { + "decKey": 554, + "incKey": 556 + }], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [558, 597, 599, 600], + "povCount": 0 + }, { + "axisConfig": [{ + "decKey": 513, + "incKey": 514 + }, { + "decKey": 515, + "incKey": 516 + }], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [521, 519, 517, 522, 520, 518], + "povCount": 0 + }, { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + }], + "robotJoysticks": [{"guid": "Keyboard0"}] + } diff --git a/stage1/ctre/solution/src/main/deploy/example.txt b/stage1/ctre/solution/src/main/deploy/example.txt new file mode 100644 index 0000000..c9bc6a2 --- /dev/null +++ b/stage1/ctre/solution/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the Systemcore into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/stage1/ctre/solution/src/main/java/first/Main.java b/stage1/ctre/solution/src/main/java/first/Main.java new file mode 100644 index 0000000..7d287e7 --- /dev/null +++ b/stage1/ctre/solution/src/main/java/first/Main.java @@ -0,0 +1,25 @@ +// 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 first; + +import org.wpilib.framework.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(first.robot.Robot.class); + } +} diff --git a/stage1/ctre/solution/src/main/java/first/robot/Robot.java b/stage1/ctre/solution/src/main/java/first/robot/Robot.java new file mode 100644 index 0000000..e41e891 --- /dev/null +++ b/stage1/ctre/solution/src/main/java/first/robot/Robot.java @@ -0,0 +1,83 @@ +// 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 first.robot; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MotorAlignmentValue; +import first.robot.simulation.DrivetrainSim; +import first.robot.simulation.SingleFlywheelSim; +import org.wpilib.drive.DifferentialDrive; +import org.wpilib.framework.OpModeRobot; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; + +/** + * The methods in this class are called automatically as described in the OpModeRobot documentation. + * OpMode classes anywhere in the package (or sub-packages) where this class is located are + * automatically registered to display in the Driver Station. If you change the name of this class + * or the package after creating this project, you must also update the Main.java file in the + * project. + */ +public class Robot extends OpModeRobot { + + private final int leftLeaderID = 0; + public TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); + private TalonFX leftFollower = new TalonFX(1, CANBus.systemcore(0)); + + private final int rightLeaderID = 2; + public TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); + private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); + + public TalonFX intakeMotor = new TalonFX(4, CANBus.systemcore(0)); + public TalonFX shooterMotor = new TalonFX(5, CANBus.systemcore(0)); + + private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + + public final DifferentialDrive drivetrain = + new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + + private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader); + private SingleFlywheelSim intakeSim = new SingleFlywheelSim(intakeMotor, "intake"); + private SingleFlywheelSim shooterSim = new SingleFlywheelSim(shooterMotor, "shooter"); + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + public Robot() { + var leftConfig = new TalonFXConfiguration(); + leftConfig.MotorOutput.withInverted(InvertedValue.Clockwise_Positive); + leftLeader.getConfigurator().apply(leftConfig); + + var rightConfig = new TalonFXConfiguration(); + rightConfig.MotorOutput.withInverted(InvertedValue.CounterClockwise_Positive); + rightLeader.getConfigurator().apply(rightConfig); + + leftFollower.setControl(new Follower(leftLeaderID, MotorAlignmentValue.Aligned)); + rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); + } + + /** This function is called exactly once when the DS first connects. */ + @Override + public void driverStationConnected() {} + + /** + * This function is called periodically anytime when no opmode is selected, including when the + * Driver Station is disconnected. + */ + @Override + public void nonePeriodic() {} + + @Override + public void simulationPeriodic() { + drivetrainSim.periodic(); + intakeSim.periodic(); + shooterSim.periodic(); + } +} diff --git a/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java new file mode 100644 index 0000000..d51ee1c --- /dev/null +++ b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java @@ -0,0 +1,41 @@ +// 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 first.robot.opmode; + +import first.robot.Robot; +import org.wpilib.opmode.Autonomous; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.system.Timer; + +@Autonomous(name = "My Auto", group = "Group 1") +public class MyAuto extends PeriodicOpMode { + private final Robot robot; + private Timer autoTimer = new Timer(); + + /** The Robot instance is passed into the opmode via the constructor. */ + public MyAuto(Robot robot) { + this.robot = robot; + } + + @Override + public void start() { + autoTimer.restart(); // Reset the timer to zero at the start of auto + } + + /* + * This method runs periodically, using the same period as the Robot instance. + * + * Additional periodic methods may be configured with addPeriodic(), + * which can have periods that differ from the main Robot instance. + */ + @Override + public void periodic() { + if (autoTimer.hasElapsed(4.0)) { // Drive for 4 seconds after the start of auto + robot.drivetrain.arcadeDrive(0.0, 0.0); // Stop the drivetrain after 4 seconds + } else { + robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation + } + } +} diff --git a/stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java new file mode 100644 index 0000000..4b3ee9d --- /dev/null +++ b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java @@ -0,0 +1,59 @@ +// 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 first.robot.opmode; + +import first.robot.Robot; +import org.wpilib.driverstation.NiDsXboxController; +import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; + +@Teleop +public class MyTeleop extends PeriodicOpMode { + private final Robot robot; + private final NiDsXboxController controller = new NiDsXboxController(0); + + /** The Robot instance is passed into the opmode via the constructor. */ + public MyTeleop(Robot robot) { + this.robot = robot; + } + + @Override + public void disabledPeriodic() { + /* Called periodically (on every DS packet) while the robot is disabled. */ + } + + @Override + public void start() { + /* Called once when the robot is enabled. */ + } + + @Override + public void periodic() { + /* Called periodically (set time interval) while the robot is enabled. */ + robot.drivetrain.arcadeDrive(-controller.getLeftY(), controller.getRightX()); + + if (controller.getLeftBumperButton()) { + robot.intakeMotor.setThrottle(1.0); + } else { + robot.intakeMotor.setThrottle(0.0); + } + + if (controller.getRightBumperButton()) { + robot.shooterMotor.setThrottle(1.0); + } else { + robot.shooterMotor.setThrottle(0.0); + } + } + + @Override + public void end() { + /* Called when the robot is disabled (after previously being enabled). */ + } + + @Override + public void close() { + /* Called when the opmode is de-selected / no additional methods will be called. */ + } +} diff --git a/stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java b/stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java new file mode 100644 index 0000000..28dee35 --- /dev/null +++ b/stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java @@ -0,0 +1,81 @@ +package first.robot.simulation; + +import static org.wpilib.units.Units.Inches; +import static org.wpilib.units.Units.KilogramSquareMeters; +import static org.wpilib.units.Units.Kilograms; +import static org.wpilib.units.Units.Meters; + +import com.ctre.phoenix6.hardware.TalonFX; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.system.DCMotor; +import org.wpilib.networktables.DoublePublisher; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.networktables.StructPublisher; +import org.wpilib.simulation.DifferentialDrivetrainSim; +import org.wpilib.simulation.OnboardIMUSim; + +public class DrivetrainSim { + + private final TalonFX leftTalon; + private final TalonFX rightTalon; + + private final double kGearRatio = 10.71; + private final double kWheelRadiusMeters = Inches.of(3.0).in(Meters); + private static final double kBusVoltage = 12.0; + + private final DifferentialDrivetrainSim driveSim = new DifferentialDrivetrainSim( + DCMotor.getKrakenX60(2), // 2 Kraken Moters on each side of the drivetrain + kGearRatio, // Gear ratio between the drive motor and drive wheel + KilogramSquareMeters.of(2.1).magnitude(), // MOI of the robot (measured from CAD model) + Kilograms.of(26.5).magnitude(), // Mass of the robot + kWheelRadiusMeters, // Radius of the drive wheels + Inches.of(21.5).in(Meters), // Distance between the left and right wheels + null); + + private final StructPublisher simPosePublisher = NetworkTableInstance.getDefault() + .getStructTopic("SimPose", Pose2d.struct) + .publish(); + + private final DoublePublisher leftPositionPub = NetworkTableInstance.getDefault() + .getDoubleTopic("DrivetrainSim/LeftPositionMeters") + .publish(); + + private final DoublePublisher rightPositionPub = NetworkTableInstance.getDefault() + .getDoubleTopic("DrivetrainSim/RightPositionMeters") + .publish(); + + private final DoublePublisher leftVelocityPub = NetworkTableInstance.getDefault() + .getDoubleTopic("DrivetrainSim/LeftVelocityMPS") + .publish(); + + private final DoublePublisher rightVelocityPub = NetworkTableInstance.getDefault() + .getDoubleTopic("DrivetrainSim/RightVelocityMPS") + .publish(); + + /** + * + * @param leftTalon the left-side TalonFX motor controller + * @param rightTalon the left-side TalonFX motor controller + * + */ + public DrivetrainSim(TalonFX leftTalon, TalonFX rightTalon) { + this.leftTalon = leftTalon; + this.rightTalon = rightTalon; + } + + public void periodic() { + double leftMotorVoltage = leftTalon.getThrottle() * kBusVoltage; + double rightMotorVoltage = rightTalon.getThrottle() * kBusVoltage; + + driveSim.setInputs(leftMotorVoltage, rightMotorVoltage); + driveSim.update(0.02); + + OnboardIMUSim.setYaw(driveSim.getHeading().getRadians()); + + simPosePublisher.set(driveSim.getPose()); + leftPositionPub.set(driveSim.getLeftPosition()); + rightPositionPub.set(driveSim.getRightPosition()); + leftVelocityPub.set(driveSim.getLeftVelocity()); + rightVelocityPub.set(driveSim.getRightVelocity()); + } +} diff --git a/stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java b/stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java new file mode 100644 index 0000000..eeb6800 --- /dev/null +++ b/stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java @@ -0,0 +1,50 @@ +package first.robot.simulation; + +import com.ctre.phoenix6.hardware.TalonFX; +import org.wpilib.math.system.DCMotor; +import org.wpilib.math.system.Models; +import org.wpilib.networktables.DoublePublisher; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.simulation.FlywheelSim; + +public class SingleFlywheelSim { + + private final TalonFX talonMotor; + private double motorPosition = 0.0; + + private final double gearRatio = 1.0; + private final FlywheelSim flywheelSim = new FlywheelSim( + Models.flywheelFromPhysicalConstants(DCMotor.getKrakenX60(1), 0.001, gearRatio), DCMotor.getKrakenX60(1)); + + private final double kBusVoltage = 12.0; + + private final DoublePublisher motorVoltagePub; + private final DoublePublisher motorVelocityPub; + private final DoublePublisher motorCurrentPub; + private final DoublePublisher motorPositionPub; + + public SingleFlywheelSim(TalonFX talonMotor, String name) { + this.talonMotor = talonMotor; + + var table = NetworkTableInstance.getDefault().getTable(name); + motorVoltagePub = table.getDoubleTopic("MotorVoltage").publish(); + motorVelocityPub = table.getDoubleTopic("MotorVelocity").publish(); + motorCurrentPub = table.getDoubleTopic("MotorCurrent").publish(); + motorPositionPub = table.getDoubleTopic("MotorPosition").publish(); + } + + public void periodic() { + double motorVoltage = talonMotor.getThrottle() * kBusVoltage; + + flywheelSim.setInputVoltage(motorVoltage); + flywheelSim.update(0.02); + + double motorVelo = flywheelSim.getAngularVelocity(); + motorPosition += motorVelo * 0.02; + + motorVoltagePub.set(motorVoltage); + motorVelocityPub.set(motorVelo); + motorCurrentPub.set(flywheelSim.getCurrentDraw()); + motorPositionPub.set(motorPosition); + } +} diff --git a/stage1/ctre/solution/vendordeps/CommandsV2.json b/stage1/ctre/solution/vendordeps/CommandsV2.json new file mode 100644 index 0000000..8358b09 --- /dev/null +++ b/stage1/ctre/solution/vendordeps/CommandsV2.json @@ -0,0 +1,46 @@ +{ + "fileName": "CommandsV2.json", + "name": "Commands V2", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "wpilibYear": "2027_alpha5", + "mavenUrls": [], + "jsonUrl": "", + "conflictsWith": [ + { + "uuid": "4decdc05-a056-46cf-9561-39449bbb01306", + "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.", + "offlineFileName": "CommandsV3.json" + } + ], + "javaDependencies": [ + { + "groupId": "org.wpilib.commandsv2", + "artifactId": "commandsv2-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "org.wpilib.commandsv2", + "artifactId": "commandsv2-cpp", + "version": "wpilib", + "libName": "commandsv2", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} diff --git a/stage1/ctre/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json b/stage1/ctre/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json new file mode 100644 index 0000000..f7db60a --- /dev/null +++ b/stage1/ctre/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json @@ -0,0 +1,449 @@ +{ + "fileName": "Phoenix6-26.50.0-alpha-1.json", + "name": "CTRE-Phoenix (v6)", + "version": "26.50.0-alpha-1", + "wpilibYear": "2027_alpha5", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2027-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2027-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.50.0-alpha-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": 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