From 320eb3a5ecb7c690e8e8d826b4050ac298db1206 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Sun, 14 Jun 2026 21:00:30 -0500 Subject: [PATCH 1/9] create project + motor config --- stage1/wcp/solution/.gitignore | 187 ++++++++ .../solution/.wpilib/wpilib_preferences.json | 6 + stage1/wcp/solution/WPILib-License.md | 24 + stage1/wcp/solution/build.gradle | 111 +++++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 48966 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + stage1/wcp/solution/gradlew | 248 ++++++++++ stage1/wcp/solution/gradlew.bat | 93 ++++ stage1/wcp/solution/settings.gradle | 30 ++ .../wcp/solution/src/main/deploy/example.txt | 3 + .../solution/src/main/java/first/Main.java | 25 + .../src/main/java/first/robot/Robot.java | 72 +++ .../main/java/first/robot/opmode/MyAuto.java | 30 ++ .../java/first/robot/opmode/MyTeleop.java | 44 ++ .../wcp/solution/vendordeps/CommandsV2.json | 46 ++ .../vendordeps/Phoenix6-26.50.0-alpha-1.json | 449 ++++++++++++++++++ 16 files changed, 1375 insertions(+) create mode 100644 stage1/wcp/solution/.gitignore create mode 100644 stage1/wcp/solution/.wpilib/wpilib_preferences.json create mode 100644 stage1/wcp/solution/WPILib-License.md create mode 100644 stage1/wcp/solution/build.gradle create mode 100644 stage1/wcp/solution/gradle/wrapper/gradle-wrapper.jar create mode 100644 stage1/wcp/solution/gradle/wrapper/gradle-wrapper.properties create mode 100644 stage1/wcp/solution/gradlew create mode 100644 stage1/wcp/solution/gradlew.bat create mode 100644 stage1/wcp/solution/settings.gradle create mode 100644 stage1/wcp/solution/src/main/deploy/example.txt create mode 100644 stage1/wcp/solution/src/main/java/first/Main.java create mode 100644 stage1/wcp/solution/src/main/java/first/robot/Robot.java create mode 100644 stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java create mode 100644 stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java create mode 100644 stage1/wcp/solution/vendordeps/CommandsV2.json create mode 100644 stage1/wcp/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json diff --git a/stage1/wcp/solution/.gitignore b/stage1/wcp/solution/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/stage1/wcp/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/wcp/solution/.wpilib/wpilib_preferences.json b/stage1/wcp/solution/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..e2fbf11 --- /dev/null +++ b/stage1/wcp/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/wcp/solution/WPILib-License.md b/stage1/wcp/solution/WPILib-License.md new file mode 100644 index 0000000..eb3061b --- /dev/null +++ b/stage1/wcp/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/wcp/solution/build.gradle b/stage1/wcp/solution/build.gradle new file mode 100644 index 0000000..55508d0 --- /dev/null +++ b/stage1/wcp/solution/build.gradle @@ -0,0 +1,111 @@ +plugins { + id "java" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6" + id "com.gradleup.shadow" version "9.3.0" +} + +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' +} diff --git a/stage1/wcp/solution/gradle/wrapper/gradle-wrapper.jar b/stage1/wcp/solution/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d997cfc60f4cff0e7451d19d49a82fa986695d07 GIT binary patch literal 48966 zcma&NW0WmQwk%w>ZQHhO+qUi6W!pA(xoVef+k2O7+pkXd9rt^$@9p#T8Y9=Q^(R-x zjL3*NQ$ZRS1O)&B0s;U4fbe_$e;)(@NB~(;6+v1_IWc+}NnuerWl>cXPyoQcezKvZ z?Yzc@<~LK@Yhh-7jwvSDadFw~t7KfJ%AUfU*p0wc+3m9#p=Zo4`H`aA_wBL6 z9Q`7!;Ok~8YhZ^Vt#N97bt5aZ#mQc8r~hs3;R?H6V4(!oxSADTK|DR2PL6SQ3v6jM<>eLMh9 zAsd(APyxHNFK|G4hA_zi+YV?J+3K_*DIrdla>calRjaE)4(?YnX+AMqEM!Y|ED{^2 zI5gZ%nG-1qAVtl==8o0&F1N+aPj`Oo99RfDNP#ZHw}}UKV)zw6yy%~8Se#sKr;3?g zJGOkV2luy~HgMlEJB+L<_$@9sUXM7@bI)>-K!}JQUCUwuMdq@68q*dV+{L#Vc?r<( z?Wf1HbqxnI6=(Aw!Vv*Z1H_SoPtQTiy^bDVD8L=rRZ`IoIh@}a`!hY>VN&316I#k} z1Sg~_3ApcIFaoZ+d}>rz0Z8DL*zGq%zU1vF1z1D^YDnQrG3^QourmO6;_SrGg3?qWd9R1GMnKV>0++L*NTt>aF2*kcZ;WaudfBhTaqikS(+iNzDggUqvhh?g ziJCF8kA+V@7zi30n=b(3>X0X^lcCCKT(CI)fz-wfOA1P()V)1OciPu4b_B5ORPq&l zchP6l3u9{2on%uTwo>b-v0sIrRwPOzG;Wcq8mstd&?Pgb9rRqF#Yol1d|Q6 z7O20!+zXL(B%tC}@3QOs&T8B=I*k{!Y74nv#{M<0_g4BCf1)-f)6~`;(P-= zPqqH2%j0LDX2k5|_)zavpD{L1BW?<+s$>F&1VNb3T+gu!Dgd{W+na9(yV`M7UaCBuJZg1Y)y6{U}0=LTvxBDApz@r>dGt(m^v|jy&aLA zdsOeJcquuj3G^NkH)g)z@gTzgpr!zpE$0>$aT^{((&VA>+(nQB!M(NnPvEP}ZRz+6 zE!=UW!r7sbX3>{1{XW1?hSDNsur6cNeYxE{$bFwZzZ597{pDqjr%ag85sIns_Xz%= zqY{h#z8J6GA~vfLQ2-jWWcloE5LA62jta=C*1KxAL}jugoPqj4el4R4g3zC4nE#2-NeS{c3#!2tIS|1h8*|kpw2VSH9OcIQZx0Yh!8~P&p}fI$4Bj9Z zr5Yv?i-PfO#<}clM>mO(D0wHniZZdv8pOuJFW z+-u}BH84PQCgT~VWBM88vtCly1y$uEGJ<7vnW%!2yV>l>dxA0X0q{cN6y3u$8R-*f z-4^OlZ1HmxCv`dFW%quP<7xzAbtiFxvY0M1&2ng&A}QXAVR=prc_5m(D+_?hv#$M^ zG#MQ#fHMc!+S%HgU^Qv7Z9eu6eNqpSr3e8(;No*YfovbJ;60LjCzv9O~^>gFKO>t zGZg9`a5;$hksp*fHp{7&RE@DM&Pa@a>Kwk%*F7UGO|}^Z0ho1U$THOgX9jtCW6N$v zLOm}xcMBtw)CC(;LLX!R9jp|UsBWGfs@HaMiosA3#hFee7(4vLY}IrhD++}>pY zo+=_h+uJ;j^CP*OGQ9$0q+%}UB`4`5c766d#)*Czs<91wxw)jI^IdvyjT%<8OqI=i zNn0OUqW#POg^4ma)e2b?*Xv;dri*N0SJ7_{&0>;S!)!YV1TQuiT1C3ZFDvThe}yTCmErx#6yyQ4X@OAbHhdEV!K2%;7J>tiUZF)>Z|eRVDwtDC~=J z*M8|WEgzsyNH@-5lJE+P6HrurgY!PqtWk z^69SOHZ*}xn|j2FDVg`qRT}ob*1XiGo=x8MDEX)duljcVO}oJjuAbB$Z+f&!{z3k< zO6+{@O#2^s4qT`6k}Nw?DKV1DU~}0jVA)(kNz$c-p`*FNG#Gb&o?ko70F||R^y*hD z6HD|hJzF)G&^K=vuN$@b2fIfHVFw@hC_-0hPnB!1{=Nn~ran4VeTMM(Xx2A3h95U} z&J#Kw4>*V(LHOA<3Dy{sbW-9k5M2<%yDw~ce0+aez8 z04skG8@QEESIL;m-@Mf_hY!)KkEUowHu(>)Inz(pM`@pkxz z1_K#Qs6$E^c$7w=JLy>nSY)>aY;x2z`LW-$$rnY0!suTZSG)^0ZMeT#$0_oER zfZ1Hf>#TP|;J^rzn3V^2)Dy!goj6roAho>c=?28yjzQ>N-yU)XduKq8Lb3+ZA|#-{ z?34)Ml8%)3F1}oF;q9XFxoM}Zn{~2>kr%X_=WMen%b>n))hx6kHWNoKUBAz?($h(m(l;U*Gq7;p5J{B;kfO^C%C9HhtW!=O3-h>$U zI2=uaEymeK^h#QuB8a?1Qr0Gn;ZZ@;otg2l>gf= z$_mO!iis+#(8-GZw`ZiCnt}>qKmghHCb)`6U!8qS*DhBANfGj|U2C->7>*Bqe5h<% zF+9uy>$;#cZB>?Wdz3mqi2Y>+6-#!Dd56@$WF{_^P2?6kNNfaw!r74>MZUNkFAt*H zvS@2hNmT%xnXp}_1gixv9!5#YI3ftgFXG20Vt1IQ(~+HmryrZI+r0(y2Scl+y=G^* zxt$Vvn&S=Vul-rgOlYNio7%ST_3!t`_`N@SCv$ppCqok(Q+i_?OL}2@TU$dr6B$c8 zQ$Z(lS6fp%7f}ymQwJAIdpkN~8$)O3|K7Z;{FD?hBSP-#pJgq0C_SFT;^sBc#da0M z;^UuXXq{!hEwQpp(o9+)jPM6ru1P$u0evVO(NJ;%0FgmMNlJ+BJ zf^`a|U*ab?uN*Ue>tHJ$Pl~chCwRnxi3%X06NxwlIAKa*KReLL^y1B^nuy|^SPj3} z5X|?1divh3@zci;648jb2qEOm!_8Tjh3gi;H%2`d`~Q(IL{Wcl1C18+&P>tU&0!nO z&+7mpvr2SsTj=@sX zxG=;T^f7Rg=c=V*u8X(fo)4;RYax^+=quviOJ{>r6{wgf)g){I&qe`=HL}6J>i6Ne zSZ*h9f&JG>Y`@Bg5Pb&>4&UqFp9I<8o`n4W_V=4AugM`RqUeS-!`OyNLyKMqa_Ct| zON-hyk#-}{lZZx>B1F@dF^8S>x|C*QAjKqn&Ej9H#z@Q#KA*ckBX@^;gIP&?aK15l z*EY@kG57oUcm(d{NyXg6$Kj#xR5XdZ1EBCT+Zy!gyXwN&b_zI&$$>7R#{ zh8U@H8NY-cA*CBfH$OCs^priPwtwrzFjDO}DBn#mgbI~hn}cp2U{yv@S)iy|jR9+E zgd(hF|1cyC#te0P;iFGqpNBqc(k<{p^1>wHE_c8Tr4|&NV4mzpzFe;Cr)C~qpVNjl z^u(^s5=kj{QBae)Y*#^A39jT4`!NuIUQzD#DOyfa!R=PrX6oS@x@kJV)Cn$!xTK9A&VI#F-Slt8I4|=$bcjaC5h=9E{51g8X5q1Qfg~~G>qAgy*7h4-WuqE zlIEx?Hu*%99?$6TheLAD4NIMO=Q@*;gaXDl6yLLXfFX0*1-9KQm42c%WX*AXFo$it z?FwnWn2tBHY&Qj6=PV?ergU$VKzu+`(5pCRqX}IoSFo?P!`sff%u1?N+(KsoL+K={ zi*JGl%_jiuB;&YW+n%1o^%5@!HB9}OlIdQZ*XzQ%vu!8p2gnKW+!X>@oC{gp3lNx^ z82|5Jdg9-B<1j|y(@3J;$D-lqdnf0Q6T~q7;#O}EMPV3k(bi$DpZwj9(UhU%_l&nN zR}8tN_NhDMhs)gtG*76~+W2yQ{!kDTE@X4gft2?W;S$BLp9X z;sh2jpm!mkfPX>Vuqxyt76<@f4fyY%&iuDfS1@#PHgzHqG;=X^`X}t2|Alr^lx^ja z1rhvG(PH(a0THitc?4hk=P*#IS;-`fjOKqJ4kgo@dAD@ob*))H)=)6s3cthp&4Q55 z4dQRdG0EveK*(ZUCFcCjILgS#$@%y=8leYxN-%zQaky@H?kjhyBrLYA!cv>kV5;i1 zZ^w&U7s&K8fNr4Pfy9GyTK2Tiay4Y_PsPWoWW5YA8nfUkoyjU)i@nKj@4rY13sxO6 z_NzYdG=Vr<@08Xi#8rnX&^d{Bl`oHXO6Y3!v2U~ZV>I*30X3X&4@zqqVO~RyF)6?a zD(<+33_9TqeHL)#Y?($m4_zZvaJXWXppZ4?wo?$wF)%M6rEVk2gM=l9k+=*Q+((fI zIUBH6)}M?ahSxD4lgmJ30ygk#4d!O@?%WNEONommx`ZK81ZV)mJpKB`PgQ}F>NGdV zkV|>^}oWQd6@Ay7$&)6!% zOu_p~TZ3A#G_UqiJ85&*$!(+!V*+*{&-JXb53gtc9n3>8)T$jUVXe+M6n$m633Mi? zlh5{_+6iZ<%gMWMrtHyDl(u-hMl^DViUDc50UD;0g_l$F`Hb(F=o+?94B0fjb;|?Q5c~TWX>t8i1RP@>Ccgm z?2=z0coeb?uvn44moKFb^+(#pAdHE7{EW(DxJE=@Z0^Am`dpm98e`*S+-~*zmhdQ7 zCNig0!yUu5U#>KKocrg-xMjQoNzQ`th0f{!0`ammp_KMFh?_zF4#YhF35bPE&Fq~_ z#VnniU6fso{!3Z^1C57q?0i!ok(a zL;-f$YlDk%qi%n637_$=Gw=bBY}8#meS~+#X}Oz~ZKd%q(UE>f%!qca?(u}) z!tLTuQadlAN;a#^A?!@V=T?oeJ1f7yRy)H1zn_+wARewYIYr`zD=^v+D|ObvH4rOB zT@duqF>$Dk6&i|pZh?%Wq-7_kyP4l)-nqBz#G0lqo3J2D%zmbU)>3)5e?sTZy8|~B zPC7!`eD+deR?L6$6 z-e{!ihef=f<4HPZ9rSt&yb=5Q)BFAXWPR^~a&Zru?8146wvlm;<)ugbd|!}O6aE0t z6`#KqcH#S#*yz-K90+!Fhv+ zKH+?!_0yl|gWXSaASLcB9a8g7i%qz*vbO)YW`Q@Nxpp*6TZ*OO8Z|5-UWihd@CUXF zY!aTAZ$c^?4hiaq34=s2il}#Pxu=#c2^=(PbHNAyUqy__kR+n?twKrQe^8l6rk=orf}Mk80viC1NZ^1q zeF~g*iGp0=jKncK%s@#jZcn6=EiR<8S#)yiEOuwbG;SV$4lB^R?7sxOf8)oq$sT)) zA&nBCFJxsnci+)owdCHV#cjP2|1j22xIRsxHrLLBk3GI|OppUv3%r>#;J|26!W>xC z9gq@NQWJ`|gH}F{-QG#R6xlT<;=43amaDT>VaG*;GfPZJ&W*rO8WAQQc^JGw-fz-| zzAe&RAnC(gAP#FoJtt~ynR3Z<)m_<9Oo)XW}CWd50^eI4!1p4}s(zLhBIDi5r zr{UH>YIz2!+&Cy(RI(;ja_>SUC2Q`ohWPlI+sK-6IU}*nIsT)vLnuVPFM%~gdel}S zUlY%>H$?-rQRGTdUM^p^FEkqnwC{^BGl|gM)h9zkXplL90;yOcgt(8&LJwOj!5Qgy zu$@^*k%9JoAzwj@iSB^SNu#YVl@&*g$uYxxsJBvIQ>bfuS97JccQcS7&a z)`1m2^@5c9pD`P$VqH*O*fxkvFRtH-@Pd0@3y2!jW>i=jabBCJ+bW@wwUkWjwx_WR zHH5*XR4hbQ1`D@4@unmyEX)!?^~_}~JQNvP4jO&F)CH9srkFhf8h*=P z;X1&vs_&v03#BGc`|#@!ZONxVj9Ssb#_d63jxA6dX_RBt(s;ig3#s(YU3P3klF;mc z%%@^IJUAlGE=cnsTH+(qb1SxN@HzfAjYcUCb(VU)JV^3ZC;#k!t?XjaC!|68eLE zU_hlvOSNj7Qlr{x)y$S$l^2DPCMA=pzapcSkjfk*r!iWU%T{?<3#Hw6s1ux1^Ao6o zR@5DIfo-|c9AaFw848Y!BVG-+vURe;I29F#hLu$9o}oSa9&2sgG#;lj@@)9|2Z3 zon?%NV&AYSVnd~eW~v0yoF$X^1FR@i2kin0mFLG8-aA>hYK;B%TJ~7%P4?_{Bu<0t zvmI)Uk-MRncVb)A890>OqnYf=wu-J5A~^%4jpK~*xp)=h0BZB4*5uWrP>iRV+|kMX zv+BEskY~(P-K)-!JSHR`$brY)HFI|L@YyrxheT3cgHu}KtF%s%k3B`X)E_lA=E>M4 z2VV3M{c0*)`qZAsJ==)F#D~2Ndzm@hKhSBL_Sf3{ctckh-rB`gkfC?Dp6FdM?p;vv z#UlQMp3H5*)8o#Ys@-aj7O#brUfgQ7BjG`7 ztoE7v-tH2%KVC$xKYf%uvZD!_uf3x>h?8r!zYHkcc7$Gdn(6cDmYL&p3pCfaSfY4$ zG|yuujr6!Wl0}V%* zQ;nY##kEdvo8YY=SVDb)M>^Ub9e#4c$O&urD$uaRtxm-UH=6_s0m^^5y^_+F^Q?;8 z+Fd?+De}er^2EmFNn&e8SyS*`*`e;KFIG&+x5iWCsrEyH*0SFBCMx?`m5~hl1BrT> zr8W3*3}Fwsx@%UOuxNoCSoL%AM{Uj|v@>l{pYYI&D$j`&**;?X`cuOOk~?;U{~xvDUjaiH^d`A+gQL#Z?*lm)x_n6R-S% zf6*=Q1m>mq5|Niefl8s=5F={ncn5S;6~&Ns2)yGZ@wt&u4c+)Sk?hdfI^b77@K-=y zM_k=j5hp&u`2nkJK+2Lw`uLypr4dO?Bm3BTZdtWnQa5unCoTKIiG81t4bG`epBU5| zG{toT`)LE}&j{P+AFj`YZrjF-^>k+`zCM`QcQz^Ba4BEte@S}j=Q_Opx14jq|DB}& zNB44BOJ`?GJM({v`gh9pzbg8-%Un=E@uLfJwGkagLEM^!`ct3s5@-xqq*xd+2C@eu z*1ge`retZK)=bPO<`>@62cLN?^S%v#EsiPQF`cg&I7{}l?)}O$!^wNJp4Zd;1yBbQ zv@_7x7d6aXJvGHkNNcOg?A};m_Nq7H=(+zqf9)e3&yP^EU63Ew!NW4CYj_!=OTVb* z-ijSrv0M)u=MF=@+`3ldT-hzOn$Ng><)WL0vqQ&jH>W7EmLLQY+c?%i9~f_x&{OYX z{?kyyNZ&gT*m$(%-OeDAJeC^c)X!k${D*c;c}9)0_7iWMbfu)!j3+{*!Dj|?C`sGz z2xWha)#`9@p*{-X2MN2a;%FM-WqB2h)GTqQH$ZsGD#Wi`;+$i?fk;23fLpYI^3TT3 z5+Zn3cu-_2Ck*@%3^L3}JpVN`5ZJ;gmKn>gm(Z)b%!v|RYf(qrmGL#0$WHQFw4mJqQ85w=$tn^7(z|eJ$3R0} z2k9^EU<^-$ygq!ZR+7wT0KViK8qkAO7xs*e@1dq{=M3haulHwA0~BYNytr7k2K*(W z755P9a^;Hdl2X;K{c}yWr|QH?PEuh6x)9n{^3m2QUfC_Q*BW&<9#^ZVwOolx@6y9- z-YF=S;mEypj68yxNxfJ56x%ES`z-5$M${V1HX(@#R>%$X`67*Ab8vC6UzvoDOY*P= zFbPXany0%>rqH1gi7d>e`=PWZTG>^=#PQf&iJjJ0&2dO(4b8) zCl%8xJg1mg4__!?t|y_roExn~%u@Eu|p9YFb`8_qP@v#KW#kFs4eVetJ+Q+s|Y0?#D z@?dt_BA7C4tGpjOB~*LFu0!5oU(_xj7xA$meN)Z;q4Z_Rb7jY1rJBzJPr0V=(y99F zh=V-NbK+64rd#ltw~7X-%kP$R896DxRuj)p7Zj@8&>IlP&}ME3s9eV2R>SpUnSxeg zmpm?HQJ^u1T;pvwvlc4F_)>3P~jlTch4+u6;o{@PtpnJcn~p0v_6Po%*KkTXV#2AGc) zv)jvvC?l#s$yvyy=>=7D3pkmV24xhd7<5}f_u5!8gmOU|4555dv`I=rLWW!W!Uxg| zFGXpH3~)9!C2|Y6oB~$gz(;$CTnw&R&psa+E!KNgrE1+WkLM6SOf$>sGW+Y{>u?Fw zTc!xG{pa3c#y@d$d0e7a9~e_xjGcaw5f6Fk>lg$Jm}cFd%BO_YT(9s+_Q;ft%1*k$ z_cXkf&QHkaQr9U?*Gr$r6|bCV>2S)Cedfk3rO?JbyabY zgqxm#BM7Sg6s-`5%(p@SxBJzR6w`O6`+Kuo36wwBzwf6K{0HENVz^^w|E$r zdZM%T0oy8OK|>>2vSzw5rqoqEroCZ%(^OmOSFN84B2-8Z?R1)Pn9|5Xkui(fQRl^zA35EH^(JbuQd@Uh z2FJ6C(5FDD(++_NLOG)1H<+X~pt68d@JiB8iUQSZ+?qc;Jr+aJ8bKF3z`K&zSl&C7 zEgl&!h?sc=}K7 ziEC(3IrY?h7|d= zVjh{@BGW^AaNcdRceoiKmQI+F$ITdcM$YigXtH)6<-7d@5DyyWw}s!`72j`A{QC~e ze-u0a6A;QSPT$vqf3f(kO1j^%GYap*vfWQ@X=n{lR9%HX^R~t+HoeaT5%L7XSTNn` zCzo})tF@DMZ$|t6$KTx+WQqu~PXPa9FL&shBGx3C>FlGz}7gjfv}(NKvjR#r5PL$a1>%asaylWA8^g!KJ=$}_UccHmi zAZd5c{I&Ywpi3a1#27C6TC~zm3y8D>_1an8XHGNgL?uT$p+a<5AdWLR6w9jdhUt9U zz?)93=1p$x;Qiq!CYbX&S}+IITWLkfu%T6X5(pk9-fs8lh9z8h?9+>GlFeFcs*Z>u zJSaL!2?L8LbOu_Ye!=4~ZKL?643lcsNn8>qUT|q&Rv+(z>Z9=tyG&5}zZK&Q?S!nG zR;Ui^<406=jLYA>zl!a-OXH#J-pP4A`=)r%9HV5m1qGZ1m*t^wi>3$JRcH)3Q(LQz z(3}~y3=QsUu!PN$$N~#yBP@=aJ+Bkp_hx8^x1Ou6+(Kk9l1CXr4p~IQvq@AUePuAj zcq5>YDr(JTmrAuLwn6sgohTR-vc^y^#I{grF7 zg}8?&5!^$|{X`C;YrZ7?rKH#`=n0zck(q37+5%U;Hmds2w+dLmm9|@`HqQ<5CUEz{I1eNIL?X~rd{f71y z>_<94#1G+j`d5|fKK@>QDK6|HRR|9UZvO6HdB1afJvuwUf8bw>_Fha)Ii8I}Gqw}p zdS~e^K4j{d%y+A#OBa1C4i0)sM=}tjd8fZ9#uY}{#G7rJp{t6?*5*A^KKhim06i{}OJ%eA@M~zIfA`h_gJ_o%w;FaFQMnVkBT|_ z(`m9r+11~EPh9f7>S=$F7|ibj=4Pt>WVzk6NfGRvI_aG66RHig-(S%WKRLP%_h0He``xT))N^RI@6!ADl=*vsqVb|7 zr~Lwl6qn|u!%is<{YA`Mde2Z${@EAHC^t>4`X;F9za=RC{{$4OcGmw%9+{$i@!cCn z;7w~r8HY->M@3OzYh+L7Z2Lc8AcP*FZbl6VVN*_sp}K zQP|=g@aFthq}*?|+Gm4@wbs_?Fx-HD2%)_UDJ);X88~7ch~d0cJ!<7;mv>iv!RS$a z;(-cYTW=K=|F0gIg3EW0%u2CSr(Kx}yLoki|KSIt$#P(O!=UjBGRzb3L3-?NGr7!! z^VC7_Q(GhT;C*(bLivfhlRDVdz7=h%ABuLA2g$qy)A}U@Kj_L-Jd|--fy#-*ESRo| zgu?*?jGEgs9y>1`t}|^Ucd1I=1N=mOo{8Ph zwZS(F%G?nfI{#%sGayNItK9J5P)Qk+^4$ZoXZJ0G1}hwcckJ0g-QJ<)3%`bF8}(ahYIjKFYMtg3X;e7J18ZvDkV@N=nxvDl zo?}lXoT3pZY;4$QKI`~GFuQKv;G6b<8;o89Hd2yu+|%sU(9C=h8ibwZ zARqZ#lk@kp4*#URe-YmpRc&=-b&QP>5b{9{(tH*)(@ZPKfOslBgwCPx6d*{XMX|Q{y0F!5a^ScCE;h8bQmTJR3*}A>aGcDF0?tU)Tnml z#DgruwAva-fiU3s*POY_ZHiJyW%v+733X`&ocwHz$uqJCOhrM;#u*V2eK$D5HiN(` zII{BEg(PV6#_Nv3rZBUyd+TI!>L72KW_Oml6L=pNv#aOl( zgpYxAH^@2aJQu3urlrCeanwSpHHD_Cxb+=cm49{ZU5Z@;{^{okEJ6&fpDD31w~$`% zcz@_REsC~Vq>3YF7yJ41ZEPBW&%|OwlnfG|QNpiX;fGR0f^3?PEf|-33P&LFGe`8^ zaX3M+*h+?6;s|=$j*d|S-r6PSHnmLqm9oshPNpGzlxV21cFrxcQLidd2%h>n%Mc4{ z|JWBvtbb;(-nhWpPO95hR>(e(H$n%*pCh0k4xE#I%xu=#B)zXSaH+azwCI;0@bY<*-10-Qyaq%5NxSlq_@YJUUwy z*d;qPjW^cuKxdXiOWwP}5FN6SZW~NqB%4?|WifPNZr&XNVkzF0n#Y)pbaEodqNO4F z2Bq#^Gr^Ji3!T9`_!D;a1lW$?!LQ-iYV_A{FQ~^C-Jp`_5uOC)6+mzBr4Nl3fHly% zcXeU3x-?#J`=p$6c~$T~V^!C0Bk_3#WYrtoFCx9_5quCQ*4*?XG0n_9%l_!n`M85^ z7}~Clj~ocls6)V&sWGs?B<`{Ob>vnbXZwdda%ipwbzOJ(V`W>KBF5zdCTE8;mc&xU z^clCzd0(T#8*(})tSYSNP1N{FnNVAU^M1S_pq4VEQ*#5nv`CoYSALMEB zf6egyuRMzK2?r^M0hCD*sU;On6c0^Vh|#tRG*n1p5R)QyVw%Va37nMSV%9&uq^hp| zCHeu}y{m=NsA=naDy;q`fd9t)I$Qd-A1Il$#0KyDc>X)hKJViqNB{HnQyf5D(ZJ*J z{-oGB-%Q|QZ%Pqu34>fCy)Asi}IY7luNR9ebgH4DAjCVvSWfa%PE16 zkC7EIuEK}?IR!jgP%eX%dcxk4%N!zIjW4wYMfIq@s%GetDs^g!^p}DH46EP`Nh_wD z4Rwc4ezh1U$Mc)Fe6ii6eD^*iB2MFp-B-HhGTR0tC2?bq$#^J!v1r+Z0y+& znVub*k=*^0yP(c#mEvX}@Abx%&}!W(1olcWEHAVgskbBrzx(f2v&}4~WkVN?af#yi z4IE-(_^)?4e3(d{F@0<~NV5|e0eaB!?(g%l&Hq$UqzC_Enuest?CL+IrSD`tv8|{C z=79vnL=P6ne+}6X1&cd$kam=jCcv`~^y#R{doTh?6D?H)^M7-P+=D@?H;bt$*V+)K z?+?Ex3Z@8JE3c4eHDYItB^tSot;@2p_fuZ8mW^i^a(L;Xn6K+1GuG0n$v(38;+<78 zC?eMzbQCW2%&;U>j}b>YEH5>RkP44$QlG6k(KwXtq{e#13wnx5Jh=uH?lQIl8%Qxr zq%pDC)mYYKa?N>%aF%YwA}CzV@IOV9&a81d9eiU-6F&lGvz68~%{&4LuwV_5{#km3(tf`fejjs%`{Y`|0p!6|-U z8XQA9Sl=*kM|(2KA!LWOCY3Qq4sZ7r&}__rR*Sj(9W8R1_RxI&4TI+_7RSJF&-363 zJvczH?1(`Jb+RDJL9$Whnj8qJRI+Mz9=Qjvubb=Lz8nWVXG{Te;$%s9-D#$)-!{~w zIM(vkr#OM>2F7W$$Lq%fEYl%e|Tsc>9rB9c8 zQoi4nXomx3&sBI9AwaHkoOp%SMDf2@T#73Bi?|!r!Q?wc(^b_u4ranezYx~=aRV-a zD|_WPK^iJh&=)~h{t<>_$VMXsee;{r-|`#H|1?DZgWvuc*!&C2*(yv(4G5s{8ZRzt zZMC~5gjiU@6fPGMN%X~pL};Q`|IfPfs0m9;RV}xSxjb)*gmvGO1`CQb~W1M1{KwXBLyPz0JQG=JkVX zlPq&zNZS59gf-?*5Z0IFitTX4T$1Oo#_~V%4q2vI?Y@UkSHh}H9xZ1va}^oBrCY{+ z3wwj*FHCsS2}GdSG7W(|k+MWu9h1Qs6cft~RH)n*!;)5HmPX1DqrJ3-Cs%i4q^{$N zC&skM7#8f{&S!9Eq-WqyY$u?uTgrSDt#NU%{3bQZtUSkUof4`Z1P8aLOKJ+^dKh%n zfEfQ zO|P*J>;{=`9@D)qpnt`#NH>}sir*&oFC+W!HR)ecHcPwjF-|)}8+tR#@A+~CLl+Ab zCqp+=Cuc(&VGC1ZYg4CxIXYL>33p^wjIWJSh6R=oq)jD52q3~KVGt=w_z(arS!gx^ zSd|?!rzDu1$>0o0Y0+!iZU=ew^Hr+cq(I(C>9}^sBc++0+S#I;js@_NLD9>MH(tN3 zE5F+J_bYdPfYm5%7-e=lm?!-xlvX~nDkBqu!Zf0ra65JD&@tYDW+c@P3W-YyWe4^6 zhW?FUJ;c{^?b`N)03>!@#JI)r2&!6An27q?*^wyUx3T4uyeIl4*(4CV5OTK#RSnYt zq<+RKCdrYIJtdmNC-NtfH)K&pytbM^Mi6JWjkzJo0TdX>HOjJaIQmQ?Q;l2)8oN@d zVyT=%y@TihQaJX7#B2wY#_ufuaF55-sWO{OwUx$2zRyW$YM(CFBs4Y;YmBk(4u&u- zEf@rIR~4#}IMeq$?T%z3s3RAR7m%M?8No;a=1HXKP?ia#uwy!`4v0GFSjZiMii@ib z#xRmA-v~CSVl8z9cEWVEk;9_BKPS6Y2|bk#PAb|}gPxHs-dt*k`5tU#FZL)FLodY8 zmb!m`DagEJ#q1VKwO~%zmw7;LESf5u!KJNm829pbY_w$P2}16`Bb?0uoL3~V71;_U z`B~wKOB7Bp!Vn!M@o?RHydmah!dHPaT`&idV83kQPxA>E=~YgJC<)rdM1#B$JIgnq z0V{p|Cm3eeMaO58Wrv^9-kAOJ+*HR!;;A9z&>78VsYmF9$U^*ZE=K%d7=MZ~G?~Hz zSHlKWK!Us^%?uE6`E|_XI+nC354jkbUPvedHbh(DkKGkquYf}=-EEB1g>RC{O9ORL371y8V*CR5EW z@lmFq%MWEBdeHR7%(Rpf!Yg52vX%D7#@*^M`fy7Srb z^Ta9wcwf$89uL61@qeg2vc&TAGKSLV>YKI3#5lfs#q5Zm`~Ogef!!CoWWyiA=J;js z%X_n!njeF2MZgaVoMh@S@8%lR)AsYyzmqkj+C8ghxI4G6O7ovK$udULO!2$(|__`2~6JjuoERet}kenJ%I0pU_O@tU*Fsd4gm&hV?p%Y{!;r}{S^Fv z_4EJbVjFv7>+dE9{rBS@8&_vbx9>4!8&g4JV^e2mSwlNR^Z&ujriy)b3jzqfYb35o z!;J+c>%LY+?P!IticwSrP;x2|k>j3Sxg2X%E2%57

`Lem|V$A>eR0uN8Y&sdjtu z%-lD<@61@6?qUPjUg|mF7!P7`hx+st`i!^L7HVHtzwnM z)LuOANIzT#9tU4)C^WIXhZWqrO;jr_O5aErkklzt)R-JmAh8xHMJ>x>OvTiuRi}FY z-o@0kFwwl7p|ro=*2q*cFRX5GCq-v!LPD)Sq+Uz~UkOwx-?X&!Q^4H)$|;=n9{idC z0mJl`tCTs3+e_EFVzQ}s`f_4fijsucWy5y zarHoT>Q06Z4yI1RPNpW`@4hSzZT|J`MU3i(GqNhm*9O@MndJ{31uA^i zXo&^c`EZ}5W)(|YMl##@MuSK#wyZ3dwJEz*n@C(Ry$|d`^D=thayXFqxt*WW&sWdI zdm1wv#VCKa<7d2Qc#qzvUvivhK5wq*djL7Wqjvf}-c~}d#G)eG`(u<`NGei`BFe4Q ztTSs?Gc8Ff%_5T4ce&J0v*FT`y_9r!Po=sPtHs5~BlV6VEUNzxU+)+sX}ffdPTRI^ z+qP}ns9yQgjY^t0ddMx1Yd`|OB{sHnUC-B;qum1|`tR#P_@llx>d z=qpNN&?nZib(t90A9F*U%1GbB+O;dq!cNgmmdCrK=(zS1zg*9(7VMfv)QMkt_F=wz zHX2p4X-R*=tJI4A)3SrL`H^peBNHh&XC#sVR3D zt17qeF>BaCZNlQO7n@@BuWs&l(FtRjaVn~wW^x-GsjpFH!ETyl7Od{Wf;4=bzL5nj zW9c^ZodMnN{3Jkz2j2;qhCm1ede*6891vR9?(Dy)N|iENw}HKLIOrjB0x)pEs-aS{ zZR$tEyZxbP(;(l43^KjRtSuirNmw~Bg&6p;)vqM*>S#L>0+Pw5CU%4@&)8OX2ykYQ z^f^hk-5%!QzuzYniL*1Gs#S5Kp_*ld1EAmkInP+^w?#(?rbC2Bm&0c5Ko@6`_ zi!Nvd391nu^@AmpZ$_0fPR2~kQGJS7lSGwA7U>s@+!d_`(P5y;MT#U~_ONSo9d+bf zVj6MgWN=|%#Qn;vl*TNLE$Mw|*89{yJ=WN>j{?T*vqa$U$2_dg46R)8wl&CNS&iK{ z>HDBC9e3b3roJd}gK!T>takKP);KLj_9T;%knG_fN^S$4hb`E|)qy__^=mm&Z{~CF zhc*PxdrJ@xRkQ-8lbh3Ys@2ZaR)Q3z**-VSgeMHE>c5AH1bpSUor&dgTiMd5Wn|(# z8Rwb{#uWZG(Jo0co98|mg5zF}M*d>gAg|Zdex@}Ps&`51({MmNyHF;GD4EBT`oP|X zd=Tq9JYz*IP%@2oujruVrK#jAT97|%ww60Ov2He^5zA4)VihJ$-bxoaqE7zU$rmK) z#O!xp&k$!TOEiC8+p6`Q)uNg4u8*chnx*aw=#oP~05DS&8gnL>^zpBkqqiSQA{Ita z%-)qosk1^`p&aB@rZ#)&3_|u{QqZO z{f{A3)XMprL}2{=pM$*`z*fY;{=4e=u7&=s+zI)ANd+V!L%#^2hpy@#N-WbB%U2Zl zgD_E0AVVWdMiFi_u2qqxeAsRzD%>l|g-|#$ayD3wHoT{EUS2Qe zEq=ryLi%iMZ`b}tSYzHInTJ{mY{OXy0)T&Rly3ippqpTk%A{T+e?K}j zURM^%!ZIWxW$32?Z&q9)Rao;#KQuLv+^ft>o|6c@QD=_}ql%5Th=cR{P)_51Qxjh# zRJW<|qmpRn3(K1lMwU-ayxjsgKS`Q7J5m0kw|LQb=CbyahnoQTWY z?g8-#_J+=*r`Jc|A0(MOvTc0kT-tBLIIFCd6Y5iCr>cqubJu0`Ox+FkDWs^L{;0mc zxk-nf?rxh(N<1B;<;9PSrR4D<*5!DvA()O7{vl9sps3x_-Y_w>qC3OI!_Wyza8K|E zAvJvWYyu)(z*TK7e+Q#dFWd_7%;fn4Ex*lEY2$X%SP9K9d6yWC2M!3>3>tu}g4R*V zRMC!~oYyF#Izu$lGjfQ?q}KD$rpDMRjF?f>6kuBlE`z4Yxy(Y(Y+Dr#PKA}UsSWD? zm|ER_O==Y22{m%cO1jhu`8bQ05@MlII86NP>-_`<|Q4g1f7Jh*4%=yY_ zafIlUJ2zA?dT8&WTGLE&gvPl|<0zKa=DLzzPOU7i#nate!Z3u|9R6E(6FZ|(EZ%+b zsB!MEkGz1K*oXGdp^tGOWyF0SI{tq>^nbgX|L>uTert_v9gIv#Ma|5OTy0(c_qQUz z!2+;T+eysD^IV+aC=aX$FPzbq+lZ7Gsa%r9l;b5{L-%qurFp89kpztdmZa8Uo!Btl zu7_NZMXQ=6T6+OFOCou6Xc_6tf!t+bSBNk)mLTlQ5ftr247OV6Mc0v+;x&BNW0wvJ zjRR9TWG^(<$&{@;eSs-b796_N#nMB4$rfzYM1jb>Gu$tEpL8-n>zGXVye2xB-qpV z&IZjhW#ka?h8F{QJqaK&xT~T;$AcKQD$V>$$-$x~1&qfWks(mJ8#7v7m4zpWw(NS( z5j0d&Bs4g)>{7yzl-7Fw`07Sj6{vw5nwVyVt8`;Rg5bzISP26=y}0htlPKRa8CaG# z=gw7__ltw`BWvICf>5(LFDFzC7u-Ij7*OKwd7685%wb6a=QD1CjpQs$^2~cx`@xS` zNMz6?Q4OgIR8LYa&m`q*QJ%!CbD#=ha?38!M&7yLA1Wn}M{$nV3-G0@@bD#WjCYI) zKFZ`bf$tFF#}GYZ7MK2U4AKI-GY*y(&DCt~4F1!3!{>cK+7XAfKw<)Jv$b1vHkpC;gl=VNy?f-RI(r=&j z@Dy@&vHYi$GBI*-`1j-=qpI@{qwt%et&>`VuG+PYzF>DUM1!h|8sz~*0>sA7|IH_y zskL`MJ4Yw|Ru~}gzgCOOEDSyuM+ivsjt@13h-SLD|INP2zRO|RKEDz$_zlt)ZWYQg zKHk`_;gygz9b$7*)WKC(<}zQUY8M94a#Tu_OEyX$Lej=Cs`b}zjTYvv-Jt6E^_bV) zCt>gvm2{y2tK8Uy*;ruhTa_?lSIlV;r8b zX?jME!z32pO8`g9ga%`RQ*v=F0O`bnPZebx@b#ZfQWvqZPAb@zl>ORo<_o7Dp&F?6 zP(tBH@~c-Zfx?Ulkb{F`C1S8y3F;;)^MwWBiBPQ1D=;yC{M-i~ILSfh3K!Ai{5c?J zdLm0OmDsWuV>%}MT*Qf<$UT+M=7pMVdJGRi-rdW>7iM&2UO%v@>_!inA`JD)lrKC& z75Y)Lg~PVq0Ge}-g$8cy0w@sHjUuwMm1|~u6X!*fGG>%bAbv5cEU3nR6&6o03J2ff z)*M)kj|gyvZ6Md8Y!m#IuWuP0<9daW2gPDp*=aQA2qm)VLJ($UUQ>-4&3LX|)=-g5 zDTzngTm?JwMM46$Z22o7jlr3Vp3K15k^@=c7JJx9WQg*XbLRkdC zYapmoZr8J8X5n5}a2xjY35bC^@Ez{}9JA&aex@>JiMr#&GtJGn$)Tt=HVKx@B+w50tPaNkh{N0!^9>r<#h(fr3kP@a(N1!O)$rdf&Dd!hhJNtXD zIbx!f3YSHV50oNza38Kzd9Vze|NZlyBd{fKzZOSB7NqO*qDh)*>XW~VnmJ^ zji(MF3D>tHCk-^y37b-c7t1Zrt)VBlefNnY+NH0u=9IPbDZ1z8XbK{5_W?~aGs@o& zTbi2gdn~PB;M%^{Q*d9xWhw;xy?E}nCbBs0rn@{51pJ@6e=LQg2dvlq_FM0;Iel9= zz?V~4Y+a&wJIgvt5@%1FDtB9(A<-f!NpP^nl51v_hp$v8$w{ z=Rh2*Y?stNGlx7wbOLqrFbxg3lqpaaN{@9c)nNxe#D=Xouh@g7Wd}stZ!B8jrc4HPmOW%Xt^a!LcN8M4^efD8wWziBkha6&KggDq^9beRoiLH_z9 zGUiqkIvsoqX!3F)6qr+_HfB$D%@)T=XV3YUews|Tg-Hwn^wh3)q=N>FC*4nHJ+L$K zpR;I6Gt%?U%!6mxrP$mlEEiT&BVf$x(VJRuEIXdqtS+qfX^-@UKefF=?Q z(jc2Y2oyEyr3_bP|F%)C?~RzdfbNXgw%b_zaAs2QbA_QL+IyP^@l+{#{17?2dn80k zljl~W{3$~wO4E?SSij&`vnbpKCUzN%8GY^!-wNR8=XKiz>yng^Xj99@bTW|TDw5XGfDje2@E z*~-mJF8z}cI1eTpHlg*7?K(U5q3H%{y84gCiDbksT+HB=ca!YVTu zgPDuJzB@76rs{is=F^_95WD#mg}F*~wRr~vgN4^*Gy=hUUD_~f0QPh!&J7XP9zv&H zY}Zm4O#rej< zQmBNK_0>1jXd)Y3cJi(*1U|!mL(;nU#j_WV33)oK-!s$XS(mQqWqQ7&ZZ54iT5+r| zi|MH>VJs`1ZQr<{eTMqC#Y~41>Ga4BuQynUV!QuZeaFa6aP(B)SxC~V-r0K5 z5BJ<3nuAkX12%0k5qI=#D*PNg{NNjn>VUnvH!{DfD}FX=e%E5lw-IZgDqD$1an(zv z95TXS9wGg?Bl{w91nOC8HvvD1&ENr~L>4u{^bNaBD>ZHXIw1Ko!;wjz1%zZMbWE8# z7f5xlDTQWK%rH+)0KY&O>*EHs@Ha5t9ltEE{qv`K0tO?W=jgzciZhHZ4As;i<7{@M(!#&K$4UGQ?~d6rbu|rCYd`D!Bgha2*v# z?6){N62Wq7br9`S=y(rk$xKExQsyv0H~Z<~f!Z7~Wt6SlJBO4_KeNahC?2rxh%Z14 z{6vx|=@Pd?8vwjCEbf?V*zgc>36eg4u4w8WMluPe+qB=i60{qnN+XKmud{LfKvd^Rf{8@jDa#RaXtvGeC92KvnMDV3m2 z4Xt7QB96VazV=Z?RrMXb$#mb85@y7X+OE;c6PL94T|ssUhD|n8IM`GhqU%%}=6E(! z@O+LF*%Uy084M_#De*pBSU<)G3|%go1vt<|<(ZKk{3&*44f?ftxS-a(+@u_92o7ot zYq%I+Ztyt1x5RPt_1it>&+05XbK1B{-T~aA+FN6BiF@>|QCJ`#y*u z@e*p+J|+Jzl4qtDnLJPde6Gl8Qfu5eP#Lr_}cyBzGaR912ca0h5s# zbgocm38uvIstvyAPMEgVj^>{XqR&db7$(XJRTRiR@!lH>>CTe{+zRJEgcn{?M627> zsw6}Y)J+s3)u#g*Mo19)oWp785&T@;fee1**^o5#bgS4epuPWP>~Y2v-~{)-me7SK zd!AQUXsd{A=;C;8>vRTE5Dol&>XJ&AYMijyXV3|_46Fr#lz`uF9dT^PhX2e>lDN?r z>wx*9-Pr~siloVs7@`dn*kGmY0xP)2odnz6S437Hi&}MSb1iiwEiwfy=f;yg# zDZojIe7{n|lnmh@$rU>6-%oUGrG#^0y%z_Niq4LG38Yq&Dq<~B-3qLMHLbL;&A)i3w zq0}L%{J2P1a z2OC$%f4j5C`~!#oBU=IP{19v?%zqxLR77sUDKZWk1TEdClEz1yHB10F7>l{;9l0L|=ADc&?i zK#F90YE|)m(u4LGC%M^0?53NrH3M`xl2{P!5+fC(H)Yt|t=X~m+os4b6}Wj|nDvL8 z8n=Bhi`Mq$&2sm(8n4F2)~_ylMf-R2rn!V)Bfzhv7v2SF{79o}>ITpgUpe=zcRpds zp^3fse>q!&ohi{7gYJM|qD$1?s^vyP1XP=26O)1AFu)?|OCYHCJm*LP4*zJ8Raq1u z)9(U+oYRkni_C&!f4&%ORK?w$g6<;rT((@LunPCC_#2P zxJ&Q13mCI_U+H?IvV89Y)i_#NnNt!>xavHwF$|O zXuHG5oCo;G6F&W`KV4I0A-(zyjQ;ws!05mAr~eli{U77e_#bTiA4Hr~$mBnaBxQ^3 zlOJG&4aI|YIUi&Z#TBHjLS(GmY^z5R28NolKW$l^Ym#0I3|0lI-ggSR?CgqX8f;MBaPl&YzSG} z4(9gprQ%M^N3g+r;f^a0BNw0BQ9}e{Op$ssU!0cTdbP z1%BNUh*RkAe#+jya`#(*p*uQ|spESDMarSs8h3e`E#gtvYi=8d#ADvy9g>R@*^D~F z2t#h@kzA0JK)w;AMPg^lWi2XAU}jpiDF!akXK|rSi6}wmaK)KT*81I6M}f%l3XCMR z-&LC;?s53?Q?B;UuDeB{5^S+oOfSGE^CnkvgEc9^13~<4(iGap$VY8}3$6;-sL}t1 z4d0l&nxB@pZuYHH` z{ONm|SH}iy2^)Zg%Ou?*Q?I+u&ZmckE<;nVG0STB`M9GzLE5UAMeRQQJzJxXBBwA&_T6LHe4yGpP7i~lax~#Ub5BlJE zg>YF0Yn0Wcsv`EJIW^d7i>M?PO5_+)OxDS;9?zPfCH;#_rpR4-*9!|aogttErPHlR zUf2d~4Xa7AEaZSe)Mn9=Nd;=@JUDKUaJU-Rx~HXERZPZJTiBwHdXup>tP-Z$yw6H? z{D8e~w09((x@w&~)75oSpJ7o&u#DUKXAP}9afG;3qf=+XWeC!=Ip8PJvw~{@B3H)k zZr>U-w?x^Y3%$zAfoF_*V2Mlr?I=_C57F2k-rurm=_3`CHmW^yY`ye5aJG#E#oU&y z^R4vJ!2z7aF;V5BD1dbHn6(R25;-0cu1Cet+$J~Uw}=H_%79gf!-W2#1g=S`%zSN- zwVT1}5o>Hi-DpkU76(;YW&Y92O;@cEU^coXt>XfiRWI$}_*t&RQ_K?A8!$gpQKZe> z6VsBW458Q0>X1E#m*K&U%))^SmEntSPBAZb7VW{C@EA7Plo3r-`7EMb;;WeQn0bRTSxW7MTSYNoW=(qCsKsMVCbY?$#Z{|k#%NHM zA*6=sc(VKVE`UVqumIooHMGYRSh$SD{ErAy8%i_*n<=4ODdFErVql6WIx-X4fyaoz&jU+aYlbi=W`&5GJ~zS*@5IRv9cn<|il?|!d8>N94!OI0)aLF!Q0nlhtv zV$SFv61Ek9=p#mMT*~J{BfjK)?1ss~7B8LE@RPM6>=Q&sCt<9ZWOlek61x3T53zDy z_Ki;P_XP~dr)aCdrp;^Xx&4zy791bkXYcFE&ul#uoMVnctVZzl-Azp*+fw1N@S40^ zWBY6U4w+j|T8!q!)5)=7rk~;72u(J{qztk$Rb^WOCbU62Z^s|pn=)TqT4{gYcX?y1 z?|~>Cvir?R7Ga#&UI_thW{axhKZmGsOKK2*Z5|H*2nrEoD6q0cA?LAuQGqE#iVxT) zkKFW#vDut&E=}&^_xyn@nKhBk4S$!WNK~%$ z0c&2{SDdyuxlzV0ph!Peph$e2NH|n4;u};Z5-fDRQCkV`hd9~Qhw#l z5yeB&7zlX?y>QU?3e8P%Gzk1X934Q9LPIvcZi~Q>$tU#A^%^O!FsqRvO1M){#{wo# zBk9bs(!8G_zMYJ-^KkkOmXlld6&M}R+at4#TYfha^(?3_OqFsw=T6Gudap+sqFPF0 z*6D8MYBS6E;rkj8{7GbNPpnUPv9*l#u0T^M#yAbod>pw)srdC}u6;9n!}f|*m@!$~ z1aL-1&ei+i_Mkf0!?>5p@ss}z+(4GaIZ0Tu^mr{+M1{}bS8k3r~HKz!?C`p>TW)1H#Yg*vr z7Y{a{9Z}e1N<7QR%urOa_cLshyVKNaKNU@l7j~j>PeI7MIZZ|r0*YSjU6P_&ia|jH zDoChFYF-JCkoNDw*&*{QG3x+J%2L5_4`n1Tg9hatvloFoYL01#hFFj~!}MRSdgSSl z=m-yq{#uwWUIpuCs@%BEy5ob11|s~&TVX8~-XV)oMfeNdXD?Z9E10-tP#Krhiv$@dBpKj5J%t@Y2xI!*8s~Z z29}0zR`_9s&89Brq4Tru3F{G&uQu{ujBFqN`NY$Hb>qnXc(a!g%hbv!R@n6sNonM) zg649UVVIiIE)_J6eMZ?R^6HGdRMn-UD36*c8_Z2r&xc^Cs2p^v6x-_j{J)k91n!wt9I-~_PA$GNiLi=u7ixtk`YUQ4uIF+`SI~U z1J;MiD+DHLSA)nBsc8CJW1Z4F5uFXI0GzFHhs4egAoxF&>1&8*Nl_OA^!wW4GJCRO zwS%7>sOyj*5EN! zUpux=mBP|Q*_J!@%f6V&EZf{?`H}D&1^^@HO#Gta8P{W+FkdO5OW;fnD1|4&tlh3} z@YGnJ3d(Y0t#ep+bksNs#e?8*u-V=@#Dvz21#EB=jam5x3MtG&IuRHU$pr(K+Y-AX zn7FqKEk!?hw{HWBS~^ioY8Dbe(VtwFva+1h5$-}M9!~UYHGIL>zwFFN1`lcLe zwaMY%;tKHw`EL=C_^}jKY3YhWzg-&!anlG&@4E|`Vl}0q!EvCtT1I@}=Ug2;8OzB) zmllrTJ}RHtO2N@|-7)oaf*v0`{>2c|j?-t&WbDWOUDsBIUR24HnS0{I;>(%9+r)y* zg2K$nGPerx{E6HXH@h?eRQC~Y44A2^$`xKRwnOj_7pT5_!?K%>JT+F+ z6(@ZUF%FqvCBG2v8WL04A5>D=m|;&N?Hzcdj=|%{4JK2j_;hMKOfU}I+5PVH87xo# zc>v2%1gFE>V^6x3$7#ymLM62}*)(ex+`ImB7=eUwa2O&zcN_th9iPz)#fXNbq_VnK zg>+Fagfb53(>-Y^v23^|gST@kT%3pG*YUyrd-zn|F0Cr_;Qh)MO;mTE$%x&%B^Oc= zO-<|3$Nplt0sdxXQO`|RVIbVxm_^24G_6XuTxk&{Yyl+?OeXa-!t}8&fuTGLZpS|{?$S9qu^8TDrgtdOu`4*Sqx20lCJ(;z6u7&0EbrB@495}e zvjfw8yG7#Eo7QX+`k$3*tbTCwGm9LGOvTam&Kk&4&(T!!b0d-h(+s160p@Pn+_M|) zwasiA7r)El>t5DJfiBLb@2=gQDN0N*FfYuh&F<6BNcc)=oqju*S(+ucbzy4pyN1%s zgS@}T`xoCKJdeoM>hW-Zt9xSNRYI8RfX^{UPSJ}y8$_k~4-2G8KZDJQl``0lf>>)j z^q^y@`VIX~W%W-QAF*8U#?c|>tGQ{a09;)CL{-NfEv_2<$o(R8`V7xFRTl$)d~KX! zxG^v#xd(Z9R*`P* z8NwYSrl;qaYDzF0iB%{|A(v0($}TDr##;!y6paThkw{fnuKExakKusCdM>46hESJo z6Z4inrJpt`IzSB{l1R?`XS)o3@M9OZsiP&{y4g5QBH!U*Fvdd|9inn^a}Nz>2&)`? zh!|tcpGBMA4e|H2Y3)~7iyNUBsc|aN0$HM9Uc2MDIL(61;J!I)NmIwv>&&25`&+6M zq1}!I%Azc>=L(6nYlCWwU59Ea*szPa>sE|5)2pJsAnOmce3ZqxF(4^b@uZ6D1K#-5 zD6|eu@+l+j4}V7yxluQ@oX?sla^=5dw}yP&j6E+69hswg1L1c=)OyvZ7^wHQJl;ml z_2lX#$i;=Fs}vkh=ukc4y2Vj2Lu7vAHQ*E%@5?3`^a{BzDVU zF)O4|`;uuAO@)kfdwp~fqS#rR$4Oj@c*zBS`-fL6qu8<7qzl8rl--^kjiCV!(vbxC2vIdMo2I^X@+ID zcT&$52_`~JOBXh&mXX+ceO*m*0_=9ArqG>xjMR;+M=q{e-N#QEj-BCAzAVeGSrXNh zCV`uX4qS?7l$u+*J~5P?9xlU2%6rgo30lJ)cd|FHtEmloD@8tO@5y7N5t*NZN|hrm z*0FP5k0_1u5$>dp#I>8az>my1NoIAqBZ!Lx(!ohP^U@&Vmqd8 zH=75V+`}JpR;Wj8!j6BT1WSjMs>H+3_*52JYs(04P<@$3WEVZ7V%N-CLN$onNB~*- za-hT{!s~K{EUyaw7zDbp7n5T~SRV3$*>Zhpg-*51L=Zj|oeHx)1Mr4juj_5;_<5%8 ziMWWR&MhgdLq0$}U0q=ol1xb)TQBdcV!(3$iF4x~ue+F-gFAGMn^|`*YBjuP=jx!~ z06>UuQAq?Ix&zn0^To|<4!CSXZW7o6VrM}5dYxV+Q~8-h^Y9DzNs{5%+kyFy5cysy za}2EkZyRxQ^Rgq)T6r=({uw7y@%D4S?wd{Ck@D0(;mjg4NbY$Z$xd6rCGrNITO04Y zO%6aZ!9hMp%kU=V6dLc($d`AHMbf`&G9BXY%xr$$hovCbBj@|K2-4_HjW4Xn{knIL zaKV)PQkC?JIKYK?u)1`rzd)G(eO222!%q#U6QaT;SUl*MO9AvJ_$WC-@uTOjb58L_ zQo63V8+G)0D~=S&a%3>qqG`7N+Wfi$Logc=SXGBq3&TV|=!!;Nzi4VeqP9=hV>H5k ziX8p2v_i>9nc1rQm(7T8t#sTSGnI9T#Ms(_k_%sm3mT6gc=YrdUm@Ip6xRqL0H93*Yx0O!3Qw+_Y!81*n-ovS%iBlXx62TFNbk8K-j=LOV=1s zwc7i_TsS%sk!R7r81r4v*Ec`Rrl_m zr2$@wBrDGJ1`%wG6Ar259e%+MkZzK88-X>M^WgfA@HcWJmPUeFdO?d0>gvCTn0-ZWgb;$}~gdQiffS0?*jk$T`izb=V-&N#O_U4yp?Y!Mdlk09!o82t}+5dEvSj%vN5 zCBperFlf(sXr6C$n?zYvm=YYyz=~W1tkhvu1wODh>tKoBEiRB9*Py%96luTxm11-k?Q=g$c>y=q9%J< zVbw|kc=&DAiz8G*&G@8XlevEthbWV6a7nM1@VjKNkP|sl%x3(c9h#|9HIdVuC_??C z!MaVTrRI4=oMEugDa}D)#f1zPsr&vLR0Zy!7;QA4?x1w?=X%tH7o_(2z@8LjA`t^# zft3pe@**E=P;MFXEB+)Zh$?+;5%i6ECfT?A^~N`o&QHR5@V8a13HuA~omH+0(xm&s zJn#ru(@aCcl%uY66t2-NPi-*^o`hAyJ}I5kdqib+qh*CNP|jg>f!Wj#HJ<4r?4uCX zvkf`dDbhurH>#bk@3|Ap%0+kV-0PkcrZb0Q6)EJKBfaiae*!zLC7wkQ?cY#avSAHH z-b1`V^N9SgFL7-JrVQZS2rsHMA5v)j^@ga==T4XfE9yy6w7~pXILh8O)Le{Zg)9`|o`-$nca zc~hvlgOB$pGXop$oW3PzOuUbE^uRf@bo%^%%GEHQ}3uc0E<9SxbN+Fk6DEin>4 zHcD4f(K{ENOe$J0HJ#urqwE!{iYCcrgQT6kUmRQ&pZsx(U*x5m938GK3cceA-25P7 z?4_>Rtm;@LOJc>-Es0d2lZed7(#_R8eGm|eZ(xhjbvF{TQvs1jaS#K%R>_hqN0n}TZ* zkc089?X9=$pO*FdJ8a~1LwKU&Tl*+PUpFFBdK=aX&m5jxjDg5G1pXXNL&FXtQoDIi z%I2VE+_J15PN$4XB^X2Yje8=^qT3Q6Up)7auJ|SXIn8t2lJM#_5ql$SZ|nXfb&U<5 z+WD;cxsrkAy@tew0gl8PHWX0(qf>97u#=sJz7BD=`gp*W%GmlPa|+rCER@9rjcWg_ zl26OYrAyJyc>(x*jhp9DekXff;UF2NN;Ui}MJ?5ICzv@f9ALbJ?E#ZUr9Ic3 zzA*o$&I=Ta@JfZOEAMmeNUz9k93p!8X=>FBD$#aW*rJBSOJG_{E4u;M3A)vn3ZA*FCGn+Fg(4w7}cEUuvHYjNe3srT? zjGbTt%LY~=@?&|zrxYJ%v<6_xj4<+!VwleU+BF+z4)}b&?KFik zy?KZ%qJSTxm)WSC(-)vC z_LTIFihr!^y%i5PBEEPCOyW1(0O<=Ad}++TAQlUVUet+p^E3c}!Hm6Ker0kttjBIWHFAYVE28@r68QPb>)Vg<;d0ndg zIOg|&%Z^&B5koUj%;;F55>#Cd>y`X1^41GHDSIjVmR%4uBt$XKaBh6+p3un1m6DKK zM5nC$KuQFHa!O+A!tnBN$&WmSvCPz#nQaEXC!g(?sW+Y@AB1kdg2dM^(Gjmzs6*J zi>IYc&r4tXJ{{+;xx*UGux7GmUyf}GKo{&yc+i^CQk+fM5xwnR=XN< z!u~>Gl{|8NtTsKC_us}+!JbSFv?wd*)?I^VPt2vT`c;a6orPS2Qhe`>N1KB~dB}yP zspLQzZ>`?Hbq-7qJC#l@Vh{gOd0-=i*!QkM8LpL1X8-}g1mS#mh6v^#lwH+V0EAht zLRoZn@;eAS)m=80s0Jn#+sLq@zuIq|XFXByZxLIoN4=#LqQuVVkJJJoqdv}YdIi8` za&=Ppx)n$aP&MKW_^PY6l=m-iPXIGakyd*1%=})EsxHySwRk^AE?qcrR8hTjF`nFh z)+UT>wL0VXkVCY=24X|7B}!a=Gf)c2+1jXZ;lwogP%J5l_LHb4lWDj;(dv}Vr1IJ% zBzmFhafX~i#<1bqv&puIYKuHOPY|K%X&v{<{=yTL{$8uDcy(HHi}VDVjHC}Z7W0`b zEvA9p60jBWkkB5Rk#%5BJPS(P7jy(H&ZM=!PzvrzF1=cb@j0B{!WqXMl>4hvAUG#n zJd@sf-hvm66(tgSb~I9O>_*OH9ggr<9(jkPzpUP5U;9oi{-`RXFkT6&7UzshGl7YK z=w!GA{fajfE6<@$!92K|Md|hQp!i-X2J~nt=D;7#M2;}9l3LG<6`3C2w+L(}Swn*C-B*?`-k7j87(HI0e zOg>|2NSSo0G$Db|yJ=}l3XfUHc3P)1NIM4OhMgn9utTLY8mQE#BnS7N{&WXwxbPTC zj>^Vmu=6JO$5zNwB5NNSl0w;}jb@J-VA6wNi{X~PSBBYYx)&mpWiwGyMd~%>340*O<^m+;13xv+nsl@@4vWer8?fJpf?QLDsIAYG$AW; zLaEVbXdlU68j5l)of@<#27i#8e9acN)RqV5SD02bMKnOYW!RB{72(fvCCTBSVi?ru zbgDA#*GRW68N(c0E>5u>u(SP<+gV#x)7`Bp@SBKiVu<5JAQnY_TkLETuOirHXdSvS zvj3FIepQF6dAlF4aI!UHW_6)6yAM7CrBvn^#Qb^(|KMPUas1SycQijlWVnLIlvayxabGnXVuaQ^dHa@y9)=$QZH>SPegN=OO*~ zE)SFDbmX`%K>u)QKvO4)0Q6_1yp?lfgooarhtt<$z~YTO+(JVl(~ASc`owLsRkis`U_?MIJW!nR@Mo{TY+o9Pv7gjq0Br6 z69CC^k3Y>byZiTYSu$_l7lJPB2#srl$j1$McL;9;1JwOOnTj&h4}mWH-Vn?pBA#s3 zjm-omv~5W85u0g%GVKXOn)WQaVM*sXOrslhX;tKH6?3k};k`m#5;f?oYG{A|jfzVI zEawoElA5$S+%=j>B{ljl6OB6dMOtiz$z|zws<7A7tg64qMADNf&^>0E_v(v4Xo_qH zV^U-nQmvG1&4lmI`ITySApjtTHJlbWG-M3T*jAxeFp8eXd~QuT_;Rtxq6gbbb-=tw zoQ(PY91W&wSS2@?%S!N+c&XI*-Qe>8h;>EoRGL|8iL5JVmPFo`8mCcY@G7$%vVy7X z7@ReiXO;L?;tk6Mm3?VrP%a+9@9N45(_m|XD$^pZCLI=|=N&b3Eye{UTf~qseLt&P z!#sl$Vu>mfVC$4UM*S1iA&A8WT0&j2yWtx^d_y<4cNyNemon|ChjXI5IDRb_6+)L6 zHL>y7N+Zt&p4YiL#W9q4j^;U#_Uo|iALm532s#R|g|RtF1ga%u9(|3q*VEV07-Y_# z={jfTg|b)%84CRox5B4Px#rve>wV`e>F+Ihvw2o<_Q-Nv6Oskz6Xf0(P5Qe*HQ7l- zcH%D^p0}1DkU?Oh5Luxsh!wO zKUM!6-)%F>W(*eN%I<=x(m0rDftloG$@?ufi_0FJPvZ3#aSQ)qBP??BlZ)n3kR!u( ztnUxe)+T0*JsBGnx*NQaQ*rbN@u7$&a*QhLA>#~Ru<77+YbIJviqYiex1fq>1{FT# zFdi=DsQwOIHD+foydCEv&;U6m{f)}zJS3hga=b91my!N=YxAFN>}t3rbzl6j(22F3 zN=wsJ^$u!O$eS~g%{1`E%Z4(MfN(74t3fvCmpBFL^Zwb}W|;;%1`>f&|3*$y)Z>cJ zb4L4u3{QiD>q8`;X78t!poKbPNQ3F!N5@gjzIaM@VHUUjjLWq@kvi9sqbqS?nXGE8 z#+GiOoSb3agPl)kT>OYk63q+oSkS>R1&~Kn8mWrR@Ghg2kK(O=B0gr7cqQS&ZU#=n z!fuWk@yB<^!ZQXKgv|$6V&t7P%_Pw;Z6eX>n7u0VO2tT?Md1A_{XTzc4f!^fy@J`@ zL_xHu4pQ2%+0gi2MYpK?iQ^gAY+ZY~Gl4zpRA+4JCqhte=){_!sS#6~-(u2O33{G&qyu-3N|Q&_I& zrYu8ewgXs?(VGq;pSXyDqUfrqm8MV7=*kn-gajV?A&2rCKCU2b%V#8DjIS?*Vby zKbhSHwl(aey@M#B8n8X&2S?C9fc+T=k|2m>1p1jE^8a*p7GPC1+y5t}yFEv0biZjerCkVf)}=vc*AQeLaes5@b#F77Z6qAz%l-99zN7!krPb@WE@*haV*6;&%ac`t z$p+!J!?T5Q(0fA5a}OU8+PZ!Ndhf30kT((m^9FiJ79WS^vcFZ6gGuSj{S`e2Q%u8$ z*$=`FNUwnT3MQXg2wm@iypIy_wtTRvyLm345nt~Hjh{W&yk9bNXi)x$TYOmqRkBjR z62UrkX=#b5CsQ=dI{nd9hLOmmydWim_?39xb1J`JjsCP(>wNM~^8+bwt(VJK^`0=s z%97EYPT=bjs((ZFX-|N_y>DS zvWRyIuDcghz}MpyZE#*nQw|a4uW0zgqtA>*CLBdpjUhRD`mJFRa&;l=cRkT3S(l<+ zO8=_HSCLh~y|ftK(ajUECd|EE=Wy?Hb%c%#nHYPZLw9akcR7u!w5#-PioD>8RhE)< zt{&UjCzWN|o#^vd8j;6KXf=4}kMkCW| zVSxvE=u0vh*r$0-S(9P7Q5CW%^7bKVu=| zk>ZOJ}2*@xw z%?i%k;pi|RUQ44_+hrd+)y{B|7lfBZp}F!E)I)8)h6ld30f2zQD zTA+dMr02cDX+vCzfK9iwIK=x(6Jyzg^uR7;c;;@nWi3y`O@AqwhJ>;X- zN7gfZGgG5gwbGh~E(12E`qln~DWZnEFRDh%yxmP)2=<8>_4(`U0+5>T-4EU{^0T?< z`+eP>KTJFH+2mikxF_l^Z@%c<4BZl2RS?NPZ1r~7eLM)%xk}0y=Acd)Cm(z~Xvwb0 zQk7zx^wnc%U@M7vM_a$zg(1pPLqISuKU(`;+GHB;XjQ`ED5yW)tP!0z#M2FKs+Ds` z@d($Yzm}Bw#6VTT%Ge5*n?cNZ-1wB^I44Q442Ll-=xb?uqN`n``RUrAJG2xmJW}#I zW1SCEJv%R%*ur!4a{!F-lTBUWI$4=GO;;xgrKZ*Jp3sa<>ilJ{rnNT~(~B#*XEmiU z1~Ed`QBgYpk>YsHbLx#%E)o9--i+ZC9f^_7T3q*re!~_iq1d4WhP8%?V(#=QM(g^7 z>2+F74STNRx~BuypUTi!+)M{gS@jyMH($ZDu zKjsY7wy_tY=^3B$W08}!&<@2c!l~K6&#D)VB-K$kGlCyqCHZOrNP@szFIP8$SAP6l zAIjazY5FRXfEyma)Kg?SYc6gqIrvj&$otnW`!RzBpQi4fq)s=P5CdQP@)yndY7bUH zan{vp_Qu7}wY$KTn$j1%Y@h6=n?MZNqDJhm%WboRANR6CQby3{gRzTJfUkwKimRra z>v20v{=}dJ`%D)e01bVn*OnnAnvxkDMidvnnJEF&DTbM&P+`Ujq+6c9syhcdm!joG z*1W2nVX)Y4=7jc_kF3u24hP6*6e_ugdd-Zx2G;^;ugxy^C3B;tZE{9i)S#}n+Tm^Wl z^%KpO#g^>$))G%Ak1-6LUD#ZTRTn(7!9<4(>I$Q9zeW_j9T{_T6J6i{a*yI=rhgd@ z)gG{9+1{|l$zFGeY|`t&%G=$#LakN(kclKjR)UF-Ix%+c&+>+~j$d4Qmb}LruYMO@ z`qpSxlDi`75!wy{eqU`gG<%ZOL3iz#AK@!h!=>|j1B+Oe$GKu9eUZ!k_(1T+S7_kA zbJn;fO_sAts`Puo#$t6E;ze2?q_a>$w#+0nuk}*bYY8_IQmYk^aF^PtEnm9%vS?g- zl=f(*i$v;};DFLu)Ie}{;wBfYcRZ;#gqu}?q$J)G2lLswTD<(sxB!k1pp9in$Y8=k z^3JyAcETT9MmAB~bYMX>W~mpKeS-AdzQ{3eH)NL0Fva9G(r77Eq^5@T^jqfFHlZW6 zX`)orA@BS6J(?KBp+#ABTs)dY-6)A)m=B$=fl;)gp0w5h=kVgFEy%>zT==t#)Oswq zTr?{tmWGWFbDOksn&?;8ZO@~z1|4maoHqnx;)hZai1Oa97qKZ2`=>=Tqbi7E&k^Na zZ{=(CC~B6eo5t-^lBcfd9J7-)zKvBA>K}~;QMU(%+w1B)Tm0HTIfLh#lU;3Yn~+}d zUP0S|jo8kZ7+vu!d=$BZlVeRdZn#XTYejHx3KQ;O9%HU#dW(r^FcXBZC(y~Sm~%N} z2AJNk$S5a5XzSgPM7Rj`gO_&{#IQ+BaJI7%Cg(lRcrdBsB{DM zT8d*WSa9l7$|3s+xddzetVv2FvHpTmi>HO0ST5olCxQvl(GCf3Q9y&j7i|TuS52RC z$Mq$-RNqf4At8+FuTKP}#H=tDX#`r?5dsa5dEA@$R5+ZaAl)jTIpWtmtDot`nN#*n zhU~NvwXJ2@?Ng4=Ga)ngqKekQp9>riEd9DzgA}4BUwqIm0%Wss9jHUl$nKYqO;2N7 zknpSn9IQrcJR>i>8i4TbCiE{yOjELbLUDeF)~y3Xq^W(@CXkZSMd`R;HHADm=DLkJ zS;1I$?g$Acj(p>KT3D?`z_4LUo}Uvij?k=_H9S~+>bx^)AG{@fB`}K$xi6WJ!FPJGW zB~LoXg!SC`+S#|tF_WQeoMF^8u?W?f)9v=3VwpXM#@dD`br&6k3%WzaC(pjfR0`fM zChRRAn~rhB-s|T5e1XI1$7!j+-kyB4Yw?uPR@@9KfpTk%nATjRS13yeX_R>U?NRR* zYr(<$9=%ADVmjc*1V?@FRwNrtIjAjb6~xw zC-sWFLtc2tkj`HGvT-)9R$lY{zLj=HPa%BG;Eej@!{!SgZ7uQSkiTpuyam5P z5rGi-YQWO|GMX=FapkU`5NRBgpyZCbC47f9)TZ5%PIz1ivCfeoh~;Vbi@p|Pw7gM> zwb+um?aH84>hd{#m`B&9Hw?kAeS3;L=R7r;t*zfqC&7JCTJ}UUynqaE9fG)Oeo+9~ z<)#K&_ox+Nw&lB+9i|2E!p?w#If|`6#-*70{+ZT9cyNps75*mHJhbjb(M$RiL#Im7 zkt@=c&>5xhMt!=^u@mJ>AD$D_6u+1VyRkNNNm4B-5;&h9$MT0M8s71AN$h*tvfb!k&(H`x-=+RpQI>om@b>eBy%{M}3KN2#u_7ZsoV&Xy#uDxoRl2 zhZ9oKR?*q};PbY(m7gWgt{z{7YV^%w zc`Y^X^W2*`zFzR@pZ`FAYXD7ajJxrE>}I9XGO?tURZlH3Izhh)mjN#;L|i9=q<*Nz zeJ$l3es%o;Vkm2YSg0p_sEJfD;4905eJ~)3KL*>sr?_0fwyGKtmV*Mx?gOY(=^nPy z75*rmkv2($3TAtHYhv>G)jB4hBOwj?+DEI7B7nKguhhz2Yd1 z5R{LN%C|hj+rB0#%?eMKUp2KkGARiM^w%6HC3B_ajcD)SC*>BKm^LzSenJ0Ao&OwF zP*SjP9n;qLfKIW#zSsN6#KjQ=N9BF<<&EVWEqo{0Wy95oba_&mA2}DQZ?GFIAE4+$ zTSWyjBPuJ{I>+2{`XjGQUK|-8z?*tIei@>sC0eceal?yJ)H4CGLcpm&tzj$W8yN`# zWW`Z58t<@KB$*M=mUB3S1Ewuu;KvZt)Q44I^sc9(<6KD zz8jzDcL^6W2q>?&+~@GAhGm!bSVyKo4FcZIG@w+Qpt=z*Ug35;iTEV_r3KuuIY@AP z86i%AyiC(GJ?msLDzV2q&uEWf<036blx`(bK34rhL@TD$CD~KAPmc@j?tv4i(U$`9 zcWk#E6!Y?LEsmMJ0&nlU1XdZxd)a(3uMfNLXuUp;?^_>tzV(jaTa$0?-?6+ps6I8M z^B+WMTXsb|tcon?N_dCOn5B9n=!X7x%?0 zTWoPArre~5nAqwvGIZK;G@h1ctA0q9aR>+@?}8?$AnXuMICs=!+GRwXA9E?Tb*cs~c2&|aJbq|eJ7f#q| zoxW$gW$NCNCCs5dI)Z^%IkU1tA%66_qyJRWe0$h5=C+eor|YD9VtX=mo9i~)qd6;iM;BM3`Er9%Vbh*xkQP$9s^g?<6<&loxpnjh84ZhlM9LxMJBc zLXJ0K3!L}(&LVO@gM{JDV-#1QVN~`dv!T2 z2Qn;Li&$}sd(ekuw=gm4*!C?zfH%!{5U? zO_#Y7qV!K-j*(lr3xK97+d&CUgC{~Jh<6M)O$r&FwN{1 z20nbi=4jRBh^n!*wjSy8azByNjBI_hrIYM>2DjX@lKe#Cjb~HNQHwH_8rD&4I!0l; z_yD1aD4HlIRpaTe{;-Dp(o62$P92GK;Vp2_eF?x?niw86wX|gzR^&6S9>(;XlZu!P zg%R|xezBab&$a_p^tvy_W@JtUC?XN}cgE^{$r@Jj0O-eGw1y~*_g%tgOnARkghNuL z-{~{vK;QbpL8{T(kM6bO^)h}ux~es@-LTd;R=9)sxy<}5O;v>vrHj%91Z$l;<`Y(w zbdlOcHl_DeY2!3@#q;ILT9*;B7%PjE-TI@nj;lVk>o~L@x38XcbQ>sb4Q_ergjle2 z=1TP)RfEaI9>j4(%Pj#eMlOU;E^SAsx1HlY$8Ha+YL5x9-9of5SP~`Q!TTkHjuEe( z^@Be9fgW2rMRKH_{6?-ncAL`peXi#-uUai?&<79D<|qcq#{*VhfR0^Bu#$m}waU-a zf?oVYeZ&@3KR+@Wsj@7H(vYJuPF8)?g;g1qgAbPp;Ih|4hUftITYkRimR-QPGaWd7JcGhKSRpMGT&ZPF3KZi+UYK+VsaLymr zv>(Eeqzvw$N+M$wu# z>3e49=_k#bazg|41_rGVT0nT<(dcOP7(s1Ur0>eqr0e92dZHT8*{A<=?8f_)wMpo0 z{|aanXhtrN0z4$6y^uuRVHQ*`pV$MvaOW$EvoxJGG@+{pg z{B(^TDMUY~v>>L4)O#sr#wBegOIOE&*2iEbQW`BhEFF0u>@prRi!1xGtL|1g#KAS$ z2z`cSn6L;ja0_%*HV*2mK3AE;kjTw^YqTooD;21_$*D_&YbZt7kr0YIgDiIM+h3av zgXsG{{f0}-p6NrnC_K3|jZ}V2#|Q~}&q&yQGGhGuzGQpOxN92O13je4X(I|k==cr~ z){SHv(u91WcbB0wZRt+%i7bMlv;!;=?yyQRrb<4vGj{OKNm9nxng!4NsvZZwIjObb z@KC~nsdPY69@6BqZ5_xo2)t2U7f?&S-~;ZL?M-P+2NvUqJyv1rd0k&{^ggm|X#DvU zA1-EY8=0$XfC4GdfipYcF7$esav-K`gw%(SpA#*Orbj6niv@8kHC8^~J1)}`9(X#r zWe+dN@#5LahIxdUkkOvtdVCuX)hsK*ev-=yc~?~I&5QnUdA&FOi2aQH#JHqpMANea zI;p)iNmoZdlH(Y%N7`Q z$tJQ{7&y_+s7g)E&Jh({721M{ps2~O(9SBcraCmcZ0}dc5$rEJ!v9Pbl&6ubxH@S& ztYob|2_`2;c^Oa>H*AXv!H4p7jIMDi7;0~m>)a$fmh^tqSUKkGutJV0J%@winXVE} z1%Efz)uZZ}4@jH2eb^k(9K)`8{RrURx2bPm4BcAoetOQG1Yd9lGtN|#HSUjX16N>h zgp&z_RHqL2#CB%Ab+D{k$HbPfS>)o3Tge}(!1u2$?BrpEgXExq>_cGo??dcNzwR(V z`2az=)m9(}T9VsMQ)TcvTmoO*co=y?Ehmv68vM8`XAYc}We zjk&~={oCs$W&`ksP}g8;6e0#Qzfi1(I;sI<8?wAN#=S{q>b48Z8FtBqMe3Lo?t!EY z^itX@b~44Vwu5KIb~f1^NSYKTZoKLnZZe6uiSTR9JbuYG=>r+hd$|$O8?Z9?6eW!k zTvcHux%(;faiU}^r84lESQ4bMI=%MtQE>xOs(mCe>RrTGIvDfQnE0D5LQjK%wz@pq z{80dAMVzvl{BgUGwK)lIPb$1`LijJNSCwa+)WkhJcWqqlj9V`-C$fYU5EheRA zYafq_r_hB0^C}Z2UoB0XSs!8%AUq)yVUO) zwX6RI_&)zfJ?O}QN})B zszeLFN+26+QHH@RthaWS#8B>Gj$1KjY3qnj(efg95O48)}Hn;x28!H&jZ`_1+LeOo1{$L zw1a-o%V@mzgD3f2q79xeeEC1aKOyC7B61gS*S?_Zh`&^p>&?}@RO{q0!(DW^ec6;M zYT#36iu`t^u4YK394UnkPHrG6(vS#2#W7^a)DseTl(SK{_mRx$SSO(;R_bGn<;tZ{ z)`77$`ig8YMyqtHF!Oe^VW=Tk_L10)5Fg6Lmp5r4<(4)Vuimrx8er5B(n2pC(7r5? z#p<4o`2yc+!ZWADaFv&@35Yi_ve!%T@*JOz%$|SD0Vg&dWx_ie8OD<1#3l8(_F|Jo zCmXF1Uv%5xfF-Fk3?4k)4sbvl&!T!idJn0sbY#s!A+COh21I8hGu6fXK(MHhwc<^7 zjk#}tUy&wBpV8PzVY|f#+K#Y!YbCTm*g~AP zgs!E>RURoH8CYZ1E6;(H%K|7or+2N9^-bbqr-9b9nv)Xdd--LXSApu89O>+r&{j(e zsoCK3=YM5>U@;s1%m%t8n8Ez6Tl$-szkla^0A(mQvov>gGWtbU4d3`(1<+GX_por* zJEnKK!ZAfXWakj?oanK>w98Y9u$CH^O}GD3ny%d#s%lo*wAAtBn7P_V4@?f6B`EFdP27|nUbv{J6fxz z&di#|ozz#*%c7NKR-|Rr$zJ`G^W7UZb$KrG$#u0iQ!4Pom1;dBDrR`K5>p%fuIim| z)uO7-JkL@}EF$p2sMc%(@TkgyPCk7K`eakofj`y_h6>Tv{FFOv?|n8K1nWY~c$J7O zo$OnJ8VwVPt8`m#*V2+6*PL2&p-b36MazIZ^`hSGmUdct9ltF~lGm8yY_CPrcVPqF zbm=0sw{Pc%=v4NPkOWx#dk#Lxd4?Z0s9pr?U_k))RlmZg8}zO3szcme$P5m32;ToK?74f|_(j%4_CBhdvdOZ zAAS*wBz1AnzmDxfU@^OsTn#5a;%Jrku_al3e{

1bvi{DS7E@q1{$_8->K{_OWv2 zCZTgG2Pr3n8|ec9kIu&uC|d?k4-cQ4#}Z`qDX5Y2mhC(jR1Ms;UG4Ho$DE|+SeJ@{ zJQQhAXj|<)*t3KiOWTuh{Wd^mS{u{&ERV)OpZwiQ%#1->r9p zSK_^*U~=?ywH~4IUxb}{0J!SmL!z2Tzq_PpetoC^_az1JFg0=gMcQADuOP%3=H1hH zH_=dG(PD;d*037Ov5G1924U#Zns?~fs+eh1%-bWqa%ssm3=nio1r3J<4G0IBETtr? zycs~0JIOn;MecYG=~OQsYHIrf?~A5>_ob%8+uOrVA+VCJw}{lygrBBdY1k<8B^wf6 zl|<%N$7)fOZX$%y>4ueco_Gb1H@B%XrKVwrn6hUOecnc^PU0rFuCB5=*2;|u-`o(@ zL*tr4bnQzXYLc4XqFbv5sK0}A)`}`8iM8ehtj#Oc5DrE;0VxbPmL@BUa_BQwa$EW~sU#-LP0?sGmqfUGhGWcciGZ*4(}u3z=@b>Ow9DQe7lcO3K}BG3j(t& zH10>sK!&4Q5-=gN@Nxj6{|*nuyqw7KZJ1?p)NUJ?U0bOigGdsOk}Iz&9PmN_5=W*Z9M zy^pA`&dX0oo6?CSuhE~(pYbLuTPp1a1Fa@e3Lu&mmgd$;D}&g-i=D-{sv?J9kIr9r zrX&Z)aFGK^kNY{LxrotP0}k*;uN12i_2a_JJhKwh zBt{D-JRxC$8U+-`u1xD>gJ^H4lbW;7spI-=H506i=ncdK;xq*L6f7jVz$XGMg5aQk zHRJY&$@g}i_SP##iC?lR?ltnWUTT-UDlq(*BTQaYNkg zNG#sNoo{WmP+Vl}U~?+T?g25b$E-7iwhu=VVgw3JdFXm~ba+LC4p>CP3~rNTiNBl7 zL{RfLLepNPEtZj}yL_#R{(^MqIlG)c0Va}>U|9Pl&B_3tV;Ps{r)WqBznD7FcTlP4 z`JQe2DvGhmeeHGGX39zGyOOxZ3tq~Dft(BQ;mDXwwJi?sBtxo$Gf1SS2w*eQ0p&RVMNVi@d zY8v4J0(n}%6*Rw(g~l@sUuxpiJ*Y}7TzBQyU+>-qWm*InUeGt@)T9g^0J#z4){Lw* zT;69if~U9DXBR9fgVPlYy7aDhJU)gDC?_GHQtwa6QXNaah7-CzA|Fx-lH7d@N9>38 zX(F&fd3w7AkZ+ha8-gKfX%@_~<#HDs?kBg5zW>V3%Xw5jwPs6uni{7r zd`EfPYrA*SU;xDtm@E>5TrJKlg5o=h;NSXk)pt4K)GbpP0xkUg>2o|oG=`UnX7^Un zb&@8d6Fj1cBWW^c(K#Csc8xEBa4KfHY>8Lp^77-lhzgWr9kR9_p+g|-9r?VSv?qA%^1O;cqgke)%AqHlR$B{!Y1Mq zj|)Ecg?{_!>kGDAwGa7%cwSUb{BcayJihkv$}ql+yu=O}jVvAFdC{Hjh$4}u+$mx% z5V$sUiGCX%D3A>bKwY8HR)Gv*lisI4q^3vJ*nDwj|mtr!0r!~+Qoe2cw^jPCXkT7tI*01|w@ z&gPC`?O1w7hQ%=&bcHi7(fqhY3${~JepA7y@^aLwHpew^Yk$;R4v{ASHjXjXtaTc_ zuz5*nXB&PrcyWx#gQ%?HyxawmS+Wu(7ssvB1UMh!1$to&o(mv_f=9~!9@VsJCGxpu z`>g5Sp=xDhpsiCy^y>=fI0DON$&pb7o7^d{@@&hj3!6PUd=vA;G;#7&8ChamsE{`^ zY8pDra8Jntp62Ivi)Y`*XbpM60s06v@Rz^-g)TW_F@B!~y7!4AJ>37mAuz!(!C+xQ zSR61?u!{N|qHWOeR%$RXRL~vpN0SGri7-klNHEJuivbi=0qSbdV4&ghf4i|7?$>z( zI{qH?i}`~a7GyB6|8pZRq982+P*r1+m-t&(%U5#ZWFQd-(CXKLHeN@y(c z;wqq1hzE@q1b$GG0VQ_)`{MeylBlVfy%UHR=;Z98>T3M&;{0i?+0T-Bck?I)AUQrz zeF**_iGu$JlCpLnFv`D9?q6R51jKPM{Rd6!0FF#KP=O|b3iQX*TqXSjO?gXaXAmLr zU#g&%@+XpjVArlGkfaPKk^PUSnMLsjlK<9nH*zxl^V2-jGC$4+HGE%?F3%4|y9>HN z|FJgz*HW$VwU8$RNtuBf(2vdZhW3x;R6%eoJM(|2zvKebxCh$s5J-*fhZ75B_yeUs zFTrToFiB^SNH?gV2>l?G&h!UD>UP%uKh1L;Er59!q&NoZRe$VEf?5Ar^&iUad&2gQ z&WE`E%lTg=_3XQT@gJOjkAi-Hbbqrl{(pA<>_GH4O8+xI^=IAhS#v+$vmgOK=>C!~_xFg-pLM>6kUfy=zL|u~KkNJ< z$L?p*?;%(Ze6w%%M(zjE|4dH&5$)_}mG3z{KUQ6s!Y@_+kInPH;kAC&{T^5HKmqz@ z@+!aA{YNIy&r;uKTz=r6e6v>d-%9<%_4R!+-iN^8H#0N(rQbiu-u&}-|2`q@k1agM zdHkW_1&%VDD_|I;NpK*OZfAjAb z`Ttl8km0{|{F`kWKWltH$^Ech;G2y`{7&N^%H;d0$cGv7Z^oJNOSiwAFaP<=em}wX z<8AA6<}bbeZc_7S=ii6PALi)3nOXL)o&Uj%-OnQ52M&L%(%ZaWiu^(R{b!Bu2WJl< h$Zw`p^gE5e2}ml*LW4$nU|{5+pXG<~Ugg7I{||-5t(pJ; literal 0 HcmV?d00001 diff --git a/stage1/wcp/solution/gradle/wrapper/gradle-wrapper.properties b/stage1/wcp/solution/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..42bb5ac --- /dev/null +++ b/stage1/wcp/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/wcp/solution/gradlew b/stage1/wcp/solution/gradlew new file mode 100644 index 0000000..739907d --- /dev/null +++ b/stage1/wcp/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/wcp/solution/gradlew.bat b/stage1/wcp/solution/gradlew.bat new file mode 100644 index 0000000..c4bdd3a --- /dev/null +++ b/stage1/wcp/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/wcp/solution/settings.gradle b/stage1/wcp/solution/settings.gradle new file mode 100644 index 0000000..e2626a8 --- /dev/null +++ b/stage1/wcp/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/wcp/solution/src/main/deploy/example.txt b/stage1/wcp/solution/src/main/deploy/example.txt new file mode 100644 index 0000000..c9bc6a2 --- /dev/null +++ b/stage1/wcp/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/wcp/solution/src/main/java/first/Main.java b/stage1/wcp/solution/src/main/java/first/Main.java new file mode 100644 index 0000000..7d287e7 --- /dev/null +++ b/stage1/wcp/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/wcp/solution/src/main/java/first/robot/Robot.java b/stage1/wcp/solution/src/main/java/first/robot/Robot.java new file mode 100644 index 0000000..915ac3b --- /dev/null +++ b/stage1/wcp/solution/src/main/java/first/robot/Robot.java @@ -0,0 +1,72 @@ +// 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 org.wpilib.drive.DifferentialDrive; +import org.wpilib.framework.OpModeRobot; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; + +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; + +/** + * 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; + private TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); + private TalonFX leftFollower = new TalonFX(1, CANBus.systemcore(0)); + + private final int rightLeaderID = 2; + private TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); + private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); + + private TalonFX intake = new TalonFX(4, CANBus.systemcore(0)); + private TalonFX shooter = new TalonFX(5, CANBus.systemcore(0)); + + private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + + + private final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + + + /** + * 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.Opposed)); + } + + /** 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() {} +} diff --git a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java new file mode 100644 index 0000000..244cd9f --- /dev/null +++ b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java @@ -0,0 +1,30 @@ +// 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 org.wpilib.opmode.Autonomous; +import org.wpilib.opmode.PeriodicOpMode; +import first.robot.Robot; + +@Autonomous(name = "My Auto", group = "Group 1") +public class MyAuto extends PeriodicOpMode { + private final Robot robot; + + /** The Robot instance is passed into the opmode via the constructor. */ + public MyAuto(Robot robot) { + this.robot = robot; + } + + /* + * 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() { + // Put custom auto code here + } +} diff --git a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java new file mode 100644 index 0000000..667e157 --- /dev/null +++ b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java @@ -0,0 +1,44 @@ +// 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 org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.opmode.Teleop; +import first.robot.Robot; + +@Teleop +public class MyTeleop extends PeriodicOpMode { + private final Robot robot; + + /** 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. */ + } + + @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/wcp/solution/vendordeps/CommandsV2.json b/stage1/wcp/solution/vendordeps/CommandsV2.json new file mode 100644 index 0000000..8358b09 --- /dev/null +++ b/stage1/wcp/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/wcp/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json b/stage1/wcp/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json new file mode 100644 index 0000000..f7db60a --- /dev/null +++ b/stage1/wcp/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": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.50.0-alpha-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.50.0-alpha-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.50.0-alpha-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.50.0-alpha-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.50.0-alpha-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file From 1835314a1b0bedceb7d09cca77b73ccf8aa92a87 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Mon, 15 Jun 2026 23:38:18 -0500 Subject: [PATCH 2/9] add simulation files --- .../first/robot/simulation/DrivetrainSim.java | 90 +++++++++++++++++++ .../robot/simulation/SingleFlywheelSim.java | 60 +++++++++++++ 2 files changed, 150 insertions(+) create mode 100644 stage1/wcp/solution/src/main/java/first/robot/simulation/DrivetrainSim.java create mode 100644 stage1/wcp/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java diff --git a/stage1/wcp/solution/src/main/java/first/robot/simulation/DrivetrainSim.java b/stage1/wcp/solution/src/main/java/first/robot/simulation/DrivetrainSim.java new file mode 100644 index 0000000..89db9ab --- /dev/null +++ b/stage1/wcp/solution/src/main/java/first/robot/simulation/DrivetrainSim.java @@ -0,0 +1,90 @@ +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 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; + +import com.ctre.phoenix6.hardware.TalonFX; + +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/wcp/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java b/stage1/wcp/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java new file mode 100644 index 0000000..05bdfc8 --- /dev/null +++ b/stage1/wcp/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java @@ -0,0 +1,60 @@ +package first.robot.simulation; + +import org.wpilib.math.system.DCMotor; +import org.wpilib.math.system.Models; +import org.wpilib.networktables.DoublePublisher; +import org.wpilib.networktables.NetworkTable; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.simulation.BatterySim; +import org.wpilib.simulation.FlywheelSim; + +import com.ctre.phoenix6.hardware.TalonFX; + +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); + + } +} From cc9db7f7c7b9e49d34fb2287a2ec4a43cb1cbaec Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Mon, 15 Jun 2026 23:57:34 -0500 Subject: [PATCH 3/9] Add controls --- .../src/main/java/first/robot/Robot.java | 26 +++++++++++++++---- .../main/java/first/robot/opmode/MyAuto.java | 15 ++++++++++- .../java/first/robot/opmode/MyTeleop.java | 15 +++++++++++ 3 files changed, 50 insertions(+), 6 deletions(-) diff --git a/stage1/wcp/solution/src/main/java/first/robot/Robot.java b/stage1/wcp/solution/src/main/java/first/robot/Robot.java index 915ac3b..3bf897d 100644 --- a/stage1/wcp/solution/src/main/java/first/robot/Robot.java +++ b/stage1/wcp/solution/src/main/java/first/robot/Robot.java @@ -16,6 +16,9 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.MotorAlignmentValue; +import first.robot.simulation.DrivetrainSim; +import first.robot.simulation.SingleFlywheelSim; + /** * 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 @@ -26,20 +29,25 @@ public class Robot extends OpModeRobot { private final int leftLeaderID = 0; - private TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); + public TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)); private TalonFX leftFollower = new TalonFX(1, CANBus.systemcore(0)); private final int rightLeaderID = 2; - private TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); + public TalonFX rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)); private TalonFX rightFollower = new TalonFX(3, CANBus.systemcore(0)); - private TalonFX intake = new TalonFX(4, CANBus.systemcore(0)); - private TalonFX shooter = new TalonFX(5, 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); - private final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); + 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"); /** @@ -69,4 +77,12 @@ public void driverStationConnected() {} */ @Override public void nonePeriodic() {} + + @Override + public void simulationPeriodic() { + drivetrainSim.periodic(); + intakeSim.periodic(); + shooterSim.periodic(); + } + } diff --git a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java index 244cd9f..6b7c7dc 100644 --- a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java +++ b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java @@ -6,17 +6,26 @@ import org.wpilib.opmode.Autonomous; import org.wpilib.opmode.PeriodicOpMode; +import org.wpilib.system.Timer; + import first.robot.Robot; @Autonomous(name = "My Auto", group = "Group 1") public class MyAuto extends PeriodicOpMode { private final Robot robot; + private double startTime; + /** The Robot instance is passed into the opmode via the constructor. */ public MyAuto(Robot robot) { this.robot = robot; } + @Override + public void start() { + startTime = Timer.getTimestamp(); // Set the start time when auto starts + } + /* * This method runs periodically, using the same period as the Robot instance. * @@ -25,6 +34,10 @@ public MyAuto(Robot robot) { */ @Override public void periodic() { - // Put custom auto code here + if (Timer.getTimestamp() - startTime < 4.0) { // Drive for 4 seconds after the start of auto + robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation + } else { + robot.drivetrain.arcadeDrive(0.0, 0.0); //Stop the drivetrain after 4 seconds + } } } diff --git a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java index 667e157..94e2ef4 100644 --- a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java +++ b/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java @@ -4,6 +4,7 @@ package first.robot.opmode; +import org.wpilib.driverstation.NiDsXboxController; import org.wpilib.opmode.PeriodicOpMode; import org.wpilib.opmode.Teleop; import first.robot.Robot; @@ -11,6 +12,7 @@ @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) { @@ -30,6 +32,19 @@ public void start() { @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 From 7998ff40a81e865461026b9a461a76e52b5d391e Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 16 Jun 2026 00:15:26 -0500 Subject: [PATCH 4/9] layouts --- stage1/wcp/solution/AdvantageScopeLayout.json | 122 ++++++++++++++++++ stage1/wcp/solution/simgui-ds.json | 58 +++++++++ 2 files changed, 180 insertions(+) create mode 100644 stage1/wcp/solution/AdvantageScopeLayout.json create mode 100644 stage1/wcp/solution/simgui-ds.json diff --git a/stage1/wcp/solution/AdvantageScopeLayout.json b/stage1/wcp/solution/AdvantageScopeLayout.json new file mode 100644 index 0000000..825a1cd --- /dev/null +++ b/stage1/wcp/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/wcp/solution/simgui-ds.json b/stage1/wcp/solution/simgui-ds.json new file mode 100644 index 0000000..109e2dc --- /dev/null +++ b/stage1/wcp/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"}] + } From 028a11d308c2cb2829c9100507397e2a3561b15e Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 16 Jun 2026 00:18:27 -0500 Subject: [PATCH 5/9] fix my incorrect folder name --- stage1/{wcp => ctre}/solution/.gitignore | 0 .../solution/.wpilib/wpilib_preferences.json | 0 .../solution/AdvantageScopeLayout.json | 0 stage1/{wcp => ctre}/solution/WPILib-License.md | 0 stage1/{wcp => ctre}/solution/build.gradle | 0 .../solution/gradle/wrapper/gradle-wrapper.jar | Bin .../gradle/wrapper/gradle-wrapper.properties | 0 stage1/{wcp => ctre}/solution/gradlew | 0 stage1/{wcp => ctre}/solution/gradlew.bat | 0 stage1/{wcp => ctre}/solution/settings.gradle | 0 stage1/{wcp => ctre}/solution/simgui-ds.json | 0 .../solution/src/main/deploy/example.txt | 0 .../solution/src/main/java/first/Main.java | 0 .../solution/src/main/java/first/robot/Robot.java | 0 .../src/main/java/first/robot/opmode/MyAuto.java | 0 .../src/main/java/first/robot/opmode/MyTeleop.java | 0 .../java/first/robot/simulation/DrivetrainSim.java | 0 .../first/robot/simulation/SingleFlywheelSim.java | 0 .../solution/vendordeps/CommandsV2.json | 0 .../vendordeps/Phoenix6-26.50.0-alpha-1.json | 0 20 files changed, 0 insertions(+), 0 deletions(-) rename stage1/{wcp => ctre}/solution/.gitignore (100%) rename stage1/{wcp => ctre}/solution/.wpilib/wpilib_preferences.json (100%) rename stage1/{wcp => ctre}/solution/AdvantageScopeLayout.json (100%) rename stage1/{wcp => ctre}/solution/WPILib-License.md (100%) rename stage1/{wcp => ctre}/solution/build.gradle (100%) rename stage1/{wcp => ctre}/solution/gradle/wrapper/gradle-wrapper.jar (100%) rename stage1/{wcp => ctre}/solution/gradle/wrapper/gradle-wrapper.properties (100%) rename stage1/{wcp => ctre}/solution/gradlew (100%) rename stage1/{wcp => ctre}/solution/gradlew.bat (100%) rename stage1/{wcp => ctre}/solution/settings.gradle (100%) rename stage1/{wcp => ctre}/solution/simgui-ds.json (100%) rename stage1/{wcp => ctre}/solution/src/main/deploy/example.txt (100%) rename stage1/{wcp => ctre}/solution/src/main/java/first/Main.java (100%) rename stage1/{wcp => ctre}/solution/src/main/java/first/robot/Robot.java (100%) rename stage1/{wcp => ctre}/solution/src/main/java/first/robot/opmode/MyAuto.java (100%) rename stage1/{wcp => ctre}/solution/src/main/java/first/robot/opmode/MyTeleop.java (100%) rename stage1/{wcp => ctre}/solution/src/main/java/first/robot/simulation/DrivetrainSim.java (100%) rename stage1/{wcp => ctre}/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java (100%) rename stage1/{wcp => ctre}/solution/vendordeps/CommandsV2.json (100%) rename stage1/{wcp => ctre}/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json (100%) diff --git a/stage1/wcp/solution/.gitignore b/stage1/ctre/solution/.gitignore similarity index 100% rename from stage1/wcp/solution/.gitignore rename to stage1/ctre/solution/.gitignore diff --git a/stage1/wcp/solution/.wpilib/wpilib_preferences.json b/stage1/ctre/solution/.wpilib/wpilib_preferences.json similarity index 100% rename from stage1/wcp/solution/.wpilib/wpilib_preferences.json rename to stage1/ctre/solution/.wpilib/wpilib_preferences.json diff --git a/stage1/wcp/solution/AdvantageScopeLayout.json b/stage1/ctre/solution/AdvantageScopeLayout.json similarity index 100% rename from stage1/wcp/solution/AdvantageScopeLayout.json rename to stage1/ctre/solution/AdvantageScopeLayout.json diff --git a/stage1/wcp/solution/WPILib-License.md b/stage1/ctre/solution/WPILib-License.md similarity index 100% rename from stage1/wcp/solution/WPILib-License.md rename to stage1/ctre/solution/WPILib-License.md diff --git a/stage1/wcp/solution/build.gradle b/stage1/ctre/solution/build.gradle similarity index 100% rename from stage1/wcp/solution/build.gradle rename to stage1/ctre/solution/build.gradle diff --git a/stage1/wcp/solution/gradle/wrapper/gradle-wrapper.jar b/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.jar similarity index 100% rename from stage1/wcp/solution/gradle/wrapper/gradle-wrapper.jar rename to stage1/ctre/solution/gradle/wrapper/gradle-wrapper.jar diff --git a/stage1/wcp/solution/gradle/wrapper/gradle-wrapper.properties b/stage1/ctre/solution/gradle/wrapper/gradle-wrapper.properties similarity index 100% rename from stage1/wcp/solution/gradle/wrapper/gradle-wrapper.properties rename to stage1/ctre/solution/gradle/wrapper/gradle-wrapper.properties diff --git a/stage1/wcp/solution/gradlew b/stage1/ctre/solution/gradlew similarity index 100% rename from stage1/wcp/solution/gradlew rename to stage1/ctre/solution/gradlew diff --git a/stage1/wcp/solution/gradlew.bat b/stage1/ctre/solution/gradlew.bat similarity index 100% rename from stage1/wcp/solution/gradlew.bat rename to stage1/ctre/solution/gradlew.bat diff --git a/stage1/wcp/solution/settings.gradle b/stage1/ctre/solution/settings.gradle similarity index 100% rename from stage1/wcp/solution/settings.gradle rename to stage1/ctre/solution/settings.gradle diff --git a/stage1/wcp/solution/simgui-ds.json b/stage1/ctre/solution/simgui-ds.json similarity index 100% rename from stage1/wcp/solution/simgui-ds.json rename to stage1/ctre/solution/simgui-ds.json diff --git a/stage1/wcp/solution/src/main/deploy/example.txt b/stage1/ctre/solution/src/main/deploy/example.txt similarity index 100% rename from stage1/wcp/solution/src/main/deploy/example.txt rename to stage1/ctre/solution/src/main/deploy/example.txt diff --git a/stage1/wcp/solution/src/main/java/first/Main.java b/stage1/ctre/solution/src/main/java/first/Main.java similarity index 100% rename from stage1/wcp/solution/src/main/java/first/Main.java rename to stage1/ctre/solution/src/main/java/first/Main.java diff --git a/stage1/wcp/solution/src/main/java/first/robot/Robot.java b/stage1/ctre/solution/src/main/java/first/robot/Robot.java similarity index 100% rename from stage1/wcp/solution/src/main/java/first/robot/Robot.java rename to stage1/ctre/solution/src/main/java/first/robot/Robot.java diff --git a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java similarity index 100% rename from stage1/wcp/solution/src/main/java/first/robot/opmode/MyAuto.java rename to stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java diff --git a/stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java similarity index 100% rename from stage1/wcp/solution/src/main/java/first/robot/opmode/MyTeleop.java rename to stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java diff --git a/stage1/wcp/solution/src/main/java/first/robot/simulation/DrivetrainSim.java b/stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java similarity index 100% rename from stage1/wcp/solution/src/main/java/first/robot/simulation/DrivetrainSim.java rename to stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java diff --git a/stage1/wcp/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java b/stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java similarity index 100% rename from stage1/wcp/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java rename to stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java diff --git a/stage1/wcp/solution/vendordeps/CommandsV2.json b/stage1/ctre/solution/vendordeps/CommandsV2.json similarity index 100% rename from stage1/wcp/solution/vendordeps/CommandsV2.json rename to stage1/ctre/solution/vendordeps/CommandsV2.json diff --git a/stage1/wcp/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json b/stage1/ctre/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json similarity index 100% rename from stage1/wcp/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json rename to stage1/ctre/solution/vendordeps/Phoenix6-26.50.0-alpha-1.json From e71738d5277e921ba4fe42624fc7cc5f4d14af76 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 16 Jun 2026 00:39:14 -0500 Subject: [PATCH 6/9] add formating --- stage1/ctre/solution/build.gradle | 38 ++++- .../src/main/java/first/robot/Robot.java | 19 +-- .../main/java/first/robot/opmode/MyAuto.java | 6 +- .../java/first/robot/opmode/MyTeleop.java | 2 +- .../first/robot/simulation/DrivetrainSim.java | 135 ++++++++---------- .../robot/simulation/SingleFlywheelSim.java | 88 +++++------- 6 files changed, 149 insertions(+), 139 deletions(-) diff --git a/stage1/ctre/solution/build.gradle b/stage1/ctre/solution/build.gradle index 55508d0..15ddf2d 100644 --- a/stage1/ctre/solution/build.gradle +++ b/stage1/ctre/solution/build.gradle @@ -2,6 +2,7 @@ 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 { @@ -38,7 +39,7 @@ deploy { 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 + // longer exist in deploy directory of this project } } } @@ -109,3 +110,38 @@ wpi.java.configureTestTasks(test) 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/src/main/java/first/robot/Robot.java b/stage1/ctre/solution/src/main/java/first/robot/Robot.java index 3bf897d..cbddbc0 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/Robot.java +++ b/stage1/ctre/solution/src/main/java/first/robot/Robot.java @@ -4,20 +4,18 @@ package first.robot; -import org.wpilib.drive.DifferentialDrive; -import org.wpilib.framework.OpModeRobot; -import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; - 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. @@ -41,15 +39,13 @@ public class Robot extends OpModeRobot { private OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); - - public final DifferentialDrive drivetrain = new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle); - + 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. @@ -78,11 +74,10 @@ public void driverStationConnected() {} @Override public void nonePeriodic() {} - @Override + @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 index 6b7c7dc..8b4afa9 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java +++ b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java @@ -4,18 +4,16 @@ package first.robot.opmode; +import first.robot.Robot; import org.wpilib.opmode.Autonomous; import org.wpilib.opmode.PeriodicOpMode; import org.wpilib.system.Timer; -import first.robot.Robot; - @Autonomous(name = "My Auto", group = "Group 1") public class MyAuto extends PeriodicOpMode { private final Robot robot; private double startTime; - /** The Robot instance is passed into the opmode via the constructor. */ public MyAuto(Robot robot) { this.robot = robot; @@ -37,7 +35,7 @@ public void periodic() { if (Timer.getTimestamp() - startTime < 4.0) { // Drive for 4 seconds after the start of auto robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation } else { - robot.drivetrain.arcadeDrive(0.0, 0.0); //Stop the drivetrain after 4 seconds + robot.drivetrain.arcadeDrive(0.0, 0.0); // Stop the drivetrain after 4 seconds } } } 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 index 94e2ef4..4b3ee9d 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java +++ b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyTeleop.java @@ -4,10 +4,10 @@ package first.robot.opmode; +import first.robot.Robot; import org.wpilib.driverstation.NiDsXboxController; import org.wpilib.opmode.PeriodicOpMode; import org.wpilib.opmode.Teleop; -import first.robot.Robot; @Teleop public class MyTeleop extends PeriodicOpMode { 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 index 89db9ab..28dee35 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java +++ b/stage1/ctre/solution/src/main/java/first/robot/simulation/DrivetrainSim.java @@ -5,6 +5,7 @@ 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; @@ -13,78 +14,68 @@ import org.wpilib.simulation.DifferentialDrivetrainSim; import org.wpilib.simulation.OnboardIMUSim; -import com.ctre.phoenix6.hardware.TalonFX; - 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()); - } + 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 index 05bdfc8..eeb6800 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java +++ b/stage1/ctre/solution/src/main/java/first/robot/simulation/SingleFlywheelSim.java @@ -1,60 +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.NetworkTable; import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.simulation.BatterySim; import org.wpilib.simulation.FlywheelSim; -import com.ctre.phoenix6.hardware.TalonFX; - 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); - - } + 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); + } } From fb0da320ad64059b3ff30af715cd8383cf1d7bf3 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 16 Jun 2026 09:56:40 -0500 Subject: [PATCH 7/9] Update stage1/ctre/solution/src/main/java/first/robot/Robot.java Co-authored-by: Tim Winters --- stage1/ctre/solution/src/main/java/first/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stage1/ctre/solution/src/main/java/first/robot/Robot.java b/stage1/ctre/solution/src/main/java/first/robot/Robot.java index cbddbc0..e41e891 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/Robot.java +++ b/stage1/ctre/solution/src/main/java/first/robot/Robot.java @@ -60,7 +60,7 @@ public Robot() { rightLeader.getConfigurator().apply(rightConfig); leftFollower.setControl(new Follower(leftLeaderID, MotorAlignmentValue.Aligned)); - rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Opposed)); + rightFollower.setControl(new Follower(rightLeaderID, MotorAlignmentValue.Aligned)); } /** This function is called exactly once when the DS first connects. */ From a9c964375cceb5faf5c618fe2aa45ee5583d86b0 Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 16 Jun 2026 10:07:27 -0500 Subject: [PATCH 8/9] Use timer in auto --- .../solution/src/main/java/first/robot/opmode/MyAuto.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 index 8b4afa9..dff4732 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java +++ b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java @@ -12,7 +12,7 @@ @Autonomous(name = "My Auto", group = "Group 1") public class MyAuto extends PeriodicOpMode { private final Robot robot; - private double startTime; + private Timer autoTimer = new Timer(); /** The Robot instance is passed into the opmode via the constructor. */ public MyAuto(Robot robot) { @@ -21,7 +21,7 @@ public MyAuto(Robot robot) { @Override public void start() { - startTime = Timer.getTimestamp(); // Set the start time when auto starts + autoTimer.restart(); // Reset the timer to zero at the start of auto } /* @@ -32,7 +32,7 @@ public void start() { */ @Override public void periodic() { - if (Timer.getTimestamp() - startTime < 4.0) { // Drive for 4 seconds after the start of auto + if (!autoTimer.hasElapsed(4.0)) { // Drive for 4 seconds after the start of auto robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation } else { robot.drivetrain.arcadeDrive(0.0, 0.0); // Stop the drivetrain after 4 seconds From dce19c8f2ac76a2c012c2c19f60fc7283a7a977b Mon Sep 17 00:00:00 2001 From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com> Date: Tue, 16 Jun 2026 19:57:32 -0500 Subject: [PATCH 9/9] swap auto conditional order --- .../solution/src/main/java/first/robot/opmode/MyAuto.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 index dff4732..d51ee1c 100644 --- a/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java +++ b/stage1/ctre/solution/src/main/java/first/robot/opmode/MyAuto.java @@ -32,10 +32,10 @@ public void start() { */ @Override public void periodic() { - if (!autoTimer.hasElapsed(4.0)) { // Drive for 4 seconds after the start of auto - robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation - } else { + 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 } } }