From 27438d33eb0257b5413cf582df7aca3668b44fbe Mon Sep 17 00:00:00 2001 From: Sai Date: Sun, 7 Jan 2024 10:36:50 -0800 Subject: [PATCH] Initial Commit --- .gitignore | 178 ++++++ .vscode/launch.json | 21 + .vscode/settings.json | 29 + .wpilib/wpilib_preferences.json | 6 + WPILib-License.md | 24 + build.gradle | 101 ++++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43462 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 ++++++++ gradlew.bat | 92 +++ settings.gradle | 30 + src/main/deploy/example.txt | 3 + src/main/java/frc/robot/Constants.java | 51 ++ src/main/java/frc/robot/Main.java | 25 + src/main/java/frc/robot/Robot.java | 103 ++++ src/main/java/frc/robot/RobotContainer.java | 73 +++ src/main/java/frc/robot/commands/Autos.java | 20 + .../robot/commands/DriveUsingController.java | 62 ++ .../frc/robot/commands/ExampleCommand.java | 43 ++ .../java/frc/robot/drive/SwerveDrive.java | 270 +++++++++ .../java/frc/robot/drive/SwerveModule.java | 330 +++++++++++ .../CalculatedFeedforwardConstants.java | 29 + .../parameters/FeedforwardConstants.java | 30 + .../frc/robot/parameters/MotorParameters.java | 69 +++ .../robot/parameters/SwerveAngleEncoder.java | 20 + .../parameters/SwerveDriveParameters.java | 507 ++++++++++++++++ .../parameters/SwerveModuleParameters.java | 144 +++++ .../frc/robot/parameters/SwerveMotors.java | 20 + .../robot/subsystems/ExampleSubsystem.java | 47 ++ .../frc/robot/subsystems/SwerveSubsystem.java | 556 ++++++++++++++++++ .../robot/util/SwerveModuleVelocities.java | 25 + .../frc/robot/util/SwerveModuleVoltages.java | 27 + vendordeps/NavX.json | 40 ++ vendordeps/Phoenix6.json | 339 +++++++++++ vendordeps/REVLib.json | 74 +++ vendordeps/WPILibNewCommands.json | 38 ++ 36 files changed, 3682 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100644 gradlew create mode 100644 gradlew.bat create mode 100644 settings.gradle create mode 100644 src/main/deploy/example.txt create mode 100644 src/main/java/frc/robot/Constants.java create mode 100644 src/main/java/frc/robot/Main.java create mode 100644 src/main/java/frc/robot/Robot.java create mode 100644 src/main/java/frc/robot/RobotContainer.java create mode 100644 src/main/java/frc/robot/commands/Autos.java create mode 100644 src/main/java/frc/robot/commands/DriveUsingController.java create mode 100644 src/main/java/frc/robot/commands/ExampleCommand.java create mode 100644 src/main/java/frc/robot/drive/SwerveDrive.java create mode 100644 src/main/java/frc/robot/drive/SwerveModule.java create mode 100644 src/main/java/frc/robot/parameters/CalculatedFeedforwardConstants.java create mode 100644 src/main/java/frc/robot/parameters/FeedforwardConstants.java create mode 100644 src/main/java/frc/robot/parameters/MotorParameters.java create mode 100644 src/main/java/frc/robot/parameters/SwerveAngleEncoder.java create mode 100644 src/main/java/frc/robot/parameters/SwerveDriveParameters.java create mode 100644 src/main/java/frc/robot/parameters/SwerveModuleParameters.java create mode 100644 src/main/java/frc/robot/parameters/SwerveMotors.java create mode 100644 src/main/java/frc/robot/subsystems/ExampleSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/SwerveSubsystem.java create mode 100644 src/main/java/frc/robot/util/SwerveModuleVelocities.java create mode 100644 src/main/java/frc/robot/util/SwerveModuleVoltages.java create mode 100644 vendordeps/NavX.json create mode 100644 vendordeps/Phoenix6.json create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5528d4f --- /dev/null +++ b/.gitignore @@ -0,0 +1,178 @@ +# 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 +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..4ed293b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,29 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..9e224ef --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024", + "teamNumber": 948 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..43b62ec --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2023 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/build.gradle b/build.gradle new file mode 100644 index 0000000..5b29be2 --- /dev/null +++ b/build.gradle @@ -0,0 +1,101 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.1.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // 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.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +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 { + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + 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 jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d64cd4917707c1f8861d8cb53dd15194d4248596 GIT binary patch literal 43462 zcma&NWl&^owk(X(xVyW%ySuwf;qI=D6|RlDJ2cR^yEKh!@I- zp9QeisK*rlxC>+~7Dk4IxIRsKBHqdR9b3+fyL=ynHmIDe&|>O*VlvO+%z5;9Z$|DJ zb4dO}-R=MKr^6EKJiOrJdLnCJn>np?~vU-1sSFgPu;pthGwf}bG z(1db%xwr#x)r+`4AGu$j7~u2MpVs3VpLp|mx&;>`0p0vH6kF+D2CY0fVdQOZ@h;A` z{infNyvmFUiu*XG}RNMNwXrbec_*a3N=2zJ|Wh5z* z5rAX$JJR{#zP>KY**>xHTuw?|-Rg|o24V)74HcfVT;WtQHXlE+_4iPE8QE#DUm%x0 zEKr75ur~W%w#-My3Tj`hH6EuEW+8K-^5P62$7Sc5OK+22qj&Pd1;)1#4tKihi=~8C zHiQSst0cpri6%OeaR`PY>HH_;CPaRNty%WTm4{wDK8V6gCZlG@U3$~JQZ;HPvDJcT1V{ z?>H@13MJcCNe#5z+MecYNi@VT5|&UiN1D4ATT+%M+h4c$t;C#UAs3O_q=GxK0}8%8 z8J(_M9bayxN}69ex4dzM_P3oh@ZGREjVvn%%r7=xjkqxJP4kj}5tlf;QosR=%4L5y zWhgejO=vao5oX%mOHbhJ8V+SG&K5dABn6!WiKl{|oPkq(9z8l&Mm%(=qGcFzI=eLu zWc_oCLyf;hVlB@dnwY98?75B20=n$>u3b|NB28H0u-6Rpl((%KWEBOfElVWJx+5yg z#SGqwza7f}$z;n~g%4HDU{;V{gXIhft*q2=4zSezGK~nBgu9-Q*rZ#2f=Q}i2|qOp z!!y4p)4o=LVUNhlkp#JL{tfkhXNbB=Ox>M=n6soptJw-IDI|_$is2w}(XY>a=H52d z3zE$tjPUhWWS+5h=KVH&uqQS=$v3nRs&p$%11b%5qtF}S2#Pc`IiyBIF4%A!;AVoI zXU8-Rpv!DQNcF~(qQnyyMy=-AN~U>#&X1j5BLDP{?K!%h!;hfJI>$mdLSvktEr*89 zdJHvby^$xEX0^l9g$xW-d?J;L0#(`UT~zpL&*cEh$L|HPAu=P8`OQZV!-}l`noSp_ zQ-1$q$R-gDL)?6YaM!=8H=QGW$NT2SeZlb8PKJdc=F-cT@j7Xags+Pr*jPtlHFnf- zh?q<6;)27IdPc^Wdy-mX%2s84C1xZq9Xms+==F4);O`VUASmu3(RlgE#0+#giLh-& zcxm3_e}n4{%|X zJp{G_j+%`j_q5}k{eW&TlP}J2wtZ2^<^E(O)4OQX8FDp6RJq!F{(6eHWSD3=f~(h} zJXCf7=r<16X{pHkm%yzYI_=VDP&9bmI1*)YXZeB}F? 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file mode 100644 index 0000000..5e82d67 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 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. +# + +############################################################################## +# +# 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/HEAD/subprojects/plugins/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 "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&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 + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$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 "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( 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, 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=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$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/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..93e3f59 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@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 + +@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. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +: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/settings.gradle b/settings.gradle new file mode 100644 index 0000000..d94f73c --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO 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/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..cf07abb --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,51 @@ +// 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 frc.robot; + +/** + * The Constants class provides a convenient place for teams to hold robot-wide + * numerical or boolean + * constants. This class should not be used for any other purpose. All constants + * should be declared + * globally (i.e. public static). Do not put anything functional in this class. + * + *

+ * It is advised to statically import this class (or one of its inner classes) + * wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + /** + * Defines constant values for robot components. + */ + public static class RobotConstants { + /** + * The maximum battery voltage. + */ + public static final double MAX_BATTERY_VOLTAGE = 12.0; + + /** + * Wheel diameter. + */ + public static final double WHEEL_DIAMETER_INCHES = 4.0; + + + /** + * Defines operator (i.e. driver and manipulator) constants. + */ + public static class OperatorConstants { + + /** + * Defines the port numbers of the Xbox controllers. + */ + public static class XboxControllerPort { + + public static final int DRIVER = 0; + public static final int MANIPULATOR = 1; + + } + } +} +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..8776e5d --- /dev/null +++ b/src/main/java/frc/robot/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 frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..687a0a0 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,103 @@ +// 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 frc.robot; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, running already-scheduled commands, removing finished or interrupted commands, + // and running subsystem periodic() methods. This must be called from the robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** This function is called once each time the robot enters Disabled mode. */ + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() {} + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} + + /** This function is called once when the robot is first started up. */ + @Override + public void simulationInit() {} + + /** This function is called periodically whilst in simulation. */ + @Override + public void simulationPeriodic() {} +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..85640e7 --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,73 @@ +// 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 frc.robot; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.RobotConstants.OperatorConstants; +import frc.robot.commands.Autos; +import frc.robot.commands.DriveUsingController; +import frc.robot.commands.ExampleCommand; +import frc.robot.subsystems.ExampleSubsystem; +import frc.robot.subsystems.SwerveSubsystem; + +/** + * This class is where the bulk of the robot should be declared. Since Command-based is a + * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} + * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including + * subsystems, commands, and trigger mappings) should be declared here. + */ +public class RobotContainer { + // The robot's subsystems and commands are defined here... + private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem(); + private final SwerveSubsystem m_driveTrain = new SwerveSubsystem(); + + // Replace with CommandPS4Controller or CommandJoystick if needed + private final CommandXboxController m_driverController = + new CommandXboxController(OperatorConstants.XboxControllerPort.DRIVER); + + /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { + m_driveTrain.setDefaultCommand(new DriveUsingController(m_driveTrain, m_driverController)); + + // Configure the trigger bindings + configureBindings(); + + m_driveTrain.addShuffleboardTab(); + } + + /** + * Use this method to define your trigger->command mappings. Triggers can be created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary + * predicate, or via the named factories in {@link + * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link + * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller + * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight + * joysticks}. + */ + private void configureBindings() { + // Schedule `ExampleCommand` when `exampleCondition` changes to `true` + new Trigger(m_exampleSubsystem::exampleCondition) + .onTrue(new ExampleCommand(m_exampleSubsystem)); + + // Schedule `exampleMetdhodCommand` when the Xbox controller's B button is pressed, + // cancelling on release. + m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); + m_driverController.start().onTrue(Commands.runOnce(() -> m_driveTrain.resetOrientation(), m_driveTrain)); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // An example command will be run in autonomous + return Autos.exampleAuto(m_exampleSubsystem); + + } +} diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java new file mode 100644 index 0000000..107aad7 --- /dev/null +++ b/src/main/java/frc/robot/commands/Autos.java @@ -0,0 +1,20 @@ +// 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 frc.robot.commands; + +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; + +public final class Autos { + /** Example static factory for an autonomous command. */ + public static Command exampleAuto(ExampleSubsystem subsystem) { + return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem)); + } + + private Autos() { + throw new UnsupportedOperationException("This is a utility class!"); + } +} diff --git a/src/main/java/frc/robot/commands/DriveUsingController.java b/src/main/java/frc/robot/commands/DriveUsingController.java new file mode 100644 index 0000000..df4cd91 --- /dev/null +++ b/src/main/java/frc/robot/commands/DriveUsingController.java @@ -0,0 +1,62 @@ +// 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 frc.robot.commands; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.subsystems.SwerveSubsystem; + +public class DriveUsingController extends Command { + private final double DEADBAND = 0.05; + + private final SwerveSubsystem m_driveTrain; + private final CommandXboxController m_xboxController; + /** Creates a new DriveUsingController. */ + public DriveUsingController(SwerveSubsystem driveTrain, CommandXboxController xboxController) { + // Use addRequirements() here to declare subsystem dependencies. + m_driveTrain = driveTrain; + m_xboxController = xboxController; + addRequirements(driveTrain); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() {} + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + double xSpeed = -m_xboxController.getLeftY(); + double ySpeed = -m_xboxController.getLeftX(); + double rSpeed = -m_xboxController.getRightX(); + double inputScalar = Math.max(1.0-m_xboxController.getRightTriggerAxis(), 0.15); + + // Applies deadbands to x, y, and rotation joystick values and multiples all + // values with inputSalar whihc allows finer driving control. + xSpeed = MathUtil.applyDeadband(xSpeed, DEADBAND) * inputScalar; + ySpeed = MathUtil.applyDeadband(ySpeed, DEADBAND) * inputScalar; + rSpeed = MathUtil.applyDeadband(rSpeed, DEADBAND) * inputScalar; + + m_driveTrain.drive( + xSpeed, + ySpeed, + rSpeed, + true); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + m_driveTrain.stopMotors(); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java new file mode 100644 index 0000000..7481d3c --- /dev/null +++ b/src/main/java/frc/robot/commands/ExampleCommand.java @@ -0,0 +1,43 @@ +// 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 frc.robot.commands; + +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj2.command.Command; + +/** An example command that uses an example subsystem. */ +public class ExampleCommand extends Command { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private final ExampleSubsystem m_subsystem; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public ExampleCommand(ExampleSubsystem subsystem) { + m_subsystem = subsystem; + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(subsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() {} + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() {} + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/drive/SwerveDrive.java b/src/main/java/frc/robot/drive/SwerveDrive.java new file mode 100644 index 0000000..f01b137 --- /dev/null +++ b/src/main/java/frc/robot/drive/SwerveDrive.java @@ -0,0 +1,270 @@ +// 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 frc.robot.drive; + +import java.util.function.Supplier; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.util.datalog.DoubleLogEntry; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.drive.RobotDriveBase; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import frc.robot.parameters.SwerveDriveParameters; +import frc.robot.util.SwerveModuleVelocities; +import frc.robot.util.SwerveModuleVoltages; + +/** SwerveDrive implements swerve drive control. */ +public class SwerveDrive extends RobotDriveBase { + private static final Rotation2d ZERO_TILT = new Rotation2d(0); + + private static final ChassisSpeeds ZERO_SPEEDS = new ChassisSpeeds(); + + private final SwerveModule[] modules; + private final SwerveDriveKinematics kinematics; + private final Supplier orientationSupplier; + private final double maxDriveSpeed; + private final double maxRotationalSpeed; + + // The current supplied state updated by the periodic method. + private Rotation2d orientation; + + private DoubleLogEntry xSpeedLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveDrive/xSpeed"); + private DoubleLogEntry ySpeedLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveDrive/ySpeed"); + private DoubleLogEntry omegaSpeedLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveDrive/omegaSpeed"); + + /** + * constructs the swerve drive + * + * @param parameters A {@link SwerveDriveParameters} object providing + * information on the physical swerve drive + * characteristics. + * @param modules An array of four {@link SwerveModule} objects in + * the order: front left, front right, back left, + * back right. + * @param kinematics A {@link SwerveDriveKinematics} object used to + * convert chassis velocity into individual module + * states. + * @param orientationSupplier Supplies the robot orientation relative to the + * field. + */ + public SwerveDrive( + SwerveDriveParameters parameters, + SwerveModule[] modules, + Supplier orientationSupplier) { + this.modules = modules; + this.kinematics = parameters.getKinematics(); + this.orientationSupplier = orientationSupplier; + this.maxDriveSpeed = parameters.getMaxDriveSpeed(); + this.maxRotationalSpeed = parameters.getMaxRotationalSpeed(); + + initializeSuppliedState(); + } + + /** + * Initializes the supplied state. + */ + private void initializeSuppliedState() { + updateSuppliedState(); + } + + /** + * Updates the supplied state. + *

+ * This method **MUST* be called by the {@link #periodic()} method to ensure the + * supplied state is up to date for subsequent use. + */ + private void updateSuppliedState() { + orientation = orientationSupplier.get(); + } + + /** + * Sets the swerve module states. + * + * @param states An array of four {@link SwerveModuleState} objects in + * the + * order: front left, front right, back left, back right + * @param adjustForGravity If true, use the tilt angle to adjust feedforward for + * the effects of gravity. + * @param tilt The robot base tilt angle. + */ + public void setModuleStates(SwerveModuleState[] states, boolean adjustForGravity, Rotation2d tilt) { + SwerveDriveKinematics.desaturateWheelSpeeds(states, maxDriveSpeed); + + for (int i = 0; i < modules.length; ++i) { + modules[i].setState(states[i], adjustForGravity, tilt); + } + + // Reset the motor watchdog timer. + feedWatchdog(); + } + + @Override + public void stopMotor() { + setChassisSpeeds(ZERO_SPEEDS, false, ZERO_TILT); + + for (SwerveModule module : modules) { + module.stopMotors(); + } + } + + @Override + public String getDescription() { + return "SwerveDrive"; + } + + /** + * Returns the orientation of the robot frame relative to the field. + * + * @return The orientation of the robot frame. + */ + public Rotation2d getOrientation() { + return orientation; + } + + /** + * Drives the robot based on joystick inputs. + * + * @param xSpeed Speed of the robot in the x direction. + * @param ySpeed Speed of the robot in the y direction. + * @param rSpeed Rotation speed of the robot. + * @param fieldRelative Whether the x and y values are relative to field. + */ + public void drive(double xSpeed, double ySpeed, double rSpeed, boolean fieldRelative) { + // multiples all values with max speed. + xSpeed *= m_maxOutput * maxDriveSpeed; + ySpeed *= m_maxOutput * maxDriveSpeed; + rSpeed *= m_maxOutput * maxRotationalSpeed; + + ChassisSpeeds speeds = fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rSpeed, orientation) + : new ChassisSpeeds(xSpeed, ySpeed, rSpeed); + + setChassisSpeeds(speeds, false, ZERO_TILT); + } + + /** + * Returns the current module state describing the wheel velocity and angle. + * + * @return The current module state. + */ + public SwerveModuleState[] getModuleStates() { + SwerveModuleState[] moduleStates = new SwerveModuleState[4]; + + for (int i = 0; i < modules.length; i++) { + moduleStates[i] = modules[i].getState(); + } + + return moduleStates; + } + + /** + * Sets the current module's states based on the chassis speed. + * + * @param speeds The chassis speeds. + * @param adjustForGravity If true, use the tilt angle to adjust feedforward for + * the effects of gravity. + * @param tilt The robot base tilt angle. + */ + public void setChassisSpeeds(ChassisSpeeds speeds, boolean adjustForGravity, Rotation2d tilt) { + xSpeedLog.append(speeds.vxMetersPerSecond); + ySpeedLog.append(speeds.vyMetersPerSecond); + omegaSpeedLog.append(Math.toDegrees(speeds.omegaRadiansPerSecond)); + + SwerveModuleState[] states = kinematics.toSwerveModuleStates(speeds); + + setModuleStates(states, adjustForGravity, tilt); + } + + /** + * Returns the current chassis speed. + * + * @return The chassis speed. + */ + public ChassisSpeeds getChassisSpeeds() { + return kinematics.toChassisSpeeds(getModuleStates()); + } + + /** + * Returns the swerve module positions. + * + * @return Swerve module positions. + */ + public SwerveModulePosition[] getModulesPositions() { + SwerveModulePosition[] modulePosition = new SwerveModulePosition[4]; + + for (int i = 0; i < modules.length; i++) { + modulePosition[i] = modules[i].getPosition(); + } + + return modulePosition; + } + + /** + * Returns the swerve module velocities. + * + * @return The swerve module velocities. + */ + public SwerveModuleVelocities[] getModuleVelocities() { + SwerveModuleVelocities[] velocities = new SwerveModuleVelocities[4]; + + for (int i = 0; i < modules.length; i++) { + velocities[i] = modules[i].getVelocities(); + } + + return velocities; + } + + /** + * Sets the module motor voltages. + * + * @param moduleVoltages The module motor voltages. + */ + public void setModuleVoltages(SwerveModuleVoltages[] moduleVoltages) { + for (int i = 0; i < modules.length; i++) { + modules[i].setMotorVoltages(moduleVoltages[i]); + } + + feedWatchdog(); + } + + /** + * This method is called periodically by the SwerveSubsystem. It is used + * to update drive-specific state. + */ + public void periodic() { + updateSuppliedState(); + + for (SwerveModule module : modules) { + module.periodic(); + } + } + + /** + * This method is called periodically by the SwerveSubsystem. It is used + * to update module-specific simulation state. + */ + public void simulationPeriodic() { + for (SwerveModule module : modules) { + module.simulationPeriodic(); + } + } + + /** + * Adds the SwerveModule layouts to the shuffleboard tab. + * + * @param tab The suffleboard tab to add layouts + */ + public void addShuffleboardLayouts(ShuffleboardTab tab) { + for (int i = 0; i < modules.length; i++) { + modules[i].addShuffleboardLayout(tab) + .withSize(3, 2) + .withPosition((i * 3) % 6, ((i / 2) * 2) % 4); + } + } +} diff --git a/src/main/java/frc/robot/drive/SwerveModule.java b/src/main/java/frc/robot/drive/SwerveModule.java new file mode 100644 index 0000000..dadf6cb --- /dev/null +++ b/src/main/java/frc/robot/drive/SwerveModule.java @@ -0,0 +1,330 @@ +// 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 frc.robot.drive; + +import java.util.Map; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.util.datalog.DoubleLogEntry; +import edu.wpi.first.util.sendable.Sendable; +import edu.wpi.first.util.sendable.SendableBuilder; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.motorcontrol.MotorController; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import edu.wpi.first.wpilibj.simulation.FlywheelSim; +import frc.robot.Robot; +import frc.robot.parameters.SwerveDriveParameters; +import frc.robot.util.SwerveModuleVelocities; +import frc.robot.util.SwerveModuleVoltages; + +/** + * Manages the drive and steering motors of a single swerve drive module. + * + * This class uses a combination feedback (i.e. PID) and feedforward control to + * achieve desired translational (i.e. drive) and rotational (i.e. steering) + * velocities. For more information, see the + * Introduction to PID and + * Introduction to DC Motor Feedforward articles of the WPILib + * documentation. + */ +public class SwerveModule { + private final MotorController driveMotor; + private final DoubleSupplier positionSupplier; + private final DoubleSupplier velocitySupplier; + private final MotorController steeringMotor; + private final Supplier wheelAngleSupplier; + private final DoubleSupplier wheelAngleVelocitySupplier; + private final String name; + private final double wheelDiameter; + + // models motors mathematically, calculates voltage needed + private final SimpleMotorFeedforward driveFeedForward; + private final SimpleMotorFeedforward steeringFeedForward; + + private final PIDController drivePID; + private final ProfiledPIDController steeringPID; + + // The last motor voltages applied. + private double driveVoltage; + private double steeringVoltage; + + // The current supplied state updated by the periodic method. + private SwerveModuleState state; + private SwerveModulePosition position; + private SwerveModuleVelocities velocities; + + private DoubleLogEntry driveSpeedLog; + private DoubleLogEntry positionLog; + private DoubleLogEntry wheelAngleLog; + private DoubleLogEntry wheelAngleVelocityLog; + + // Simulation support. + private double simVelocity; + private double simPosition; + private Rotation2d simWheelAngle = new Rotation2d(); + private double simWheelAngleVelocity; + private FlywheelSim simDriveMotor; + private FlywheelSim simSteeringMotor; + + /** + * Constructs the swerve module. + * + * @param parameters A {@link SwerveDriveParameters} object providing + * information on the physical swerve drive + * characteristics. + * @param driveMotor The drive motor controller. + * @param position Supplies the position in meters. + * @param velocity Supplies velocity in meters per second. + * @param steeringMotor The steering motor controller. + * @param wheelAngle Supplies the wheel angle. + * @param wheelAngleVelocity Supplies the wheel angle velocity in radians per + * second. + * @param name The name of the module. + */ + public SwerveModule( + SwerveDriveParameters parameters, + MotorController driveMotor, + DoubleSupplier position, + DoubleSupplier velocity, + MotorController steeringMotor, + Supplier wheelAngle, + DoubleSupplier wheelAngleVelocity, + String name) { + boolean realRobot = Robot.isReal(); + + this.driveMotor = driveMotor; + this.steeringMotor = steeringMotor; + this.wheelAngleSupplier = realRobot ? wheelAngle : () -> this.simWheelAngle; + this.wheelAngleVelocitySupplier = realRobot ? wheelAngleVelocity : () -> this.simWheelAngleVelocity; + this.positionSupplier = realRobot ? position : () -> this.simPosition; + this.velocitySupplier = realRobot ? velocity : () -> this.simVelocity; + this.name = name; + this.wheelDiameter = parameters.getSwerveModule().getWheelDiameter(); + + this.driveSpeedLog = new DoubleLogEntry(DataLogManager.getLog(), String.format("/SwerveModule/%s/driveSpeed", name)); + this.positionLog = new DoubleLogEntry(DataLogManager.getLog(), String.format("/SwerveModule/%s/position", name)); + this.wheelAngleLog = new DoubleLogEntry(DataLogManager.getLog(), String.format("/SwerveModule/%s/wheelAngle", name)); + this.wheelAngleVelocityLog = new DoubleLogEntry(DataLogManager.getLog(), String.format("/SwerveModule/%s/wheelAngleVelocity", name)); + initializeSuppliedState(); + + this.driveFeedForward = new SimpleMotorFeedforward( + parameters.getDriveKs(), parameters.getDriveKv(), parameters.getDriveKa()); + this.steeringFeedForward = new SimpleMotorFeedforward( + parameters.getSteeringKs(), parameters.getSteeringKv(), parameters.getSteeringKa()); + + this.drivePID = new PIDController(4.0, 0, 0.0); + + this.steeringPID = new ProfiledPIDController(7.0, 0, 0.0, parameters.getSteeringConstraints()); + this.steeringPID.enableContinuousInput(-Math.PI, Math.PI); + this.steeringPID.setTolerance(Math.toRadians(1.0)); + this.steeringPID.reset(getPosition().angle.getRadians()); + + this.simDriveMotor = new FlywheelSim( + LinearSystemId.identifyVelocitySystem(parameters.getDriveKv(), parameters.getDriveKa()), + DCMotor.getFalcon500(1), + parameters.getSwerveModule().getDriveGearRation()); + this.simSteeringMotor = new FlywheelSim( + LinearSystemId.identifyVelocitySystem(parameters.getSteeringKv(), parameters.getSteeringKa()), + DCMotor.getFalcon500(1), + parameters.getSwerveModule().getSteeringGearRatio()); + } + + /** + * Initializes the supplied state. + */ + private void initializeSuppliedState() { + updateSuppliedState(); + } + + /** + * Updates the supplied state. + *

+ * This method **MUST* be called by the {@link #periodic()} method to ensure the + * supplied state is up to date for subsequent use. + */ + private void updateSuppliedState() { + Rotation2d wheelAngle = wheelAngleSupplier.get(); + double velocity = velocitySupplier.getAsDouble(); + double wheelAngleVelocity = wheelAngleVelocitySupplier.getAsDouble(); + double position = positionSupplier.getAsDouble(); + + this.position = new SwerveModulePosition(position, wheelAngle); + this.state = new SwerveModuleState(velocity, wheelAngle); + this.velocities = new SwerveModuleVelocities(velocity, wheelAngleVelocity); + + driveSpeedLog.append(velocity); + positionLog.append(position); + wheelAngleLog.append(wheelAngle.getDegrees()); + wheelAngleVelocityLog.append(wheelAngleVelocity); + } + + /** + * Sets the desired state for the module. + * + * @param newState The desired state w/ speed and angle + * @param adjustForGravity If true, use the tilt angle to adjust feedforward for + * the effects of gravity. + * @param tilt The robot base tilt angle. + */ + public void setState(SwerveModuleState newState, boolean adjustForGravity, Rotation2d tilt) { + // Optimize the state to avoid spinning further than 90 degrees + Rotation2d currentAngle = getWheelRotation2d(); + newState = SwerveModuleState.optimize(newState, currentAngle); + + // Adjust for the effects of gravity on the drivetrain, if needed. + double acceleration = 0.0; + + if (adjustForGravity) { + acceleration = 9.81 * Math.cos(Math.PI / 2 - tilt.getRadians()); + } + + // Calculate the drive motor voltage using PID and FeedForward + double driveOutput = drivePID.calculate(state.speedMetersPerSecond, newState.speedMetersPerSecond); + double driveFeedForward = this.driveFeedForward.calculate(newState.speedMetersPerSecond, acceleration); + + // Calculate the steering motor voltage using PID and FeedForward + double steeringOutput = steeringPID.calculate(currentAngle.getRadians(), newState.angle.getRadians()); + double steeringFeedForward = this.steeringFeedForward.calculate(steeringPID.getSetpoint().velocity); + + // Sets voltages of motors + driveVoltage = driveOutput + driveFeedForward; + steeringVoltage = steeringOutput + steeringFeedForward; + + setMotorVoltages(driveVoltage, steeringVoltage); + } + + /** + * Sets the drive and steering motor voltages. + * + * @param driveVoltage The drive motor voltage. + * @param steeringVoltage The steering motor voltage. + */ + public void setMotorVoltages(double driveVoltage, double steeringVoltage) { + this.driveMotor.setVoltage(driveVoltage); + this.steeringMotor.setVoltage(steeringVoltage); + } + + /** + * Sets the drive and steering motor voltages. + * + * @param moduleVoltages The motor voltages. + */ + public void setMotorVoltages(SwerveModuleVoltages moduleVoltages) { + setMotorVoltages(moduleVoltages.driveVoltage, moduleVoltages.steeringVoltage); + } + + /** + * Returns the current module state describing the wheel velocity and angle. + * + * @return The current module state. + */ + public SwerveModuleState getState() { + return state; + } + + /** + * Returns the current module velocities. + * + * @return The current module velocities. + */ + public SwerveModuleVelocities getVelocities() { + return velocities; + } + + /** + * Stops the drive and steering motors. + */ + public void stopMotors() { + driveMotor.stopMotor(); + steeringMotor.stopMotor(); + } + + /** + * The position of the wheel on its axis of travel. + * + * @return The position of the swerve module. + */ + public SwerveModulePosition getPosition() { + return position; + } + + /** + * Returns the current wheel orientation. + * + * @return The current wheel orientation. + */ + public Rotation2d getWheelRotation2d() { + return position.angle; + } + + /** + * This method is called periodically by the {@link SwerveSubsystem}. It is used + * to update module-specific state. + */ + public void periodic() { + updateSuppliedState(); + } + + /** + * This method is called periodically by the {@link SwerveSubsystem}. It is used + * to update module-specific simulation state. + */ + public void simulationPeriodic() { + simDriveMotor.setInputVoltage(driveVoltage); + simSteeringMotor.setInputVoltage(steeringVoltage); + + simDriveMotor.update(Robot.kDefaultPeriod); + simSteeringMotor.update(Robot.kDefaultPeriod); + + simVelocity = (simDriveMotor.getAngularVelocityRadPerSec() * wheelDiameter) / 2; + simPosition += simVelocity * Robot.kDefaultPeriod; + + simWheelAngleVelocity = simSteeringMotor.getAngularVelocityRadPerSec(); + simWheelAngle = new Rotation2d(simWheelAngle.getRadians() + (simWheelAngleVelocity * Robot.kDefaultPeriod)); + } + + /** + * Adds the SwerveModule layout to the Shuffleboard tab. + * + * @param tab The Shuffleboard tab to add the layout. + * @return The SwerveModule layout. + */ + public ShuffleboardLayout addShuffleboardLayout(ShuffleboardTab tab) { + ShuffleboardLayout moduleLayout = tab.getLayout(name, BuiltInLayouts.kGrid) + .withProperties(Map.of("Number of columns", 2, "Number of rows", 1)); + + moduleLayout.add("Rotation", new Sendable() { + + @Override + public void initSendable(SendableBuilder builder) { + builder.setSmartDashboardType("Gyro"); + builder.addDoubleProperty("Value", () -> -getPosition().angle.getDegrees(), null); + } + }).withWidget(BuiltInWidgets.kGyro).withPosition(0, 0); + + ShuffleboardLayout translationLayout = moduleLayout.getLayout("Translation", BuiltInLayouts.kList) + .withPosition(1, 0); + translationLayout.addDouble("Position", () -> getPosition().distanceMeters) + .withPosition(0, 0); + translationLayout.addDouble("Velocity", () -> getState().speedMetersPerSecond) + .withPosition(0, 1); + + return moduleLayout; + } +} diff --git a/src/main/java/frc/robot/parameters/CalculatedFeedforwardConstants.java b/src/main/java/frc/robot/parameters/CalculatedFeedforwardConstants.java new file mode 100644 index 0000000..ade11c1 --- /dev/null +++ b/src/main/java/frc/robot/parameters/CalculatedFeedforwardConstants.java @@ -0,0 +1,29 @@ +// 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 frc.robot.parameters; + +import java.util.function.DoubleSupplier; + +import frc.robot.Constants.RobotConstants; + +/** + * A class to hold the feedforward constants calculated from maximum velocity + * and acceleration. + */ +public class CalculatedFeedforwardConstants extends FeedforwardConstants { + + /** + * Constructs an instance of this class. + * + * @param kS The constant describing the voltage needed to overcome + * the motor's static friction. + * @param maxSpeed Supplies the maximum speed. + * @param maxAcceleration Supplies the maximum acceleration. + */ + public CalculatedFeedforwardConstants(double kS, DoubleSupplier maxSpeed, DoubleSupplier maxAcceleration) { + super(kS, (RobotConstants.MAX_BATTERY_VOLTAGE - kS) / maxSpeed.getAsDouble(), + (RobotConstants.MAX_BATTERY_VOLTAGE - kS) / maxAcceleration.getAsDouble()); + } +} diff --git a/src/main/java/frc/robot/parameters/FeedforwardConstants.java b/src/main/java/frc/robot/parameters/FeedforwardConstants.java new file mode 100644 index 0000000..8ab93f4 --- /dev/null +++ b/src/main/java/frc/robot/parameters/FeedforwardConstants.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 frc.robot.parameters; + +/** + * A class to hold feedforward constants. + */ +public class FeedforwardConstants { + public final double kS; + public final double kV; + public final double kA; + + /** + * Constructs an instance of this class. + * + * @param kS The constant describing the voltage needed to overcome the motor's + * static friction. + * @param kV The constant describing the voltage needed to maintain a constant + * velocity. + * @param kA The constant describing the voltage needed to maintain a constant + * acceleration. + */ + public FeedforwardConstants(double kS, double kV, double kA) { + this.kS = kS; + this.kV = kV; + this.kA = kA; + } +} diff --git a/src/main/java/frc/robot/parameters/MotorParameters.java b/src/main/java/frc/robot/parameters/MotorParameters.java new file mode 100644 index 0000000..07e6c03 --- /dev/null +++ b/src/main/java/frc/robot/parameters/MotorParameters.java @@ -0,0 +1,69 @@ +// 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 frc.robot.parameters; + +/** A enum representing the properties on a specific motor type. */ +public enum MotorParameters { + /** + * A VEX PRO Falcon 500 + * motor with integrated Talon FX motor controller and encoders. + */ + Falcon500(6380.0, 4.69, 2048), + + /** + * A REV Robotics + * NEO Brushless Motor V1.1 with integrated encoder. + */ + NeoV1_1(5676.0, 3.75, 42), + + /** + * A REV Robotics + * NEO 550 Brushless Motor with integrated encoder. + */ + Neo550(11000.0, 0.97, 42); + + private double freeSpeedRPM; + private double stallTorque; + private int pulsesPerRevolution; + + /** + * Constructs an instance of this class., + * + * @param freeSpeedRPM The free speed RPM. + * @param stallTorque The stall torque in Nm. + */ + MotorParameters(double freeSpeedRPM, double stallTorque, int pulsesPerRevolution) { + this.freeSpeedRPM = freeSpeedRPM; + this.stallTorque = stallTorque; + this.pulsesPerRevolution = pulsesPerRevolution; + } + + /** + * Returns the free speed RPM of the motor. + * + * @return The free speed RPM. + */ + public double getFreeSpeedRPM() { + return this.freeSpeedRPM; + } + + /** + * Returns the stall torque of the motor in Nm. + * + * @return The stall torque in Nm. + */ + public double getStallTorque() { + return this.stallTorque; + } + + /** + * Returns the number of pulses per revolution of the integrated encoder. + * + * @return The number of pulses per revolution of the integrated encoder. + */ + public int getPulsesPerRevolution() { + return this.pulsesPerRevolution; + } +} diff --git a/src/main/java/frc/robot/parameters/SwerveAngleEncoder.java b/src/main/java/frc/robot/parameters/SwerveAngleEncoder.java new file mode 100644 index 0000000..f70639b --- /dev/null +++ b/src/main/java/frc/robot/parameters/SwerveAngleEncoder.java @@ -0,0 +1,20 @@ +// 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 frc.robot.parameters; + +/** An enum representing a swerve module angle encoder. */ +public enum SwerveAngleEncoder { + FrontLeft, + FrontRight, + BackLeft, + BackRight; + + /** + * Returns the index of the CANcoder ids. + */ + public int getIndex() { + return this.ordinal(); + } +} diff --git a/src/main/java/frc/robot/parameters/SwerveDriveParameters.java b/src/main/java/frc/robot/parameters/SwerveDriveParameters.java new file mode 100644 index 0000000..2ddf45c --- /dev/null +++ b/src/main/java/frc/robot/parameters/SwerveDriveParameters.java @@ -0,0 +1,507 @@ +// 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 frc.robot.parameters; + +import static frc.robot.parameters.MotorParameters.Falcon500; +import static frc.robot.parameters.MotorParameters.NeoV1_1; +import static frc.robot.parameters.SwerveModuleParameters.MK4Standard; +import static frc.robot.parameters.SwerveModuleParameters.MK4Fast; + + +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint; +import edu.wpi.first.math.util.Units; + +/** + * An enum representing the properties for the swerve drive base of a specific + * robot instance. + */ +public enum SwerveDriveParameters { + + + + /** + * The 2022 competition robot using feedforward constants calculated from + * theoretical maximums. + */ + RookieBase2023( + 67.5853, + Units.inchesToMeters(22.729), + Units.inchesToMeters(19.39), + MK4Standard, + Falcon500, + NeoV1_1, + new int[] { 2, 3, 4, 5, 6, 7, 8, 9 }, // drive, steer motor controller CAN IDs + new int[] { 12, 14, 16, 18 }, // CANCoder CAN IDs + 0.15, + 0.15); + + public static class Constants { + /** + * A scaling factor used to adjust from theoretical maximums given that any + * physical system generally cannot achieve them. + */ + public static final double SCALE_FACTOR = 0.8; + } + + private final double robotMass; + private final double wheelDistanceX; + private final double wheelDistanceY; + private final SwerveModuleParameters swerveModule; + private final MotorParameters driveMotor; + private final MotorParameters steeringMotor; + private final int[] motorIds; + private final int[] angleEncoderIds; + + private final double maxDriveSpeed; + private final double maxDriveAcceleration; + + private final FeedforwardConstants driveFeedforward; + + private final double maxSteeringSpeed; + private final double maxSteeringAcceleration; + + private final FeedforwardConstants steeringFeedforward; + + private final double maxRotationalSpeed; + private final double maxRotationalAcceleration; + + private final Translation2d[] wheelPositions; + private final SwerveDriveKinematics kinematics; + private final SwerveDriveKinematicsConstraint kinematicsConstraint; + private final TrapezoidProfile.Constraints steeringConstraints; + private final TrapezoidProfile.Constraints robotRotationalConstraints; + + /** + * Constructs an instance of this enum. + *

+ * NOTE: The distance between wheels are expressed in the NWU coordinate + * system relative to the robot frame as shown below. + *

+ * + * 

+   * 
+   *            ^
+   * +--------+ | x
+   * |O      O| |
+   * |        | |
+   * |        | |
+   * |O      O| |
+   * +--------+ |
+   *            |
+   * <----------+
+   *  y       (0,0)
+   * 
+   *
+ * + * @param robotMass The mass of the robot in Kg. + * @param wheelDistanceX The distance between the wheels along the X axis + * in meters. + * @param wheelDistanceY The distance between the wheels along the Y axis + * in meters. + * @param swerveModule The swerve module used by the robot. + * @param driveMotor The motor used by swerve module drive on the robot. + * @param steeringMotor The motor used by the swerve module steering on the robot. + * @param motorIds An array containing the CAN IDs of the swerve + * module drive motors in the order front left drive + * and steering, front right drive and steering, back + * left drive and steering, back right drive and + * steering. + * @param angleEncoderIds An array containing the CAN IDs of the swerve + * module angle encoders in the order front left, + * front right, back left, back right. + * @param driveFeedforward The drive feedforward constants. + * @param steeringFeedforward The steering feedforward constants. + */ + private SwerveDriveParameters( + double robotMass, + double wheelDistanceX, + double wheelDistanceY, + SwerveModuleParameters swerveModule, + MotorParameters driveMotor, + MotorParameters steeringMotor, + int[] motorIds, + int[] angleEncoderIds, + FeedforwardConstants driveFeedForward, + FeedforwardConstants steeringFeedForward + ) { + this.robotMass = robotMass; + this.wheelDistanceX = wheelDistanceX; + this.wheelDistanceY = wheelDistanceY; + this.swerveModule = swerveModule; + this.driveMotor = driveMotor; + this.steeringMotor = steeringMotor; + this.motorIds = motorIds; + this.angleEncoderIds = angleEncoderIds; + this.driveFeedforward = driveFeedForward; + this.steeringFeedforward = steeringFeedForward; + + + double scaleFactor = Constants.SCALE_FACTOR; + + this.maxDriveSpeed = scaleFactor * this.swerveModule.calculateMaxDriveSpeed(this.driveMotor); + this.maxDriveAcceleration = scaleFactor + * this.swerveModule.calculateMaxDriveAcceleration(this.driveMotor, this.robotMass); + + this.maxSteeringSpeed = scaleFactor * this.swerveModule.calculateMaxSteeringSpeed(this.steeringMotor); + this.maxSteeringAcceleration = scaleFactor + * this.swerveModule.calculateMaxSteeringAcceleration(this.steeringMotor, this.robotMass); + + final double wheelTrackRadius = Math.hypot(this.wheelDistanceX, this.wheelDistanceY); + + this.maxRotationalSpeed = this.maxDriveSpeed / wheelTrackRadius; + this.maxRotationalAcceleration = this.maxDriveAcceleration / wheelTrackRadius; + + this.wheelPositions = new Translation2d[] { + new Translation2d(this.wheelDistanceX / 2.0, this.wheelDistanceY / 2), + new Translation2d(this.wheelDistanceX / 2.0, -this.wheelDistanceY / 2), + new Translation2d(-this.wheelDistanceX / 2.0, this.wheelDistanceY / 2), + new Translation2d(-this.wheelDistanceX / 2.0, -this.wheelDistanceY / 2), + }; + + this.kinematics = new SwerveDriveKinematics(wheelPositions); + this.kinematicsConstraint = new SwerveDriveKinematicsConstraint(kinematics, this.maxDriveSpeed); + this.steeringConstraints = new TrapezoidProfile.Constraints( + this.maxSteeringSpeed, this.maxSteeringAcceleration); + this.robotRotationalConstraints = new TrapezoidProfile.Constraints( + this.maxRotationalSpeed, this.maxRotationalAcceleration); + } + + /** + * Constructs an instance of this enum. + *

+ * NOTE: The distance between wheels are expressed in the NWU coordinate + * system relative to the robot frame as shown below. + *

+ * + * 

+   * 
+   *            ^
+   * +--------+ | x
+   * |O      O| |
+   * |        | |
+   * |        | |
+   * |O      O| |
+   * +--------+ |
+   *            |
+   * <----------+
+   *  y       (0,0)
+   * 
+   *
+ * + * @param robotMass The mass of the robot in Kg. + * @param wheelDistanceX The distance between the wheels along the X axis in + * meters. + * @param wheelDistanceY The distance between the wheels along the Y axis in + * meters + * @param swerveModule The swerve module used by the robot. + * @param driveMotor The motor used by swerve module drive on the robot. + * @param steeringMotor The motor used by the swerve module steering on the robot. + * @param motorIds An array containing the CAN IDs of the swerve module + * drive motors in the order front left drive and + * steering, front right drive and steering, back left + * drive and steering, back right drive and steering. + * @param angleEncoderIds An array containing the CAN IDs of the swerve module + * angle encoders in the order front left, front right, + * back left, back right. + * @param driveKs The drive kS constant. + * @param steeringKs The steering kS constant. + */ + private SwerveDriveParameters( + double robotMass, + double wheelDistanceX, + double wheelDistanceY, + SwerveModuleParameters swerveModule, + MotorParameters driveMotor, + MotorParameters steeringMotor, + int[] motorIds, + int[] angleEncoderIds, + double drivekS, + double steeringkS) { + this( + robotMass, + wheelDistanceX, + wheelDistanceY, + swerveModule, + driveMotor, + steeringMotor, + motorIds, + angleEncoderIds, + + new CalculatedFeedforwardConstants( + drivekS, + () -> swerveModule.calculateMaxDriveSpeed(driveMotor), + () -> swerveModule.calculateMaxDriveAcceleration(driveMotor, robotMass)), + new CalculatedFeedforwardConstants( + steeringkS, + () -> swerveModule.calculateMaxSteeringSpeed(steeringMotor), + () -> swerveModule.calculateMaxSteeringAcceleration(steeringMotor, robotMass))); + } + + /** + * Returns the mass of the robot in Kg. + * + * @return The mass of the robot in Kg. + */ + public double getRobotMass() { + return this.robotMass; + } + + /** + * Returns the maximum rotational speed of the robot in rad/s. + * + * @return The maximum rotation speed of the robot in rad/s. + */ + public double getMaxRotationalSpeed() { + return this.maxRotationalSpeed; + } + + /** + * Returns the maximum rotational acceleration of the robot in rad/s^2. + * + * @return The maximum rotation acceleration of the robot in rad/s^s. + */ + public double getMaxRotationalAcceleration() { + return this.maxRotationalAcceleration; + } + + /** + * Returns a {@link TrapezoidProfile.Constraints} object used to enforce + * velocity and acceleration constraints on the {@link ProfilePIDController} + * used to reach the goal robot orientation. + * + * @return A {@link TrapezoidProfile.Constraints} object used to enforce + * velocity and acceleration constraints on the controller used to reach + * the goal robot orientation. + */ + public TrapezoidProfile.Constraints getRotationalConstraints() { + return this.robotRotationalConstraints; + } + + /** + * Returns the distance between the wheels along the X-axis in meters. + * + * @return The distance between the wheels along the X-axis in meters. + */ + public double getWheelDistanceX() { + return this.wheelDistanceX; + } + + /** + * Returns the distance between the wheels along the Y-axis in meters. + * + * @return The distance between the wheels along the Y-axis in meters. + */ + public double getWheelDistanceY() { + return this.wheelDistanceY; + } + + /** + * Returns the wheel positions relative to the robot center. + * + * @return The wheel positions relative to the robot center. + */ + public Translation2d[] getWheelPositions() { + return this.wheelPositions; + } + + /** + * Returns the swerve module used by the robot. + * + * @return The swerve module used by the robot. + */ + public SwerveModuleParameters getSwerveModule() { + return this.swerveModule; + } + + /** + * Returns the motor used by swerve module on the robot. + * + * @return The motor used by swerve module on the robot. + */ + public MotorParameters getMotorParameters() { + return this.driveMotor; + } + + /** + * Returns the CAN ids of the specified motor. + * + * @param motor The motor. + * @return The CAN id. + */ + public int getMotorId(SwerveMotors motor) { + return this.motorIds[motor.getIndex()]; + } + + /** + * Returns the CANcoder ids of the specified module. + * + * @param angleEncoder The angle encoder. + * @return The CANcoder id. + */ + public int getAngleEncoderId(SwerveAngleEncoder angleEncoder) { + return this.angleEncoderIds[angleEncoder.getIndex()]; + } + + /** + * Returns the maximum drive speed in m/s of a swerve module. + * + * @return The maximum drive speed. + */ + public double getMaxDriveSpeed() { + return this.maxDriveSpeed; + } + + /** + * Returns the maximum drive acceleration in m/s^2 of a swerve module. + * + * @return The maximum drive acceleration. + */ + public double getMaxDriveAcceleration() { + return this.maxDriveAcceleration; + } + + /** + * Returns the kS feedforward control constant for translation in Volts. + *

+ * This is the voltage needed to overcome the internal friction of the motor. + * + * @return The kS feedforward control constant for translation in Volts. + */ + public double getDriveKs() { + return this.driveFeedforward.kS; + } + + /** + * Returns the kV feedforward control constant for translation in Volt * seconds + * per meter. + *

+ * This is used to calculate the voltage needed to maintain a constant velocity. + * + * @return The kV feedforward control constant for translation in Volt * seconds + * per meter. + */ + public double getDriveKv() { + return this.driveFeedforward.kV; + } + + /** + * Returns the kA feedforward control constant for translation in Volt * + * seconds^2 per meter. + *

+ * This is used to calculate the voltage needed to maintain a constant + * acceleration. + * + * @return The kA feedforward control constant for translation in Volt * + * seconds^2 per meter. + */ + public double getDriveKa() { + return this.driveFeedforward.kA; + } + + /** + * Returns the pulses per meter of the integrated encoder. + * + * @return The pulses per meter of the integrated encoder. + */ + public double getDrivePulsesPerMeter() { + return this.swerveModule.calculateDrivePulsesPerMeter(this.driveMotor); + } + + /** + * Returns a {@link SwerveDriveKinematics} object used to convert chassis speeds + * to individual module states. + * + * @return A {@link SwerveDriveKinematics} object used to convert chassis speeds + * to individual module states. + */ + public SwerveDriveKinematics getKinematics() { + return this.kinematics; + } + + /** + * Returns a {@link SwerveDriveKinematicsConstraint} object used to enforce + * swerve drive kinematics constraints when following a trajectory. + * + * @return A {@link SwerveDriveKinematicsConstraint} object used to enforce + * swerve drive kinematics constraints when following a trajectory. + */ + public SwerveDriveKinematicsConstraint getKinematicsConstraint() { + return this.kinematicsConstraint; + } + + /** + * Returns the maximum steering speed in rad/s of a swerve module. + * + * @return The maximum steering speed. + */ + public double getMaxSteeringSpeed() { + return this.maxSteeringSpeed; + } + + /** + * Returns the maximum steering acceleration in rad/s^2 of a swerve module. + * + * @return The maximum steering acceleration. + */ + public double getMaxSteeringAcceleration() { + return this.maxSteeringAcceleration; + } + + /** + * Returns the kS feedforward control constant for rotation in Volts. + *

+ * This is the voltage needed to overcome the internal friction of the motor. + * + * @return The kS feedforward control constant for rotation in Volts. + */ + public double getSteeringKs() { + return this.steeringFeedforward.kS; + } + + /** + * Returns the kV feedforward control constant for rotation in Volt * seconds + * per radian. + *

+ * This is used to calculate the voltage needed to maintain a constant steering + * velocity. + * + * @return The kV feedforward control constant for translation in Volt * seconds + * per radian. + */ + public double getSteeringKv() { + return this.steeringFeedforward.kV; + } + + /** + * Returns the kA feedforward control constant for rotation in Volt * + * seconds^2 per radian. + *

+ * This is used to calculate the voltage needed to maintain a constant + * rotational acceleration. + * + * @return The kA feedforward control constant for translation in Volt * + * seconds^2 per radian. + */ + public double getSteeringKa() { + return this.steeringFeedforward.kA; + } + + /** + * Returns a {@link TrapezoidProfile.Constraints} object used to enforce + * velocity and acceleration constraints on the {@link ProfiledPIDController} + * used to reach the goal wheel angle. + * + * @return A {@link TrapezoidProfile.Constraints} object used to enforce + * velocity and acceleration constraints on the controller used to reach + * the goal wheel angle. + */ + public TrapezoidProfile.Constraints getSteeringConstraints() { + return steeringConstraints; + } +} diff --git a/src/main/java/frc/robot/parameters/SwerveModuleParameters.java b/src/main/java/frc/robot/parameters/SwerveModuleParameters.java new file mode 100644 index 0000000..32ceb17 --- /dev/null +++ b/src/main/java/frc/robot/parameters/SwerveModuleParameters.java @@ -0,0 +1,144 @@ +// 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 frc.robot.parameters; + +import edu.wpi.first.math.util.Units; +import frc.robot.Constants; + +/** + * A enum representing the properties on a specific swerve drive module. + *

+ * The parameters for the MK4 modules are taken from + * MK4 Swerve Module. + *

+ * The calculations for the theoretical maximum speeds and acceleration are + * taken from the + * FRC Drivetrain Characterization paper by Noah Gleason and Eli Barnett of + * FRC Team 449 - The Blair Robot Project. + */ +public enum SwerveModuleParameters { + + + /** An MK4 Swerve Module in the L1 - Standard configuration. */ + MK4Standard(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 8.14, 12.8), + + /** An MK4 Swerve Module in the L2 - Fast configuration. */ + MK4Fast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 6.75, 12.8), + + /** An MK4 Swerve Module in the L3 - Very Fast configuration. */ + MK4VeryFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 6.12, 12.8), + + /** An MK4 Swerve Module in the L4 - Too Fast configuration. */ + MK4TooFast(Units.inchesToMeters(Constants.RobotConstants.WHEEL_DIAMETER_INCHES), 5.14, 12.8); + + /** + * + */ + + private final double wheelDiameter; + private final double driveGearRatio; + private final double steeringGearRatio; + + /** + * Constructs an instance of this enum. + * + * @param wheelDiameter The wheel diameter in meters. + * @param driveGearRatio The drive gear ratio. + * @param steeringGearRatio The steering gear ratio. + */ + SwerveModuleParameters(double wheelDiameter, double driveGearRatio, double steeringGearRatio) { + this.wheelDiameter = wheelDiameter; + this.driveGearRatio = driveGearRatio; + this.steeringGearRatio = steeringGearRatio; + } + + /** + * Returns the wheel radius in meters. + * + * @return The wheel radius in meters. + */ + public double getWheelDiameter() { + return this.wheelDiameter; + } + + /** + * Returns the drive gear ratio. + * + * @return The drive gear ratio. + */ + public double getDriveGearRation() { + return this.driveGearRatio; + } + + /** + * Returns the steering gear ratio. + * + * @return The steering gear ratio. + */ + public double getSteeringGearRatio() { + return this.steeringGearRatio; + } + + /** + * Returns the pulses per meter of the integrated encoder on the specified + * motor. + * + * @param motor + * @return The pulses per meter of the integrated encoder on the specified + * motor. + */ + public double calculateDrivePulsesPerMeter(MotorParameters motor) { + return (motor.getPulsesPerRevolution() * this.driveGearRatio) / (this.wheelDiameter * Math.PI); + } + + /** + * Returns the theoretical maximum drive speed in m/s when using the specified + * motor. + * + * @param motor The motor parameters. + * @return The theoretical maximum drive speed. + */ + public double calculateMaxDriveSpeed(MotorParameters motor) { + return (motor.getFreeSpeedRPM() * this.wheelDiameter * Math.PI) / (60.0 * this.driveGearRatio); + } + + /** + * Returns the theoretical maximum drive acceleration in m/s^2 when using the + * specified motor. + * + * @param motor The motor parameters. + * @param robotMass the total robot mass in Kg including bumpers and battery. + * @return The theoretical maximum drive acceleration. + */ + public double calculateMaxDriveAcceleration(MotorParameters motor, double robotMass) { + return (2 * 4 * motor.getStallTorque() * this.driveGearRatio) / (this.wheelDiameter * robotMass); + } + + /** + * Returns the theoretical maximum steering speed in rad/s when using the + * specified motor. + * + * @param motor The motor parameters. + * @return The theoretical maximum drive speed. + */ + public double calculateMaxSteeringSpeed(MotorParameters motor) { + return (motor.getFreeSpeedRPM() * 2 * Math.PI) / (60.0 * this.steeringGearRatio); + } + + /** + * Returns the theoretical maximum drive acceleration in rad/s^2 when using the + * specified motor. + * + * @param motor The motor parameters. + * @param robotMass the total robot mass in Kg including bumpers and battery. + * @return The theoretical maximum drive acceleration. + */ + public double calculateMaxSteeringAcceleration(MotorParameters motor, double robotMass) { + return (2 * 4 * motor.getStallTorque() * this.steeringGearRatio * 2 * Math.PI) / robotMass; + } + +} diff --git a/src/main/java/frc/robot/parameters/SwerveMotors.java b/src/main/java/frc/robot/parameters/SwerveMotors.java new file mode 100644 index 0000000..aa22546 --- /dev/null +++ b/src/main/java/frc/robot/parameters/SwerveMotors.java @@ -0,0 +1,20 @@ +// 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 frc.robot.parameters; + +/** An enum representing a swerve module motor. */ +public enum SwerveMotors { + FrontLeftDrive, FrontLeftSteering, + FrontRightDrive, FrontRightSteering, + BackLeftDrive, BackLeftSteering, + BackRightDrive, BackRightSteering; + + /** + * Returns the index of the Talon CAN ids. + */ + public int getIndex() { + return this.ordinal(); + } +} diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java new file mode 100644 index 0000000..6b375da --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java @@ -0,0 +1,47 @@ +// 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 frc.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class ExampleSubsystem extends SubsystemBase { + /** Creates a new ExampleSubsystem. */ + public ExampleSubsystem() {} + + /** + * Example command factory method. + * + * @return a command + */ + public Command exampleMethodCommand() { + // Inline construction of command goes here. + // Subsystem::RunOnce implicitly requires `this` subsystem. + return runOnce( + () -> { + /* one-time action goes here */ + }); + } + + /** + * An example method querying a boolean state of the subsystem (for example, a digital sensor). + * + * @return value of some boolean subsystem state, such as a digital sensor. + */ + public boolean exampleCondition() { + // Query some boolean state, such as a digital sensor. + return false; + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + } + + @Override + public void simulationPeriodic() { + // This method will be called once per scheduler run during simulation + } +} diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java new file mode 100644 index 0000000..afdeaa8 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -0,0 +1,556 @@ +// 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 frc.robot.subsystems; + +import java.util.ArrayList; +import java.util.Map; + +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.CANcoderConfigurator; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.kauailabs.navx.frc.AHRS; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import edu.wpi.first.math.controller.HolonomicDriveController; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint; +import edu.wpi.first.util.datalog.DoubleLogEntry; +import edu.wpi.first.util.sendable.Sendable; +import edu.wpi.first.util.sendable.SendableBuilder; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.SPI; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts; +import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot; +import frc.robot.drive.SwerveDrive; +import frc.robot.drive.SwerveModule; +import frc.robot.parameters.SwerveAngleEncoder; +import frc.robot.parameters.SwerveDriveParameters; +import frc.robot.parameters.SwerveMotors; +import frc.robot.util.SwerveModuleVelocities; +import frc.robot.util.SwerveModuleVoltages; + +public class SwerveSubsystem extends SubsystemBase { + + public static SwerveDriveParameters PARAMETERS = SwerveDriveParameters.RookieBase2023; + + public static boolean ENABLE_DRIVE_TAB = true; + + public static boolean ENABLE_FIELD_TAB = false; + + public static final double DRIVE_KP = 1.0; + + private static final byte NAVX_UPDATE_FREQUENCY_HZ = 50; + + // 4 pairs of motors for drive & steering. + private final TalonFX frontLeftDriveMotor = new TalonFX( + PARAMETERS.getMotorId(SwerveMotors.FrontLeftDrive)); + private final CANSparkMax frontLeftSteeringMotor = new CANSparkMax( + PARAMETERS.getMotorId(SwerveMotors.FrontLeftSteering), MotorType.kBrushless); + + private final TalonFX frontRightDriveMotor = new TalonFX( + PARAMETERS.getMotorId(SwerveMotors.FrontRightDrive)); + private final CANSparkMax frontRightSteeringMotor = new CANSparkMax( + PARAMETERS.getMotorId(SwerveMotors.FrontRightSteering), MotorType.kBrushless); + + private final TalonFX backLeftDriveMotor = new TalonFX( + PARAMETERS.getMotorId(SwerveMotors.BackLeftDrive)); + private final CANSparkMax backLeftSteeringMotor = new CANSparkMax( + PARAMETERS.getMotorId(SwerveMotors.BackLeftSteering), MotorType.kBrushless); + + private final TalonFX backRightDriveMotor = new TalonFX( + PARAMETERS.getMotorId(SwerveMotors.BackRightDrive)); + private final CANSparkMax backRightSteeringMotor = new CANSparkMax( + PARAMETERS.getMotorId(SwerveMotors.BackRightSteering), MotorType.kBrushless); + + // 4 CANcoders for the steering angle. + private final CANcoder frontLeftAngle = new CANcoder( + PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.FrontLeft)); + private final CANcoder frontRightAngle = new CANcoder( + PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.FrontRight)); + private final CANcoder backLeftAngle = new CANcoder( + PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.BackLeft)); + private final CANcoder backRightAngle = new CANcoder( + PARAMETERS.getAngleEncoderId(SwerveAngleEncoder.BackRight)); + + private final SwerveModule frontLeftModule = createSwerveModule( + frontLeftDriveMotor, frontLeftSteeringMotor, frontLeftAngle, "Front Left"); + private final SwerveModule frontRightModule = createSwerveModule( + frontRightDriveMotor, frontRightSteeringMotor, frontRightAngle, "Front Right"); + private final SwerveModule backLeftModule = createSwerveModule( + backLeftDriveMotor, backLeftSteeringMotor, backLeftAngle, "Back Left"); + private final SwerveModule backRightModule = createSwerveModule( + backRightDriveMotor, backRightSteeringMotor, backRightAngle, "Back Right"); + + private final SwerveModule[] modules = { frontLeftModule, frontRightModule, backLeftModule, backRightModule }; + + private final AHRS ahrs = new AHRS(SPI.Port.kMXP, NAVX_UPDATE_FREQUENCY_HZ); + + private final SwerveDriveKinematics kinematics = PARAMETERS.getKinematics(); + + private final SwerveDrive drivetrain; + private final SwerveDrivePoseEstimator odometry; + private final Field2d field = new Field2d(); + + // The current sensor state updated by the periodic method. + private Rotation2d rawOrientation; + private Rotation2d rawOrientationOffset = new Rotation2d(); + private Rotation2d rawTilt; + private Rotation2d tiltOffset; + private double tiltVelocity; + private boolean wasNavXCalibrating; + + private DoubleLogEntry rawOrientationLog = new DoubleLogEntry(DataLogManager.getLog(), + "/SwerveSubsystem/rawOrientation"); + private DoubleLogEntry rawOrientationOffsetLog = new DoubleLogEntry(DataLogManager.getLog(), + "/SwerveSubsystem/rawOrientationOffset"); + private DoubleLogEntry rawTiltLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveSubsystem/rawTilt"); + private DoubleLogEntry tiltOffsetLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveSubsystem/tiltOffset"); + private DoubleLogEntry tiltVelocityLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveSubsystem/tiltVelocity"); + private DoubleLogEntry poseXLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveSubsystem/Pose X"); + private DoubleLogEntry poseYLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveSubsystem/Pose Y"); + private DoubleLogEntry poseAngleLog = new DoubleLogEntry(DataLogManager.getLog(), "/SwerveSubsystem/Pose Angle"); + + // Simulation support. + private final boolean isSimulation; + private Rotation2d simOrientation = new Rotation2d(); + + /** + * Creates a {@link SwerveModule} object and intiailizes its motor controllers. + * + * @param driveMotor The drive motor controller. + * @param steeringMotor The steering motor controller. + * @param wheelAngle An absolute encoder that measures the wheel angle. + * @param name The name of the module. + * + * @return An initialized {@link SwerveModule} object. + */ + private static SwerveModule createSwerveModule( + TalonFX driveMotor, + CANSparkMax steeringMotor, + CANcoder wheelAngle, + String name) { + + driveMotor.setNeutralMode(NeutralModeValue.Brake); + steeringMotor.setIdleMode(IdleMode.kBrake); + + CANcoderConfigurator wheelAngleConfigurator = wheelAngle.getConfigurator(); + CANcoderConfiguration wheelAngleConfig = new CANcoderConfiguration(); + + wheelAngleConfig.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; + wheelAngleConfigurator.apply(wheelAngleConfig); + + final double drivePulsesPerMeter = PARAMETERS.getDrivePulsesPerMeter(); + + return new SwerveModule( + PARAMETERS, + driveMotor, + () -> driveMotor.getPosition().getValueAsDouble() / drivePulsesPerMeter, + // The TalonFX reports the velocity in pulses per 100ms, so we need to + // multiply by 10 to convert to pulses per second. + () -> driveMotor.getVelocity().getValueAsDouble() / drivePulsesPerMeter, + steeringMotor, + () -> Rotation2d.fromDegrees(wheelAngle.getAbsolutePosition().getValueAsDouble()), + () -> Math.toRadians(wheelAngle.getVelocity().getValueAsDouble()), + name); + } + + /** Creates a new SwerveSubsystem. */ + public SwerveSubsystem() { + isSimulation = Robot.isSimulation(); + + initializeSensorState(); + + drivetrain = new SwerveDrive(PARAMETERS, modules, () -> getOrientation()); + odometry = new SwerveDrivePoseEstimator( + kinematics, getOrientation(), drivetrain.getModulesPositions(), new Pose2d()); + } + + /** + * Initializes the sensor state. + */ + private void initializeSensorState() { + ahrs.reset(); + wasNavXCalibrating = true; + + updateSensorState(); + tiltOffset = Rotation2d.fromDegrees(-3.5); // For 2022 robot + } + + /** + * Updates the sensor state. + *

+ * This method **MUST* be called by the {@link #periodic()} method to ensure the + * sensor state is up to date. + */ + private void updateSensorState() { + rawOrientation = !isSimulation ? Rotation2d.fromDegrees(-ahrs.getAngle()) : simOrientation; + rawTilt = Rotation2d.fromDegrees(ahrs.getRoll()); + + if (wasNavXCalibrating && !ahrs.isCalibrating()) { + tiltOffset = rawTilt; + System.out.println("Tilt offset: " + tiltOffset.getDegrees()); + wasNavXCalibrating = false; + tiltOffsetLog.append(tiltOffset.getDegrees()); + } + + tiltVelocity = ahrs.getRawGyroY(); + + rawOrientationLog.append(rawOrientation.getDegrees()); + rawTiltLog.append(rawTilt.getDegrees()); + tiltVelocityLog.append(tiltVelocity); + + } + + /** + * Returns the maximum drive speed in m/s of a swerve module. + * + * @return The maximum drive speed. + */ + public double getMaxSpeed() { + return PARAMETERS.getMaxDriveSpeed(); + } + + /** + * Returns the maximum drive acceleration in m/s^2 of a swerve module. + * + * @return The maximum drive acceleration. + */ + public double getMaxAcceleration() { + return PARAMETERS.getMaxDriveAcceleration(); + } + + /** + * Returns the swerve drive kinematics for this subsystem. + * + * @return The swerve drive kinematics. + */ + public SwerveDriveKinematics getKinematics() { + return kinematics; + } + + /** + * Returns a {@link SwerveDriveKinematicsConstraint} object used to enforce + * swerve drive kinematics constraints when following a trajectory. + * + * @return A {@link SwerveDriveKinematicsConstraint} object used to enforce + * swerve drive kinematics constraints when following a trajectory. + */ + public SwerveDriveKinematicsConstraint getKinematicsConstraint() { + return PARAMETERS.getKinematicsConstraint(); + } + + /** + * Returns the drive constraints. + * + * @return The drive constraints. + */ + public TrapezoidProfile.Constraints getDriveConstraints() { + return new TrapezoidProfile.Constraints(getMaxSpeed(), getMaxAcceleration()); + } + + /** + * Returns a {@link TrapezoidProfile.Constraints} object used to enforce + * velocity and acceleration constraints on the {@link ProfiledPIDController} + * used to reach the goal robot orientation. + * + * @return A {@link TrapezoidProfile.Constraints} object used to enforce + * velocity and acceleration constraints on the controller used to reach + * the goal robot orientation. + */ + public TrapezoidProfile.Constraints getRotationalConstraints() { + return PARAMETERS.getRotationalConstraints(); + } + + /** + * Creates a HolonomicDriveController for the subsystem. + * + * @return A HolonomicDriveController. + */ + public HolonomicDriveController createDriveController() { + ProfiledPIDController thetaController = new ProfiledPIDController( + 1.0, 0.0, 0.0, getRotationalConstraints()); + + thetaController.enableContinuousInput(-Math.PI, Math.PI); + + return new HolonomicDriveController( + new PIDController(DRIVE_KP, 0.0, 0.0), + new PIDController(DRIVE_KP, 0.0, 0.0), + thetaController); + } + + /** + * Drives the robot based on joystick inputs. + * + * @param xSpeed Speed of the robot in the x direction. + * @param ySpeed Speed of the robot in the y direction. + * @param rSpeed Rotation speed of the robot. + * @param fieldRelative Whether the x and y values are relative to field. + */ + public void drive(double xSpeed, double ySpeed, double rSpeed, boolean fieldRelative) { + drivetrain.drive(xSpeed, ySpeed, rSpeed, fieldRelative); + } + + /** + * Sets the current module's states based on the chassis speed. + * + * @param speeds The chassis speeds. + */ + + public void setChassisSpeeds(ChassisSpeeds speeds) { + setChassisSpeeds(speeds, false); + } + + /** + * Sets the current module's states based on the chassis speed. + * + * @param speeds The chassis speeds. + * @param adjustForGravity If true, use the tilt angle to adjust feedforward for + * the effects of gravity. + * @param tilt The robot base tilt angle. + */ + public void setChassisSpeeds(ChassisSpeeds speeds, boolean adjustForGravity) { + drivetrain.setChassisSpeeds(speeds, adjustForGravity, getTilt()); + } + + /** + * Returns the current chassis speed. + * + * @return The chassis speed. + */ + public ChassisSpeeds getChassisSpeeds() { + return drivetrain.getChassisSpeeds(); + } + + public SwerveModuleState[] getModuleStates() { + return drivetrain.getModuleStates(); + } + + public SwerveModulePosition[] getModulePositions() { + return drivetrain.getModulesPositions(); + } + + /** + * Returns the swerve module velocities. + * + * @return The swerve module velocities. + */ + public SwerveModuleVelocities[] getModuleVelocities() { + return drivetrain.getModuleVelocities(); + } + + /** + * Sets the swerve module states. + * + * @param states An array of four {@link SwerveModuleState} objects in the + * order: front left, front right, back left, back right + */ + + public void setModuleStates(SwerveModuleState[] states) { + setModuleStates(states, false); + } + + public void setModuleStates(SwerveModuleState[] states, boolean adjustForGravity) { + drivetrain.setModuleStates(states, adjustForGravity, getTilt()); + } + + /** + * Sets the module motor voltages. + * + * @param moduleVoltages The module motor voltages. + */ + public void setModuleVoltages(SwerveModuleVoltages[] moduleVoltages) { + drivetrain.setModuleVoltages(moduleVoltages); + } + + // Stops motors from the subsystem - may need to remove this (not sure - Om) + public void stopMotors() { + drivetrain.stopMotor(); + } + + /** + * Resets the robots position on the field. + * + * @param initialPosition Sets the initial position. + */ + public void resetPosition(Pose2d initialPosition) { + rawOrientationOffset = initialPosition.getRotation().minus(rawOrientation); + rawOrientationOffsetLog.append(rawOrientationOffset.getDegrees()); + odometry.resetPosition(getOrientation(), drivetrain.getModulesPositions(), initialPosition); + } + + /** + * Resets the orientation the robot. + */ + public void resetOrientation() { + Pose2d currentPos = odometry.getEstimatedPosition(); + Pose2d newPos2d = new Pose2d(currentPos.getTranslation(), new Rotation2d()); + resetPosition(newPos2d); + } + + /** + * Return current position & orientation of the robot on the field. + * + * @return The current position and orientation of the robot. + */ + public Pose2d getPosition() { + return odometry.getEstimatedPosition(); + } + + /** + * Returns the current position and orienation of the robot on the field in + * 3-dimensional space. + * + * @return The current position and orientation in 3-dimensional space. + */ + public Pose3d getPosition3d() { + Pose2d robotPose2d = getPosition(); + + return new Pose3d( + robotPose2d.getX(), + robotPose2d.getY(), + 0.0, + new Rotation3d(0.0, 0.0, robotPose2d.getRotation().getRadians())); + } + + /** + * Returns the field orientation of the robot as a {@link Rotation2d} object. + * + * @return Gets the field orientation of the robot. + */ + public Rotation2d getOrientation() { + return rawOrientation.plus(rawOrientationOffset); + } + + /** + * Returns the corrected tilt of the robot as a {@link Rotation2d} object. + * + * @return Gets the tilt of the robot (positive is nose up, negative is nose + * down). + */ + public Rotation2d getTilt() { + return rawTilt.minus(tiltOffset); + } + + /** + * Returns the tilt velocity of the robot in degrees per second per second. + * + * @return Gets the tilt velocity of the robot. + */ + public double getTiltVelocity() { + return tiltVelocity; + } + + @Override + public void periodic() { + // Read sensors to update subsystem state. + updateSensorState(); + + // Update the current module state. + drivetrain.periodic(); + + // Update odometry last since this relies on the subsystem sensor and module + // states. + odometry.update(getOrientation(), drivetrain.getModulesPositions()); + + // Send the robot and module location to the field + Pose2d robotPose = getPosition(); + + field.setRobotPose(robotPose); + + ArrayList modulePoses = new ArrayList(4); + + for (Translation2d wheelPosition : PARAMETERS.getWheelPositions()) { + modulePoses.add( + new Pose2d( + wheelPosition.rotateBy(robotPose.getRotation()) + .plus(robotPose.getTranslation()), + robotPose.getRotation())); + } + + field.getObject("Swerve Modules").setPoses(modulePoses); + + poseXLog.append(robotPose.getX()); + poseYLog.append(robotPose.getY()); + poseAngleLog.append(robotPose.getRotation().getDegrees()); + } + + @Override + public void simulationPeriodic() { + drivetrain.simulationPeriodic(); + + ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(getModuleStates()); + + simOrientation = new Rotation2d( + simOrientation.getRadians() + (chassisSpeeds.omegaRadiansPerSecond * Robot.kDefaultPeriod)); + } + + /** + * Adds a tab for swerve drive in Shuffleboard. + */ + public void addShuffleboardTab() { + if (ENABLE_DRIVE_TAB) { + ShuffleboardTab swerveDriveTab = Shuffleboard.getTab("Drive"); + + drivetrain.addShuffleboardLayouts(swerveDriveTab); + + ShuffleboardLayout odometryLayout = swerveDriveTab.getLayout("Odometry", BuiltInLayouts.kList) + .withPosition(6, 0) + .withSize(3, 4); + + odometryLayout.add("Orientation", new Sendable() { + @Override + public void initSendable(SendableBuilder builder) { + builder.setSmartDashboardType("Gyro"); + builder.addDoubleProperty("Value", () -> -getOrientation().getDegrees(), null); + } + }).withWidget(BuiltInWidgets.kGyro).withPosition(0, 0); + + ShuffleboardLayout positionLayout = odometryLayout.getLayout("Position", BuiltInLayouts.kGrid) + .withProperties(Map.of("Number of columns", 4, "Number of rows", 1)); + + positionLayout.addDouble("X", () -> odometry.getEstimatedPosition().getX()) + .withPosition(0, 0); + positionLayout.addDouble("Y", () -> odometry.getEstimatedPosition().getY()) + .withPosition(1, 0); + positionLayout.addDouble("Tilt", () -> getTilt().getDegrees()) + .withPosition(2, 0); + positionLayout.addDouble("Tilt Velocity", () -> getTiltVelocity()) + .withPosition(3, 0); + } + + if (ENABLE_FIELD_TAB) { + ShuffleboardTab fieldTab = Shuffleboard.getTab("Field"); + ShuffleboardLayout fieldLayout = fieldTab.getLayout("Field", BuiltInLayouts.kGrid) + .withPosition(0, 0) + .withSize(6, 4) + .withProperties(Map.of("Number of columns", 1, "Number of rows", 1)); + + fieldLayout.add(field); + } + } +} diff --git a/src/main/java/frc/robot/util/SwerveModuleVelocities.java b/src/main/java/frc/robot/util/SwerveModuleVelocities.java new file mode 100644 index 0000000..a83e10e --- /dev/null +++ b/src/main/java/frc/robot/util/SwerveModuleVelocities.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 frc.robot.util; + +/** Represents swerve module velocities. */ +public class SwerveModuleVelocities { + /** The translational velocity of the wheel in m/s. */ + public final double driveVelocity; + + /** The rotational velocity of the wheel in rad/s */ + public final double steeringVelocity; + + /** + * Creates a new SwerveModuleVelocities. + * + * @param driveVelocity The translational velocity of the wheel in m/s. + * @param steeringVelocity The rotational velocity of the wheel in rad/s. + */ + public SwerveModuleVelocities(double driveVelocity, double steeringVelocity) { + this.driveVelocity = driveVelocity; + this.steeringVelocity = steeringVelocity; + } +} diff --git a/src/main/java/frc/robot/util/SwerveModuleVoltages.java b/src/main/java/frc/robot/util/SwerveModuleVoltages.java new file mode 100644 index 0000000..cd84841 --- /dev/null +++ b/src/main/java/frc/robot/util/SwerveModuleVoltages.java @@ -0,0 +1,27 @@ +// 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 frc.robot.util; + +/** + * Represents motor voltages for one swerve module. + */ +public class SwerveModuleVoltages { + /** The drive motor voltage. */ + public final double driveVoltage; + + /** The steering motor voltage. */ + public final double steeringVoltage; + + /** + * Creates a new SwerveModuleVoltages. + * + * @param driveVoltage The drive motor voltage. + * @param steeringVoltage The steering motor voltage. + */ + public SwerveModuleVoltages(double driveVoltage, double steeringVoltage) { + this.driveVoltage = driveVoltage; + this.steeringVoltage = steeringVoltage; + } +} diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json new file mode 100644 index 0000000..2a29835 --- /dev/null +++ b/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.0.1-beta-4", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.0.1-beta-4" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.0.1-beta-4", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..7020206 --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.0.0-beta-8", + "frcYear": 2024, + "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-frc2024-beta-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "24.0.0-beta-8" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.0.0-beta-8", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + 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file diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..0f3520e --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.0", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.2.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + 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