Merge branch 'master' into camera-skt

.github/CODEOWNERS

@@ -0,0 +1,5 @@
+# All PRs need to be approved by a member of the reviewers team
+# Note that for this to work, the repository's access settings (https://github.com/DeepBlueRobotics/RobotCode2024/settings/access)
+# need to be configured to allow the reviewers team (or a parent team like devs) to explicitly have write (or higher) access.
+# It isn't sufficient for all org members to have write access.
+* @DeepBlueRobotics/reviewers

.github/workflows/gradle.yml

@@ -0,0 +1,20 @@
+name: Java CI
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: 'recursive'
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
+      with:
+        distribution: 'temurin'
+        java-version: 17
+    - name: Build with Gradle
+      run: ./gradlew build

build.gradle

@@ -79,7 +79,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    implementation "com.github.deepbluerobotics:lib199:0e5932a4219f3439ef2be3981a9189baf777f61e"
+    implementation "com.github.deepbluerobotics:lib199:0ce129844b9b918dad0207c0e1020fc26588f461"
 }
 
 test {

simgui-ds.json

@@ -52,15 +52,15 @@
           "incKey": 75
         }
       ],
-      "axisCount": 2,
+      "axisCount": 5,
       "buttonCount": 4,
       "buttonKeys": [
         77,
         44,
         46,
         47
       ],
-      "povCount": 0
+      "povCount": 1
     },
     {
       "axisConfig": [
@@ -97,7 +97,8 @@
       "useGamepad": true
     },
     {
-      "guid": "Keyboard1"
+      "guid": "Keyboard1",
+      "name": "Manipulator"
     }
   ]
 }

simgui.json

@@ -6,6 +6,11 @@
       }
     },
     "Other Devices": {
+      "AbsoluteEncoder[13]": {
+        "header": {
+          "open": true
+        }
+      },
       "CANCoder (v6)[2]": {
         "header": {
           "open": true
@@ -63,6 +68,9 @@
   "NetworkTables": {
     "transitory": {
       "SmartDashboard": {
+        "Arm": {
+          "open": true
+        },
         "BL": {
           "open": true
         },

src/main/java/org/carlmontrobotics/Constants.java

@@ -374,7 +374,9 @@ public static final class Limelightc {
 		public static final class Apriltag {
 			public static final int RED_SPEAKER_CENTER_TAG_ID = 4;
 			public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7;
-			public static final double SPEAKER_CENTER_HEIGHT_METERS = Units.inchesToMeters(56.7); // 88.125
+			public static final double SPEAKER_CENTER_HEIGHT_METERS = Units.inchesToMeters(56.7); //88.125
+			public static final double HEIGHT_FROM_BOTTOM_TO_SUBWOOFER = Units.inchesToMeters(26);
+			public static final double HEIGHT_FROM_BOTTOM_TO_ARM_RESTING = Units.inchesToMeters(21.875);
 		}
 	}
 

src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java

@@ -5,6 +5,9 @@
 package org.carlmontrobotics.commands;
 
 import static org.carlmontrobotics.Constants.Limelightc.*;
+
+import org.carlmontrobotics.Constants.Limelightc;
+
 import static org.carlmontrobotics.Constants.Effectorc.*;
 
 import org.carlmontrobotics.subsystems.Drivetrain;
@@ -47,8 +50,8 @@ public void initialize() {
 
   @Override
   public void execute() {
-    double angleErrRad = Units.degreesToRadians(LimelightHelpers.getTX(INTAKE_LL_NAME));
-    double forwardDistErrMeters = ll.getDistanceToNoteMeters();
+    double angleErrRad = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME));
+    double forwardDistErrMeters = ll.getDistanceToNoteMeters(); 
     double strafeDistErrMeters = forwardDistErrMeters * Math.tan(angleErrRad);
     // dt.drive(0,0,0);
     dt.drive(Math.max(forwardDistErrMeters * 2, MIN_MOVEMENT_METERSPSEC),

src/main/java/org/carlmontrobotics/commands/MoveToNote.java

@@ -0,0 +1,59 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Limelightc;
+import org.carlmontrobotics.subsystems.Drivetrain;
+import org.carlmontrobotics.subsystems.Limelight;
+import org.carlmontrobotics.subsystems.LimelightHelpers;
+
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class MoveToNote extends Command {
+  private final Drivetrain dt;
+  private final Limelight ll;
+  private Timer timer = new Timer();
+  private boolean originalFieldOrientation;
+  /** Creates a new MoveToNote. */
+  public MoveToNote(Drivetrain dt, Limelight ll) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(this.dt=dt);
+    this.ll = ll;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    originalFieldOrientation = dt.getFieldOriented();
+    timer.reset();
+    timer.start();
+    dt.setFieldOriented(false);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME));
+    double distErr = ll.getDistanceToNoteMeters(); //meters
+    double forwardErr = distErr * Math.cos(radErr);
+    dt.drive(Math.max(forwardErr*2, .5), 0, 0);
+    //180deg is about 6.2 rad/sec, min is .5rad/sec
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    dt.setFieldOriented(originalFieldOrientation);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() >= 0.5;
+  }
+}

src/main/java/org/carlmontrobotics/subsystems/Arm.java

@@ -19,6 +19,7 @@
 import com.revrobotics.SparkAbsoluteEncoder;
 import com.revrobotics.SparkPIDController;
 
+import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -30,9 +31,11 @@
 import edu.wpi.first.units.Voltage;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -76,6 +79,9 @@ public class Arm extends SubsystemBase {
 
     private ShuffleboardTab sysIdTab = Shuffleboard.getTab("arm SysID");
     private boolean setPIDOff; 
+
+    private SimDouble rotationsSim;
+
     public Arm() {
         // weird math stuff
         armMotorMaster.setInverted(MOTOR_INVERTED_MASTER);
@@ -145,6 +151,9 @@ public Arm() {
         armMotorFollower.setSmartCurrentLimit(80);
 
         SmartDashboard.putBoolean("arm is at pos", false);
+        if (RobotBase.isSimulation()) {
+            rotationsSim = new SimDeviceSim("AbsoluteEncoder", ARM_MOTOR_PORT_MASTER).getDouble("rotations");
+        }
     }
 
     public void setBooleanDrive(boolean climb) {
@@ -430,4 +439,10 @@ public void setDefaultCommand(TeleopArm teleopArm, Object object) {
         // TODO Auto-generated method stub
         throw new UnsupportedOperationException("Unimplemented method 'setDefaultCommand'");
     }
+
+    @Override
+    public void simulationPeriodic() {
+        // Fake goaling to the goal instantaneously
+        rotationsSim.set((goalState.position + armMasterEncoder.getZeroOffset()) / armMasterEncoder.getPositionConversionFactor());
+    }
 }