Merge pull request #17 from Dreadbot/dev

MICMP post-comp
Dreadbot · Apr 7, 2024 · 0c52740 · 0c52740
2 parents 3e89099 + 77840a8
commit 0c52740
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Showing 75 changed files with 1,793 additions and 982 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -2,7 +2,9 @@
   "robotWidth": 0.889,
   "robotLength": 0.889,
   "holonomicMode": true,
-  "pathFolders": [],
+  "pathFolders": [
+    "Amp"
+  ],
   "autoFolders": [
     "AmpSide",
     "Middle",

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -25,5 +25,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }
diff --git a/build.gradle b/build.gradle
@@ -1,13 +1,34 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
 }
 
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -69,6 +90,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {

diff --git a/src/main/deploy/pathplanner/autos/1Note.auto b/src/main/deploy/pathplanner/autos/1Note.auto
@@ -2,7 +2,7 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.2521906186974767,
+      "x": 1.25,
       "y": 5.58399108429271
     },
     "rotation": 0

diff --git a/src/main/deploy/pathplanner/autos/Testing-1Note.auto b/src/main/deploy/pathplanner/autos/Testing-1Note.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.1493830537518626,
+      "y": 3.844868126880128
+    },
+    "rotation": -92.26561156794902
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot-Subwoofer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "DropArm"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/AmpNote-CenterNote.path b/src/main/deploy/pathplanner/paths/AmpNote-CenterNote.path
@@ -67,7 +67,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp",
   "previewStartingState": null,
   "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/AmpNote2.5-MidNote5.path b/src/main/deploy/pathplanner/paths/AmpNote2.5-MidNote5.path
@@ -79,7 +79,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/AmpSide-AmpNote2.5.path b/src/main/deploy/pathplanner/paths/AmpSide-AmpNote2.5.path
@@ -73,7 +73,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/AmpSide-Leave.path b/src/main/deploy/pathplanner/paths/AmpSide-Leave.path
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/Copy of SourceShoot-MidNote1.path b/src/main/deploy/pathplanner/paths/Copy of SourceShoot-MidNote1.path
@@ -0,0 +1,106 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7530787895299451,
+        "y": 4.4122565060118415
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.2433295124201498,
+        "y": 3.5951719678615004
+      },
+      "isLocked": false,
+      "linkedName": "Source-Shoot"
+    },
+    {
+      "anchor": {
+        "x": 3.3890982041223348,
+        "y": 1.6458974214244728
+      },
+      "prevControl": {
+        "x": 2.1875032950777156,
+        "y": 2.3284033297618185
+      },
+      "nextControl": {
+        "x": 4.599816092001534,
+        "y": 0.9582096611090867
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.737044210199532,
+        "y": 0.7905842246869678
+      },
+      "prevControl": {
+        "x": 6.862283116415048,
+        "y": 0.9059373359552514
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "MidNote1(2)"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.25,
+      "rotationDegrees": -19.02089391304225,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 1.75,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 1.75,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Intake"
+              }
+            },
+            {
+              "type": "wait",
+              "data": {
+                "waitTime": 1.75
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "StopIntake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -0.5216211727633948,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/MidNote1-SourceSideAmpThrow.path b/src/main/deploy/pathplanner/paths/MidNote1-SourceSideAmpThrow.path
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.737044210199532,
+        "y": 0.7905842246869678
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.101064084555094,
+        "y": 0.833914515918632
+      },
+      "isLocked": false,
+      "linkedName": "MidNote1(2)"
+    },
+    {
+      "anchor": {
+        "x": 5.619397289720505,
+        "y": 0.7905842246869678
+      },
+      "prevControl": {
+        "x": 6.673588768473833,
+        "y": 1.4050937685208704
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "SourceSideAmpThrow"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -64.05970164420361,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/MidNote2-SourceNote.path b/src/main/deploy/pathplanner/paths/MidNote2-SourceNote.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.14,
-        "y": 2.97
+        "x": 7.8,
+        "y": 2.43
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.97280707441977,
-        "y": 0.5094762414349199
+        "x": 5.63280707441977,
+        "y": -0.03052375856508016
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/MidNote2-SourceSideAmpThrow.path b/src/main/deploy/pathplanner/paths/MidNote2-SourceSideAmpThrow.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.687517638924167,
+        "y": 2.443251465206634
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.968016514736734,
+        "y": 2.234990451462385
+      },
+      "isLocked": false,
+      "linkedName": "MidNote2"
+    },
+    {
+      "anchor": {
+        "x": 5.619397289720505,
+        "y": 0.7905842246869678
+      },
+      "prevControl": {
+        "x": 6.946163063622423,
+        "y": 1.0561511632282525
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "SourceSideAmpThrow"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7,
+      "rotationDegrees": -65.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -61.76828960285159,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}