From 97cfb9ed9b52a9f1912038533e85312dc8430e82 Mon Sep 17 00:00:00 2001 From: ColinH0 Date: Mon, 9 Sep 2024 17:26:34 -0400 Subject: [PATCH] AdvantageKit template --- .github/workflows/build.yml | 18 + .gitignore | 175 ++ .vscode/extensions.json | 6 + .vscode/launch.json | 17 + .vscode/settings.json | 41 + .wpilib/wpilib_preferences.json | 6 + AdvantageKit-License.md | 674 +++++++ README.md | 2 +- WPILib-License.md | 24 + build.gradle | 186 ++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 63721 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 +++ gradlew.bat | 92 + settings.gradle | 30 + .../pathplanner/autos/Example Auto.auto | 31 + src/main/deploy/pathplanner/navgrid.json | 1633 +++++++++++++++++ .../pathplanner/paths/Example Path.path | 65 + src/main/java/frc/robot/Constants.java | 37 + src/main/java/frc/robot/Main.java | 34 + src/main/java/frc/robot/Robot.java | 160 ++ src/main/java/frc/robot/RobotContainer.java | 178 ++ .../frc/robot/commands/DriveCommands.java | 77 + .../frc/robot/subsystems/drive/Drive.java | 280 +++ .../frc/robot/subsystems/drive/GyroIO.java | 28 + .../robot/subsystems/drive/GyroIOPigeon2.java | 44 + .../frc/robot/subsystems/drive/Module.java | 174 ++ .../frc/robot/subsystems/drive/ModuleIO.java | 48 + .../robot/subsystems/drive/ModuleIOSim.java | 67 + .../subsystems/drive/ModuleIOSparkMax.java | 153 ++ .../subsystems/drive/ModuleIOTalonFX.java | 193 ++ .../robot/subsystems/flywheel/Flywheel.java | 110 ++ .../robot/subsystems/flywheel/FlywheelIO.java | 41 + .../subsystems/flywheel/FlywheelIOSim.java | 68 + .../flywheel/FlywheelIOSparkMax.java | 89 + .../flywheel/FlywheelIOTalonFX.java | 98 + .../java/frc/robot/util/LocalADStarAK.java | 153 ++ vendordeps/AdvantageKit.json | 42 + vendordeps/PathplannerLib.json | 38 + vendordeps/Phoenix5.json | 151 ++ vendordeps/Phoenix6.json | 339 ++++ vendordeps/REVLib.json | 74 + vendordeps/WPILibNewCommands.json | 38 + 43 files changed, 5969 insertions(+), 1 deletion(-) create mode 100644 .github/workflows/build.yml create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 AdvantageKit-License.md 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/pathplanner/autos/Example Auto.auto create mode 100644 src/main/deploy/pathplanner/navgrid.json create mode 100644 src/main/deploy/pathplanner/paths/Example Path.path 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/DriveCommands.java create mode 100644 src/main/java/frc/robot/subsystems/drive/Drive.java create mode 100644 src/main/java/frc/robot/subsystems/drive/GyroIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java create mode 100644 src/main/java/frc/robot/subsystems/drive/Module.java create mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java create mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java create mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java create mode 100644 src/main/java/frc/robot/subsystems/flywheel/Flywheel.java create mode 100644 src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java create mode 100644 src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java create mode 100644 src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java create mode 100644 src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java create mode 100644 src/main/java/frc/robot/util/LocalADStarAK.java create mode 100644 vendordeps/AdvantageKit.json create mode 100644 vendordeps/PathplannerLib.json create mode 100644 vendordeps/Phoenix5.json create mode 100644 vendordeps/Phoenix6.json create mode 100644 vendordeps/REVLib.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..ba0370f --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,18 @@ +name: Build + +on: + push: + pull_request: + +jobs: + build: + name: Build + runs-on: ubuntu-latest + container: wpilib/roborio-cross-ubuntu:2024-22.04 + steps: + - name: Checkout repository + uses: actions/checkout@v2 + - name: Grant execute permission + run: chmod +x gradlew + - name: Build robot code + run: ./gradlew build diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..d1e3427 --- /dev/null +++ b/.gitignore @@ -0,0 +1,175 @@ +# 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 +simgui*.json + +# Version file +src/main/java/frc/robot/BuildConstants.java \ No newline at end of file diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..e7ca395 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,6 @@ +{ + "recommendations": [ + "mechanical-advantage.event-deploy-wpilib", + "richardwillis.vscode-spotless-gradle" + ] +} diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..b8c1920 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,17 @@ +{ + "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..6543015 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,41 @@ +{ + "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" + } + }, + null + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "spotlessGradle.format.enable": true, + "spotlessGradle.diagnostics.enable": false, + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", + "[json]": { + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" + }, + "[java]": { + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" + } +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..defd78d --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2024", + "teamNumber": 4861 +} diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/AdvantageKit-License.md @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. Our General Public Licenses are designed to make sure that you +have the freedom to distribute copies of free software (and charge for +them if you wish), that you receive source code or can get it if you +want it, that you can change the software or use pieces of it in new +free programs, and that you know you can do these things. + + To protect your rights, we need to prevent others from denying you +these rights or asking you to surrender the rights. Therefore, you have +certain responsibilities if you distribute copies of the software, or if +you modify it: responsibilities to respect the freedom of others. + + For example, if you distribute copies of such a program, whether +gratis or for a fee, you must pass on to the recipients the same +freedoms that you received. You must make sure that they, too, receive +or can get the source code. And you must show them these terms so they +know their rights. + + Developers that use the GNU GPL protect your rights with two steps: +(1) assert copyright on the software, and (2) offer you this License +giving you legal permission to copy, distribute and/or modify it. + + For the developers' and authors' protection, the GPL clearly explains +that there is no warranty for this free software. For both users' and +authors' sake, the GPL requires that modified versions be marked as +changed, so that their problems will not be attributed erroneously to +authors of previous versions. + + Some devices are designed to deny users access to install or run +modified versions of the software inside them, although the manufacturer +can do so. This is fundamentally incompatible with the aim of +protecting users' freedom to change the software. The systematic +pattern of such abuse occurs in the area of products for individuals to +use, which is precisely where it is most unacceptable. Therefore, we +have designed this version of the GPL to prohibit the practice for those +products. If such problems arise substantially in other domains, we +stand ready to extend this provision to those domains in future versions +of the GPL, as needed to protect the freedom of users. + + Finally, every program is threatened constantly by software patents. +States should not allow patents to restrict development and use of +software on general-purpose computers, but in those that do, we wish to +avoid the special danger that patents applied to a free program could +make it effectively proprietary. To prevent this, the GPL assures that +patents cannot be used to render the program non-free. + + The precise terms and conditions for copying, distribution and +modification follow. + + TERMS AND CONDITIONS + + 0. Definitions. + + "This License" refers to version 3 of the GNU General Public License. + + "Copyright" also means copyright-like laws that apply to other kinds of +works, such as semiconductor masks. + + "The Program" refers to any copyrightable work licensed under this +License. Each licensee is addressed as "you". "Licensees" and +"recipients" may be individuals or organizations. + + To "modify" a work means to copy from or adapt all or part of the work +in a fashion requiring copyright permission, other than the making of an +exact copy. The resulting work is called a "modified version" of the +earlier work or a work "based on" the earlier work. + + A "covered work" means either the unmodified Program or a work based +on the Program. + + To "propagate" a work means to do anything with it that, without +permission, would make you directly or secondarily liable for +infringement under applicable copyright law, except executing it on a +computer or modifying a private copy. Propagation includes copying, +distribution (with or without modification), making available to the +public, and in some countries other activities as well. + + To "convey" a work means any kind of propagation that enables other +parties to make or receive copies. Mere interaction with a user through +a computer network, with no transfer of a copy, is not conveying. + + An interactive user interface displays "Appropriate Legal Notices" +to the extent that it includes a convenient and prominently visible +feature that (1) displays an appropriate copyright notice, and (2) +tells the user that there is no warranty for the work (except to the +extent that warranties are provided), that licensees may convey the +work under this License, and how to view a copy of this License. If +the interface presents a list of user commands or options, such as a +menu, a prominent item in the list meets this criterion. + + 1. Source Code. + + The "source code" for a work means the preferred form of the work +for making modifications to it. "Object code" means any non-source +form of a work. + + A "Standard Interface" means an interface that either is an official +standard defined by a recognized standards body, or, in the case of +interfaces specified for a particular programming language, one that +is widely used among developers working in that language. + + The "System Libraries" of an executable work include anything, other +than the work as a whole, that (a) is included in the normal form of +packaging a Major Component, but which is not part of that Major +Component, and (b) serves only to enable use of the work with that +Major Component, or to implement a Standard Interface for which an +implementation is available to the public in source code form. A +"Major Component", in this context, means a major essential component +(kernel, window system, and so on) of the specific operating system +(if any) on which the executable work runs, or a compiler used to +produce the work, or an object code interpreter used to run it. + + The "Corresponding Source" for a work in object code form means all +the source code needed to generate, install, and (for an executable +work) run the object code and to modify the work, including scripts to +control those activities. However, it does not include the work's +System Libraries, or general-purpose tools or generally available free +programs which are used unmodified in performing those activities but +which are not part of the work. For example, Corresponding Source +includes interface definition files associated with source files for +the work, and the source code for shared libraries and dynamically +linked subprograms that the work is specifically designed to require, +such as by intimate data communication or control flow between those +subprograms and other parts of the work. + + The Corresponding Source need not include anything that users +can regenerate automatically from other parts of the Corresponding +Source. + + The Corresponding Source for a work in source code form is that +same work. + + 2. Basic Permissions. + + All rights granted under this License are granted for the term of +copyright on the Program, and are irrevocable provided the stated +conditions are met. This License explicitly affirms your unlimited +permission to run the unmodified Program. The output from running a +covered work is covered by this License only if the output, given its +content, constitutes a covered work. This License acknowledges your +rights of fair use or other equivalent, as provided by copyright law. + + You may make, run and propagate covered works that you do not +convey, without conditions so long as your license otherwise remains +in force. You may convey covered works to others for the sole purpose +of having them make modifications exclusively for you, or provide you +with facilities for running those works, provided that you comply with +the terms of this License in conveying all material for which you do +not control copyright. Those thus making or running the covered works +for you must do so exclusively on your behalf, under your direction +and control, on terms that prohibit them from making any copies of +your copyrighted material outside their relationship with you. + + Conveying under any other circumstances is permitted solely under +the conditions stated below. Sublicensing is not allowed; section 10 +makes it unnecessary. + + 3. Protecting Users' Legal Rights From Anti-Circumvention Law. + + No covered work shall be deemed part of an effective technological +measure under any applicable law fulfilling obligations under article +11 of the WIPO copyright treaty adopted on 20 December 1996, or +similar laws prohibiting or restricting circumvention of such +measures. + + When you convey a covered work, you waive any legal power to forbid +circumvention of technological measures to the extent such circumvention +is effected by exercising rights under this License with respect to +the covered work, and you disclaim any intention to limit operation or +modification of the work as a means of enforcing, against the work's +users, your or third parties' legal rights to forbid circumvention of +technological measures. + + 4. Conveying Verbatim Copies. + + You may convey verbatim copies of the Program's source code as you +receive it, in any medium, provided that you conspicuously and +appropriately publish on each copy an appropriate copyright notice; +keep intact all notices stating that this License and any +non-permissive terms added in accord with section 7 apply to the code; +keep intact all notices of the absence of any warranty; and give all +recipients a copy of this License along with the Program. + + You may charge any price or no price for each copy that you convey, +and you may offer support or warranty protection for a fee. + + 5. Conveying Modified Source Versions. + + You may convey a work based on the Program, or the modifications to +produce it from the Program, in the form of source code under the +terms of section 4, provided that you also meet all of these conditions: + + a) The work must carry prominent notices stating that you modified + it, and giving a relevant date. + + b) The work must carry prominent notices stating that it is + released under this License and any conditions added under section + 7. This requirement modifies the requirement in section 4 to + "keep intact all notices". + + c) You must license the entire work, as a whole, under this + License to anyone who comes into possession of a copy. This + License will therefore apply, along with any applicable section 7 + additional terms, to the whole of the work, and all its parts, + regardless of how they are packaged. This License gives no + permission to license the work in any other way, but it does not + invalidate such permission if you have separately received it. + + d) If the work has interactive user interfaces, each must display + Appropriate Legal Notices; however, if the Program has interactive + interfaces that do not display Appropriate Legal Notices, your + work need not make them do so. + + A compilation of a covered work with other separate and independent +works, which are not by their nature extensions of the covered work, +and which are not combined with it such as to form a larger program, +in or on a volume of a storage or distribution medium, is called an +"aggregate" if the compilation and its resulting copyright are not +used to limit the access or legal rights of the compilation's users +beyond what the individual works permit. Inclusion of a covered work +in an aggregate does not cause this License to apply to the other +parts of the aggregate. + + 6. Conveying Non-Source Forms. + + You may convey a covered work in object code form under the terms +of sections 4 and 5, provided that you also convey the +machine-readable Corresponding Source under the terms of this License, +in one of these ways: + + a) Convey the object code in, or embodied in, a physical product + (including a physical distribution medium), accompanied by the + Corresponding Source fixed on a durable physical medium + customarily used for software interchange. + + b) Convey the object code in, or embodied in, a physical product + (including a physical distribution medium), accompanied by a + written offer, valid for at least three years and valid for as + long as you offer spare parts or customer support for that product + model, to give anyone who possesses the object code either (1) a + copy of the Corresponding Source for all the software in the + product that is covered by this License, on a durable physical + medium customarily used for software interchange, for a price no + more than your reasonable cost of physically performing this + conveying of source, or (2) access to copy the + Corresponding Source from a network server at no charge. + + c) Convey individual copies of the object code with a copy of the + written offer to provide the Corresponding Source. This + alternative is allowed only occasionally and noncommercially, and + only if you received the object code with such an offer, in accord + with subsection 6b. + + d) Convey the object code by offering access from a designated + place (gratis or for a charge), and offer equivalent access to the + Corresponding Source in the same way through the same place at no + further charge. You need not require recipients to copy the + Corresponding Source along with the object code. If the place to + copy the object code is a network server, the Corresponding Source + may be on a different server (operated by you or a third party) + that supports equivalent copying facilities, provided you maintain + clear directions next to the object code saying where to find the + Corresponding Source. Regardless of what server hosts the + Corresponding Source, you remain obligated to ensure that it is + available for as long as needed to satisfy these requirements. + + e) Convey the object code using peer-to-peer transmission, provided + you inform other peers where the object code and Corresponding + Source of the work are being offered to the general public at no + charge under subsection 6d. + + A separable portion of the object code, whose source code is excluded +from the Corresponding Source as a System Library, need not be +included in conveying the object code work. + + A "User Product" is either (1) a "consumer product", which means any +tangible personal property which is normally used for personal, family, +or household purposes, or (2) anything designed or sold for incorporation +into a dwelling. In determining whether a product is a consumer product, +doubtful cases shall be resolved in favor of coverage. For a particular +product received by a particular user, "normally used" refers to a +typical or common use of that class of product, regardless of the status +of the particular user or of the way in which the particular user +actually uses, or expects or is expected to use, the product. A product +is a consumer product regardless of whether the product has substantial +commercial, industrial or non-consumer uses, unless such uses represent +the only significant mode of use of the product. + + "Installation Information" for a User Product means any methods, +procedures, authorization keys, or other information required to install +and execute modified versions of a covered work in that User Product from +a modified version of its Corresponding Source. The information must +suffice to ensure that the continued functioning of the modified object +code is in no case prevented or interfered with solely because +modification has been made. + + If you convey an object code work under this section in, or with, or +specifically for use in, a User Product, and the conveying occurs as +part of a transaction in which the right of possession and use of the +User Product is transferred to the recipient in perpetuity or for a +fixed term (regardless of how the transaction is characterized), the +Corresponding Source conveyed under this section must be accompanied +by the Installation Information. But this requirement does not apply +if neither you nor any third party retains the ability to install +modified object code on the User Product (for example, the work has +been installed in ROM). + + The requirement to provide Installation Information does not include a +requirement to continue to provide support service, warranty, or updates +for a work that has been modified or installed by the recipient, or for +the User Product in which it has been modified or installed. Access to a +network may be denied when the modification itself materially and +adversely affects the operation of the network or violates the rules and +protocols for communication across the network. + + Corresponding Source conveyed, and Installation Information provided, +in accord with this section must be in a format that is publicly +documented (and with an implementation available to the public in +source code form), and must require no special password or key for +unpacking, reading or copying. + + 7. Additional Terms. + + "Additional permissions" are terms that supplement the terms of this +License by making exceptions from one or more of its conditions. +Additional permissions that are applicable to the entire Program shall +be treated as though they were included in this License, to the extent +that they are valid under applicable law. If additional permissions +apply only to part of the Program, that part may be used separately +under those permissions, but the entire Program remains governed by +this License without regard to the additional permissions. + + When you convey a copy of a covered work, you may at your option +remove any additional permissions from that copy, or from any part of +it. (Additional permissions may be written to require their own +removal in certain cases when you modify the work.) You may place +additional permissions on material, added by you to a covered work, +for which you have or can give appropriate copyright permission. + + Notwithstanding any other provision of this License, for material you +add to a covered work, you may (if authorized by the copyright holders of +that material) supplement the terms of this License with terms: + + a) Disclaiming warranty or limiting liability differently from the + terms of sections 15 and 16 of this License; or + + b) Requiring preservation of specified reasonable legal notices or + author attributions in that material or in the Appropriate Legal + Notices displayed by works containing it; or + + c) Prohibiting misrepresentation of the origin of that material, or + requiring that modified versions of such material be marked in + reasonable ways as different from the original version; or + + d) Limiting the use for publicity purposes of names of licensors or + authors of the material; or + + e) Declining to grant rights under trademark law for use of some + trade names, trademarks, or service marks; or + + f) Requiring indemnification of licensors and authors of that + material by anyone who conveys the material (or modified versions of + it) with contractual assumptions of liability to the recipient, for + any liability that these contractual assumptions directly impose on + those licensors and authors. + + All other non-permissive additional terms are considered "further +restrictions" within the meaning of section 10. If the Program as you +received it, or any part of it, contains a notice stating that it is +governed by this License along with a term that is a further +restriction, you may remove that term. If a license document contains +a further restriction but permits relicensing or conveying under this +License, you may add to a covered work material governed by the terms +of that license document, provided that the further restriction does +not survive such relicensing or conveying. + + If you add terms to a covered work in accord with this section, you +must place, in the relevant source files, a statement of the +additional terms that apply to those files, or a notice indicating +where to find the applicable terms. + + Additional terms, permissive or non-permissive, may be stated in the +form of a separately written license, or stated as exceptions; +the above requirements apply either way. + + 8. Termination. + + You may not propagate or modify a covered work except as expressly +provided under this License. Any attempt otherwise to propagate or +modify it is void, and will automatically terminate your rights under +this License (including any patent licenses granted under the third +paragraph of section 11). + + However, if you cease all violation of this License, then your +license from a particular copyright holder is reinstated (a) +provisionally, unless and until the copyright holder explicitly and +finally terminates your license, and (b) permanently, if the copyright +holder fails to notify you of the violation by some reasonable means +prior to 60 days after the cessation. + + Moreover, your license from a particular copyright holder is +reinstated permanently if the copyright holder notifies you of the +violation by some reasonable means, this is the first time you have +received notice of violation of this License (for any work) from that +copyright holder, and you cure the violation prior to 30 days after +your receipt of the notice. + + Termination of your rights under this section does not terminate the +licenses of parties who have received copies or rights from you under +this License. If your rights have been terminated and not permanently +reinstated, you do not qualify to receive new licenses for the same +material under section 10. + + 9. Acceptance Not Required for Having Copies. + + You are not required to accept this License in order to receive or +run a copy of the Program. Ancillary propagation of a covered work +occurring solely as a consequence of using peer-to-peer transmission +to receive a copy likewise does not require acceptance. However, +nothing other than this License grants you permission to propagate or +modify any covered work. These actions infringe copyright if you do +not accept this License. Therefore, by modifying or propagating a +covered work, you indicate your acceptance of this License to do so. + + 10. Automatic Licensing of Downstream Recipients. + + Each time you convey a covered work, the recipient automatically +receives a license from the original licensors, to run, modify and +propagate that work, subject to this License. You are not responsible +for enforcing compliance by third parties with this License. + + An "entity transaction" is a transaction transferring control of an +organization, or substantially all assets of one, or subdividing an +organization, or merging organizations. If propagation of a covered +work results from an entity transaction, each party to that +transaction who receives a copy of the work also receives whatever +licenses to the work the party's predecessor in interest had or could +give under the previous paragraph, plus a right to possession of the +Corresponding Source of the work from the predecessor in interest, if +the predecessor has it or can get it with reasonable efforts. + + You may not impose any further restrictions on the exercise of the +rights granted or affirmed under this License. For example, you may +not impose a license fee, royalty, or other charge for exercise of +rights granted under this License, and you may not initiate litigation +(including a cross-claim or counterclaim in a lawsuit) alleging that +any patent claim is infringed by making, using, selling, offering for +sale, or importing the Program or any portion of it. + + 11. Patents. + + A "contributor" is a copyright holder who authorizes use under this +License of the Program or a work on which the Program is based. The +work thus licensed is called the contributor's "contributor version". + + A contributor's "essential patent claims" are all patent claims +owned or controlled by the contributor, whether already acquired or +hereafter acquired, that would be infringed by some manner, permitted +by this License, of making, using, or selling its contributor version, +but do not include claims that would be infringed only as a +consequence of further modification of the contributor version. For +purposes of this definition, "control" includes the right to grant +patent sublicenses in a manner consistent with the requirements of +this License. + + Each contributor grants you a non-exclusive, worldwide, royalty-free +patent license under the contributor's essential patent claims, to +make, use, sell, offer for sale, import and otherwise run, modify and +propagate the contents of its contributor version. + + In the following three paragraphs, a "patent license" is any express +agreement or commitment, however denominated, not to enforce a patent +(such as an express permission to practice a patent or covenant not to +sue for patent infringement). To "grant" such a patent license to a +party means to make such an agreement or commitment not to enforce a +patent against the party. + + If you convey a covered work, knowingly relying on a patent license, +and the Corresponding Source of the work is not available for anyone +to copy, free of charge and under the terms of this License, through a +publicly available network server or other readily accessible means, +then you must either (1) cause the Corresponding Source to be so +available, or (2) arrange to deprive yourself of the benefit of the +patent license for this particular work, or (3) arrange, in a manner +consistent with the requirements of this License, to extend the patent +license to downstream recipients. "Knowingly relying" means you have +actual knowledge that, but for the patent license, your conveying the +covered work in a country, or your recipient's use of the covered work +in a country, would infringe one or more identifiable patents in that +country that you have reason to believe are valid. + + If, pursuant to or in connection with a single transaction or +arrangement, you convey, or propagate by procuring conveyance of, a +covered work, and grant a patent license to some of the parties +receiving the covered work authorizing them to use, propagate, modify +or convey a specific copy of the covered work, then the patent license +you grant is automatically extended to all recipients of the covered +work and works based on it. + + A patent license is "discriminatory" if it does not include within +the scope of its coverage, prohibits the exercise of, or is +conditioned on the non-exercise of one or more of the rights that are +specifically granted under this License. You may not convey a covered +work if you are a party to an arrangement with a third party that is +in the business of distributing software, under which you make payment +to the third party based on the extent of your activity of conveying +the work, and under which the third party grants, to any of the +parties who would receive the covered work from you, a discriminatory +patent license (a) in connection with copies of the covered work +conveyed by you (or copies made from those copies), or (b) primarily +for and in connection with specific products or compilations that +contain the covered work, unless you entered into that arrangement, +or that patent license was granted, prior to 28 March 2007. + + Nothing in this License shall be construed as excluding or limiting +any implied license or other defenses to infringement that may +otherwise be available to you under applicable patent law. + + 12. No Surrender of Others' Freedom. + + If conditions are imposed on you (whether by court order, agreement or +otherwise) that contradict the conditions of this License, they do not +excuse you from the conditions of this License. If you cannot convey a +covered work so as to satisfy simultaneously your obligations under this +License and any other pertinent obligations, then as a consequence you may +not convey it at all. For example, if you agree to terms that obligate you +to collect a royalty for further conveying from those to whom you convey +the Program, the only way you could satisfy both those terms and this +License would be to refrain entirely from conveying the Program. + + 13. Use with the GNU Affero General Public License. + + Notwithstanding any other provision of this License, you have +permission to link or combine any covered work with a work licensed +under version 3 of the GNU Affero General Public License into a single +combined work, and to convey the resulting work. The terms of this +License will continue to apply to the part which is the covered work, +but the special requirements of the GNU Affero General Public License, +section 13, concerning interaction through a network will apply to the +combination as such. + + 14. Revised Versions of this License. + + The Free Software Foundation may publish revised and/or new versions of +the GNU General Public License from time to time. Such new versions will +be similar in spirit to the present version, but may differ in detail to +address new problems or concerns. + + Each version is given a distinguishing version number. If the +Program specifies that a certain numbered version of the GNU General +Public License "or any later version" applies to it, you have the +option of following the terms and conditions either of that numbered +version or of any later version published by the Free Software +Foundation. If the Program does not specify a version number of the +GNU General Public License, you may choose any version ever published +by the Free Software Foundation. + + If the Program specifies that a proxy can decide which future +versions of the GNU General Public License can be used, that proxy's +public statement of acceptance of a version permanently authorizes you +to choose that version for the Program. + + Later license versions may give you additional or different +permissions. However, no additional obligations are imposed on any +author or copyright holder as a result of your choosing to follow a +later version. + + 15. Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md index 8b7a4d1..112d9f2 100644 --- a/README.md +++ b/README.md @@ -1 +1 @@ -# 2024-Crescendo-Offseason \ No newline at end of file +# 2024-Crescendo-Offseason diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 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..51a55b2 --- /dev/null +++ b/build.gradle @@ -0,0 +1,186 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2024.3.2" + id "com.peterabeles.gversion" version "1.10" + id "com.diffplug.spotless" version "6.12.0" +} + +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 + +// Configuration for AdvantageKit +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 + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 4. +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' + + 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 { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +// +// The sim GUI is *disabled* by default to support running +// AdvantageKit log replay from the command line. Set the +// value to "true" to enable the sim GUI by default (this +// is the standard WPILib behavior). +wpi.sim.addGui().defaultEnabled = false +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' +} + +// Create version file +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/New_York" + indent = " " +} + +// Spotless formatting +project.compileJava.dependsOn(spotlessApply) +spotless { + java { + target fileTree(".") { + include "**/*.java" + exclude "**/build/**", "**/build-*/**" + } + toggleOffOn() + googleJavaFormat() + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree(".") { + include "**/*.gradle" + exclude "**/build/**", "**/build-*/**" + } + greclipse() + indentWithSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + json { + target fileTree(".") { + include "**/*.json" + exclude "**/build/**", "**/build-*/**" + } + gson().indentWithSpaces(2) + } + format "misc", { + target fileTree(".") { + include "**/*.md", "**/.gitignore" + exclude "**/build/**", "**/build-*/**" + } + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..7f93135c49b765f8051ef9d0a6055ff8e46073d8 GIT binary patch literal 63721 zcmb5Wb9gP!wgnp7wrv|bwr$&XvSZt}Z6`anZSUAlc9NHKf9JdJ;NJVr`=eI(_pMp0 zy1VAAG3FfAOI`{X1O)&90s;U4K;XLp008~hCjbEC_fbYfS%6kTR+JtXK>nW$ZR+`W ze|#J8f4A@M|F5BpfUJb5h>|j$jOe}0oE!`Zf6fM>CR?!y@zU(cL8NsKk`a z6tx5mAkdjD;J=LcJ;;Aw8p!v#ouk>mUDZF@ zK>yvw%+bKu+T{Nk@LZ;zkYy0HBKw06_IWcMHo*0HKpTsEFZhn5qCHH9j z)|XpN&{`!0a>Vl+PmdQc)Yg4A(AG-z!+@Q#eHr&g<9D?7E)_aEB?s_rx>UE9TUq|? z;(ggJt>9l?C|zoO@5)tu?EV0x_7T17q4fF-q3{yZ^ipUbKcRZ4Qftd!xO(#UGhb2y>?*@{xq%`(-`2T^vc=#< zx!+@4pRdk&*1ht2OWk^Z5IAQ0YTAXLkL{(D*$gENaD)7A%^XXrCchN&z2x+*>o2FwPFjWpeaL=!tzv#JOW#( z$B)Nel<+$bkH1KZv3&-}=SiG~w2sbDbAWarg%5>YbC|}*d9hBjBkR(@tyM0T)FO$# zPtRXukGPnOd)~z=?avu+4Co@wF}1T)-uh5jI<1$HLtyDrVak{gw`mcH@Q-@wg{v^c zRzu}hMKFHV<8w}o*yg6p@Sq%=gkd~;`_VGTS?L@yVu`xuGy+dH6YOwcP6ZE`_0rK% zAx5!FjDuss`FQ3eF|mhrWkjux(Pny^k$u_)dyCSEbAsecHsq#8B3n3kDU(zW5yE|( zgc>sFQywFj5}U*qtF9Y(bi*;>B7WJykcAXF86@)z|0-Vm@jt!EPoLA6>r)?@DIobIZ5Sx zsc@OC{b|3%vaMbyeM|O^UxEYlEMHK4r)V-{r)_yz`w1*xV0|lh-LQOP`OP`Pk1aW( z8DSlGN>Ts|n*xj+%If~+E_BxK)~5T#w6Q1WEKt{!Xtbd`J;`2a>8boRo;7u2M&iOop4qcy<)z023=oghSFV zST;?S;ye+dRQe>ygiJ6HCv4;~3DHtJ({fWeE~$H@mKn@Oh6Z(_sO>01JwH5oA4nvK zr5Sr^g+LC zLt(i&ecdmqsIJGNOSUyUpglvhhrY8lGkzO=0USEKNL%8zHshS>Qziu|`eyWP^5xL4 zRP122_dCJl>hZc~?58w~>`P_s18VoU|7(|Eit0-lZRgLTZKNq5{k zE?V=`7=R&ro(X%LTS*f+#H-mGo_j3dm@F_krAYegDLk6UV{`UKE;{YSsn$ z(yz{v1@p|p!0>g04!eRSrSVb>MQYPr8_MA|MpoGzqyd*$@4j|)cD_%^Hrd>SorF>@ zBX+V<@vEB5PRLGR(uP9&U&5=(HVc?6B58NJT_igiAH*q~Wb`dDZpJSKfy5#Aag4IX zj~uv74EQ_Q_1qaXWI!7Vf@ZrdUhZFE;L&P_Xr8l@GMkhc#=plV0+g(ki>+7fO%?Jb zl+bTy7q{w^pTb{>(Xf2q1BVdq?#f=!geqssXp z4pMu*q;iiHmA*IjOj4`4S&|8@gSw*^{|PT}Aw~}ZXU`6=vZB=GGeMm}V6W46|pU&58~P+?LUs%n@J}CSrICkeng6YJ^M? zS(W?K4nOtoBe4tvBXs@@`i?4G$S2W&;$z8VBSM;Mn9 zxcaEiQ9=vS|bIJ>*tf9AH~m&U%2+Dim<)E=}KORp+cZ^!@wI`h1NVBXu{@%hB2Cq(dXx_aQ9x3mr*fwL5!ZryQqi|KFJuzvP zK1)nrKZ7U+B{1ZmJub?4)Ln^J6k!i0t~VO#=q1{?T)%OV?MN}k5M{}vjyZu#M0_*u z8jwZKJ#Df~1jcLXZL7bnCEhB6IzQZ-GcoQJ!16I*39iazoVGugcKA{lhiHg4Ta2fD zk1Utyc5%QzZ$s3;p0N+N8VX{sd!~l*Ta3|t>lhI&G`sr6L~G5Lul`>m z{!^INm?J|&7X=;{XveF!(b*=?9NAp4y&r&N3(GKcW4rS(Ejk|Lzs1PrxPI_owB-`H zg3(Rruh^&)`TKA6+_!n>RdI6pw>Vt1_j&+bKIaMTYLiqhZ#y_=J8`TK{Jd<7l9&sY z^^`hmi7^14s16B6)1O;vJWOF$=$B5ONW;;2&|pUvJlmeUS&F;DbSHCrEb0QBDR|my zIs+pE0Y^`qJTyH-_mP=)Y+u^LHcuZhsM3+P||?+W#V!_6E-8boP#R-*na4!o-Q1 zVthtYhK{mDhF(&7Okzo9dTi03X(AE{8cH$JIg%MEQca`S zy@8{Fjft~~BdzWC(di#X{ny;!yYGK9b@=b|zcKZ{vv4D8i+`ilOPl;PJl{!&5-0!w z^fOl#|}vVg%=n)@_e1BrP)`A zKPgs`O0EO}Y2KWLuo`iGaKu1k#YR6BMySxQf2V++Wo{6EHmK>A~Q5o73yM z-RbxC7Qdh0Cz!nG+7BRZE>~FLI-?&W_rJUl-8FDIaXoNBL)@1hwKa^wOr1($*5h~T zF;%f^%<$p8Y_yu(JEg=c_O!aZ#)Gjh$n(hfJAp$C2he555W5zdrBqjFmo|VY+el;o z=*D_w|GXG|p0**hQ7~9-n|y5k%B}TAF0iarDM!q-jYbR^us(>&y;n^2l0C%@2B}KM zyeRT9)oMt97Agvc4sEKUEy%MpXr2vz*lb zh*L}}iG>-pqDRw7ud{=FvTD?}xjD)w{`KzjNom-$jS^;iw0+7nXSnt1R@G|VqoRhE%12nm+PH?9`(4rM0kfrZzIK9JU=^$YNyLvAIoxl#Q)xxDz!^0@zZ zSCs$nfcxK_vRYM34O<1}QHZ|hp4`ioX3x8(UV(FU$J@o%tw3t4k1QPmlEpZa2IujG&(roX_q*%e`Hq|);0;@k z0z=fZiFckp#JzW0p+2A+D$PC~IsakhJJkG(c;CqAgFfU0Z`u$PzG~-9I1oPHrCw&)@s^Dc~^)#HPW0Ra}J^=|h7Fs*<8|b13ZzG6MP*Q1dkoZ6&A^!}|hbjM{2HpqlSXv_UUg1U4gn z3Q)2VjU^ti1myodv+tjhSZp%D978m~p& z43uZUrraHs80Mq&vcetqfQpQP?m!CFj)44t8Z}k`E798wxg&~aCm+DBoI+nKq}&j^ zlPY3W$)K;KtEajks1`G?-@me7C>{PiiBu+41#yU_c(dITaqE?IQ(DBu+c^Ux!>pCj zLC|HJGU*v+!it1(;3e`6igkH(VA)-S+k(*yqxMgUah3$@C zz`7hEM47xr>j8^g`%*f=6S5n>z%Bt_Fg{Tvmr+MIsCx=0gsu_sF`q2hlkEmisz#Fy zj_0;zUWr;Gz}$BS%Y`meb(=$d%@Crs(OoJ|}m#<7=-A~PQbyN$x%2iXP2@e*nO0b7AwfH8cCUa*Wfu@b)D_>I*%uE4O3 z(lfnB`-Xf*LfC)E}e?%X2kK7DItK6Tf<+M^mX0Ijf_!IP>7c8IZX%8_#0060P{QMuV^B9i<^E`_Qf0pv9(P%_s8D`qvDE9LK9u-jB}J2S`(mCO&XHTS04Z5Ez*vl^T%!^$~EH8M-UdwhegL>3IQ*)(MtuH2Xt1p!fS4o~*rR?WLxlA!sjc2(O znjJn~wQ!Fp9s2e^IWP1C<4%sFF}T4omr}7+4asciyo3DntTgWIzhQpQirM$9{EbQd z3jz9vS@{aOqTQHI|l#aUV@2Q^Wko4T0T04Me4!2nsdrA8QY1%fnAYb~d2GDz@lAtfcHq(P7 zaMBAGo}+NcE-K*@9y;Vt3*(aCaMKXBB*BJcD_Qnxpt75r?GeAQ}*|>pYJE=uZb73 zC>sv)18)q#EGrTG6io*}JLuB_jP3AU1Uiu$D7r|2_zlIGb9 zjhst#ni)Y`$)!fc#reM*$~iaYoz~_Cy7J3ZTiPm)E?%`fbk`3Tu-F#`{i!l5pNEn5 zO-Tw-=TojYhzT{J=?SZj=Z8#|eoF>434b-DXiUsignxXNaR3 zm_}4iWU$gt2Mw5NvZ5(VpF`?X*f2UZDs1TEa1oZCif?Jdgr{>O~7}-$|BZ7I(IKW`{f;@|IZFX*R8&iT= zoWstN8&R;}@2Ka%d3vrLtR|O??ben;k8QbS-WB0VgiCz;<$pBmIZdN!aalyCSEm)crpS9dcD^Y@XT1a3+zpi-`D}e#HV<} z$Y(G&o~PvL-xSVD5D?JqF3?B9rxGWeb=oEGJ3vRp5xfBPlngh1O$yI95EL+T8{GC@ z98i1H9KhZGFl|;`)_=QpM6H?eDPpw~^(aFQWwyXZ8_EEE4#@QeT_URray*mEOGsGc z6|sdXtq!hVZo=d#+9^@lm&L5|q&-GDCyUx#YQiccq;spOBe3V+VKdjJA=IL=Zn%P} zNk=_8u}VhzFf{UYZV0`lUwcD&)9AFx0@Fc6LD9A6Rd1=ga>Mi0)_QxM2ddCVRmZ0d z+J=uXc(?5JLX3=)e)Jm$HS2yF`44IKhwRnm2*669_J=2LlwuF5$1tAo@ROSU@-y+;Foy2IEl2^V1N;fk~YR z?&EP8#t&m0B=?aJeuz~lHjAzRBX>&x=A;gIvb>MD{XEV zV%l-+9N-)i;YH%nKP?>f`=?#`>B(`*t`aiPLoQM(a6(qs4p5KFjDBN?8JGrf3z8>= zi7sD)c)Nm~x{e<^jy4nTx${P~cwz_*a>%0_;ULou3kHCAD7EYkw@l$8TN#LO9jC( z1BeFW`k+bu5e8Ns^a8dPcjEVHM;r6UX+cN=Uy7HU)j-myRU0wHd$A1fNI~`4;I~`zC)3ul#8#^rXVSO*m}Ag>c%_;nj=Nv$rCZ z*~L@C@OZg%Q^m)lc-kcX&a*a5`y&DaRxh6O*dfhLfF+fU5wKs(1v*!TkZidw*)YBP za@r`3+^IHRFeO%!ai%rxy;R;;V^Fr=OJlpBX;(b*3+SIw}7= zIq$*Thr(Zft-RlY)D3e8V;BmD&HOfX+E$H#Y@B3?UL5L~_fA-@*IB-!gItK7PIgG9 zgWuGZK_nuZjHVT_Fv(XxtU%)58;W39vzTI2n&)&4Dmq7&JX6G>XFaAR{7_3QB6zsT z?$L8c*WdN~nZGiscY%5KljQARN;`w$gho=p006z;n(qIQ*Zu<``TMO3n0{ARL@gYh zoRwS*|Niw~cR!?hE{m*y@F`1)vx-JRfqET=dJ5_(076st(=lFfjtKHoYg`k3oNmo_ zNbQEw8&sO5jAYmkD|Zaz_yUb0rC})U!rCHOl}JhbYIDLzLvrZVw0~JO`d*6f;X&?V=#T@ND*cv^I;`sFeq4 z##H5;gpZTb^0Hz@3C*~u0AqqNZ-r%rN3KD~%Gw`0XsIq$(^MEb<~H(2*5G^<2(*aI z%7}WB+TRlMIrEK#s0 z93xn*Ohb=kWFc)BNHG4I(~RPn-R8#0lqyBBz5OM6o5|>x9LK@%HaM}}Y5goCQRt2C z{j*2TtT4ne!Z}vh89mjwiSXG=%DURar~=kGNNaO_+Nkb+tRi~Rkf!7a$*QlavziD( z83s4GmQ^Wf*0Bd04f#0HX@ua_d8 z23~z*53ePD6@xwZ(vdl0DLc=>cPIOPOdca&MyR^jhhKrdQO?_jJh`xV3GKz&2lvP8 zEOwW6L*ufvK;TN{=S&R@pzV^U=QNk^Ec}5H z+2~JvEVA{`uMAr)?Kf|aW>33`)UL@bnfIUQc~L;TsTQ6>r-<^rB8uoNOJ>HWgqMI8 zSW}pZmp_;z_2O5_RD|fGyTxaxk53Hg_3Khc<8AUzV|ZeK{fp|Ne933=1&_^Dbv5^u zB9n=*)k*tjHDRJ@$bp9mrh}qFn*s}npMl5BMDC%Hs0M0g-hW~P*3CNG06G!MOPEQ_ zi}Qs-6M8aMt;sL$vlmVBR^+Ry<64jrm1EI1%#j?c?4b*7>)a{aDw#TfTYKq+SjEFA z(aJ&z_0?0JB83D-i3Vh+o|XV4UP+YJ$9Boid2^M2en@APw&wx7vU~t$r2V`F|7Qfo z>WKgI@eNBZ-+Og<{u2ZiG%>YvH2L3fNpV9J;WLJoBZda)01Rn;o@){01{7E#ke(7U zHK>S#qZ(N=aoae*4X!0A{)nu0R_sKpi1{)u>GVjC+b5Jyl6#AoQ-1_3UDovNSo`T> z?c-@7XX*2GMy?k?{g)7?Sv;SJkmxYPJPs!&QqB12ejq`Lee^-cDveVWL^CTUldb(G zjDGe(O4P=S{4fF=#~oAu>LG>wrU^z_?3yt24FOx>}{^lCGh8?vtvY$^hbZ)9I0E3r3NOlb9I?F-Yc=r$*~l`4N^xzlV~N zl~#oc>U)Yjl0BxV>O*Kr@lKT{Z09OXt2GlvE38nfs+DD7exl|&vT;)>VFXJVZp9Np zDK}aO;R3~ag$X*|hRVY3OPax|PG`@_ESc8E!mHRByJbZQRS38V2F__7MW~sgh!a>98Q2%lUNFO=^xU52|?D=IK#QjwBky-C>zOWlsiiM&1n z;!&1((Xn1$9K}xabq~222gYvx3hnZPg}VMF_GV~5ocE=-v>V=T&RsLBo&`)DOyIj* zLV{h)JU_y*7SdRtDajP_Y+rBkNN*1_TXiKwHH2&p51d(#zv~s#HwbNy?<+(=9WBvo zw2hkk2Dj%kTFhY+$T+W-b7@qD!bkfN#Z2ng@Pd=i3-i?xYfs5Z*1hO?kd7Sp^9`;Y zM2jeGg<-nJD1er@Pc_cSY7wo5dzQX44=%6rn}P_SRbpzsA{6B+!$3B0#;}qwO37G^ zL(V_5JK`XT?OHVk|{_$vQ|oNEpab*BO4F zUTNQ7RUhnRsU`TK#~`)$icsvKh~(pl=3p6m98@k3P#~upd=k*u20SNcb{l^1rUa)>qO997)pYRWMncC8A&&MHlbW?7i^7M`+B$hH~Y|J zd>FYOGQ;j>Zc2e7R{KK7)0>>nn_jYJy&o@sK!4G>-rLKM8Hv)f;hi1D2fAc$+six2 zyVZ@wZ6x|fJ!4KrpCJY=!Mq0;)X)OoS~{Lkh6u8J`eK%u0WtKh6B>GW_)PVc zl}-k`p09qwGtZ@VbYJC!>29V?Dr>>vk?)o(x?!z*9DJ||9qG-&G~#kXxbw{KKYy}J zQKa-dPt~M~E}V?PhW0R26xdA%1T*%ra6SguGu50YHngOTIv)@N|YttEXo#OZfgtP7;H?EeZZxo<}3YlYxtBq znJ!WFR^tmGf0Py}N?kZ(#=VtpC@%xJkDmfcCoBTxq zr_|5gP?u1@vJZbxPZ|G0AW4=tpb84gM2DpJU||(b8kMOV1S3|(yuwZJ&rIiFW(U;5 zUtAW`O6F6Zy+eZ1EDuP~AAHlSY-+A_eI5Gx)%*uro5tljy}kCZU*_d7)oJ>oQSZ3* zneTn`{gnNC&uJd)0aMBzAg021?YJ~b(fmkwZAd696a=0NzBAqBN54KuNDwa*no(^O z6p05bioXUR^uXjpTol*ppHp%1v9e)vkoUAUJyBx3lw0UO39b0?^{}yb!$yca(@DUn zCquRF?t=Zb9`Ed3AI6|L{eX~ijVH`VzSMheKoP7LSSf4g>md>`yi!TkoG5P>Ofp+n z(v~rW+(5L96L{vBb^g51B=(o)?%%xhvT*A5btOpw(TKh^g^4c zw>0%X!_0`{iN%RbVk+A^f{w-4-SSf*fu@FhruNL##F~sF24O~u zyYF<3el2b$$wZ_|uW#@Ak+VAGk#e|kS8nL1g>2B-SNMjMp^8;-FfeofY2fphFHO!{ z*!o4oTb{4e;S<|JEs<1_hPsmAlVNk?_5-Fp5KKU&d#FiNW~Y+pVFk@Cua1I{T+1|+ zHx6rFMor)7L)krbilqsWwy@T+g3DiH5MyVf8Wy}XbEaoFIDr~y;@r&I>FMW{ z?Q+(IgyebZ)-i4jNoXQhq4Muy9Fv+OxU;9_Jmn+<`mEC#%2Q_2bpcgzcinygNI!&^ z=V$)o2&Yz04~+&pPWWn`rrWxJ&}8khR)6B(--!9Q zubo}h+1T)>a@c)H^i``@<^j?|r4*{;tQf78(xn0g39IoZw0(CwY1f<%F>kEaJ zp9u|IeMY5mRdAlw*+gSN^5$Q)ShM<~E=(c8QM+T-Qk)FyKz#Sw0EJ*edYcuOtO#~Cx^(M7w5 z3)rl#L)rF|(Vun2LkFr!rg8Q@=r>9p>(t3Gf_auiJ2Xx9HmxYTa|=MH_SUlYL`mz9 zTTS$`%;D-|Jt}AP1&k7PcnfFNTH0A-*FmxstjBDiZX?}%u%Yq94$fUT&z6od+(Uk> zuqsld#G(b$G8tus=M!N#oPd|PVFX)?M?tCD0tS%2IGTfh}3YA3f&UM)W$_GNV8 zQo+a(ml2Km4o6O%gKTCSDNq+#zCTIQ1*`TIJh~k6Gp;htHBFnne))rlFdGqwC6dx2+La1&Mnko*352k0y z+tQcwndQlX`nc6nb$A9?<-o|r*%aWXV#=6PQic0Ok_D;q>wbv&j7cKc!w4~KF#-{6 z(S%6Za)WpGIWf7jZ3svNG5OLs0>vCL9{V7cgO%zevIVMH{WgP*^D9ws&OqA{yr|m| zKD4*07dGXshJHd#e%x%J+qmS^lS|0Bp?{drv;{@{l9ArPO&?Q5=?OO9=}h$oVe#3b z3Yofj&Cb}WC$PxmRRS)H%&$1-)z7jELS}!u!zQ?A^Y{Tv4QVt*vd@uj-^t2fYRzQj zfxGR>-q|o$3sGn^#VzZ!QQx?h9`njeJry}@x?|k0-GTTA4y3t2E`3DZ!A~D?GiJup z)8%PK2^9OVRlP(24P^4_<|D=H^7}WlWu#LgsdHzB%cPy|f8dD3|A^mh4WXxhLTVu_ z@abE{6Saz|Y{rXYPd4$tfPYo}ef(oQWZ=4Bct-=_9`#Qgp4ma$n$`tOwq#&E18$B; z@Bp)bn3&rEi0>fWWZ@7k5WazfoX`SCO4jQWwVuo+$PmSZn^Hz?O(-tW@*DGxuf)V1 zO_xm&;NVCaHD4dqt(-MlszI3F-p?0!-e$fbiCeuaw66h^TTDLWuaV<@C-`=Xe5WL) zwooG7h>4&*)p3pKMS3O!4>-4jQUN}iAMQ)2*70?hP~)TzzR?-f@?Aqy$$1Iy8VGG$ zMM?8;j!pUX7QQD$gRc_#+=raAS577ga-w?jd`vCiN5lu)dEUkkUPl9!?{$IJNxQys z*E4e$eF&n&+AMRQR2gcaFEjAy*r)G!s(P6D&TfoApMFC_*Ftx0|D0@E-=B7tezU@d zZ{hGiN;YLIoSeRS;9o%dEua4b%4R3;$SugDjP$x;Z!M!@QibuSBb)HY!3zJ7M;^jw zlx6AD50FD&p3JyP*>o+t9YWW8(7P2t!VQQ21pHJOcG_SXQD;(5aX#M6x##5H_Re>6lPyDCjxr*R(+HE%c&QN+b^tbT zXBJk?p)zhJj#I?&Y2n&~XiytG9!1ox;bw5Rbj~)7c(MFBb4>IiRATdhg zmiEFlj@S_hwYYI(ki{}&<;_7(Z0Qkfq>am z&LtL=2qc7rWguk3BtE4zL41@#S;NN*-jWw|7Kx7H7~_%7fPt;TIX}Ubo>;Rmj94V> zNB1=;-9AR7s`Pxn}t_6^3ahlq53e&!Lh85uG zec0vJY_6e`tg7LgfrJ3k!DjR)Bi#L@DHIrZ`sK=<5O0Ip!fxGf*OgGSpP@Hbbe&$9 z;ZI}8lEoC2_7;%L2=w?tb%1oL0V+=Z`7b=P&lNGY;yVBazXRYu;+cQDKvm*7NCxu&i;zub zAJh#11%?w>E2rf2e~C4+rAb-&$^vsdACs7 z@|Ra!OfVM(ke{vyiqh7puf&Yp6cd6{DptUteYfIRWG3pI+5< zBVBI_xkBAc<(pcb$!Y%dTW(b;B;2pOI-(QCsLv@U-D1XJ z(Gk8Q3l7Ws46Aktuj>|s{$6zA&xCPuXL-kB`CgYMs}4IeyG*P51IDwW?8UNQd+$i~ zlxOPtSi5L|gJcF@DwmJA5Ju8HEJ>o{{upwIpb!f{2(vLNBw`7xMbvcw<^{Fj@E~1( z?w`iIMieunS#>nXlmUcSMU+D3rX28f?s7z;X=se6bo8;5vM|O^(D6{A9*ChnGH!RG zP##3>LDC3jZPE4PH32AxrqPk|yIIrq~`aL-=}`okhNu9aT%q z1b)7iJ)CN=V#Ly84N_r7U^SH2FGdE5FpTO2 z630TF$P>GNMu8`rOytb(lB2};`;P4YNwW1<5d3Q~AX#P0aX}R2b2)`rgkp#zTxcGj zAV^cvFbhP|JgWrq_e`~exr~sIR$6p5V?o4Wym3kQ3HA+;Pr$bQ0(PmADVO%MKL!^q z?zAM8j1l4jrq|5X+V!8S*2Wl@=7*pPgciTVK6kS1Ge zMsd_u6DFK$jTnvVtE;qa+8(1sGBu~n&F%dh(&c(Zs4Fc#A=gG^^%^AyH}1^?|8quj zl@Z47h$){PlELJgYZCIHHL= z{U8O>Tw4x3<1{?$8>k-P<}1y9DmAZP_;(3Y*{Sk^H^A=_iSJ@+s5ktgwTXz_2$~W9>VVZsfwCm@s0sQ zeB50_yu@uS+e7QoPvdCwDz{prjo(AFwR%C?z`EL{1`|coJHQTk^nX=tvs1<0arUOJ z!^`*x&&BvTYmemyZ)2p~{%eYX=JVR?DYr(rNgqRMA5E1PR1Iw=prk=L2ldy3r3Vg@27IZx43+ywyzr-X*p*d@tZV+!U#~$-q=8c zgdSuh#r?b4GhEGNai)ayHQpk>5(%j5c@C1K3(W1pb~HeHpaqijJZa-e6vq_8t-^M^ zBJxq|MqZc?pjXPIH}70a5vt!IUh;l}<>VX<-Qcv^u@5(@@M2CHSe_hD$VG-eiV^V( zj7*9T0?di?P$FaD6oo?)<)QT>Npf6Og!GO^GmPV(Km0!=+dE&bk#SNI+C9RGQ|{~O*VC+tXK3!n`5 zHfl6>lwf_aEVV3`0T!aHNZLsj$paS$=LL(?b!Czaa5bbSuZ6#$_@LK<(7yrrl+80| z{tOFd=|ta2Z`^ssozD9BINn45NxUeCQis?-BKmU*Kt=FY-NJ+)8S1ecuFtN-M?&42 zl2$G>u!iNhAk*HoJ^4v^9#ORYp5t^wDj6|lx~5w45#E5wVqI1JQ~9l?nPp1YINf++ zMAdSif~_ETv@Er(EFBI^@L4BULFW>)NI+ejHFP*T}UhWNN`I)RRS8za? z*@`1>9ZB}An%aT5K=_2iQmfE;GcBVHLF!$`I99o5GO`O%O_zLr9AG18>&^HkG(;=V z%}c!OBQ~?MX(9h~tajX{=x)+!cbM7$YzTlmsPOdp2L-?GoW`@{lY9U3f;OUo*BwRB z8A+nv(br0-SH#VxGy#ZrgnGD(=@;HME;yd46EgWJ`EL%oXc&lFpc@Y}^>G(W>h_v_ zlN!`idhX+OjL+~T?19sroAFVGfa5tX-D49w$1g2g_-T|EpHL6}K_aX4$K=LTvwtlF zL*z}j{f+Uoe7{-px3_5iKPA<_7W=>Izkk)!l9ez2w%vi(?Y;i8AxRNLSOGDzNoqoI zP!1uAl}r=_871(G?y`i&)-7{u=%nxk7CZ_Qh#!|ITec zwQn`33GTUM`;D2POWnkqngqJhJRlM>CTONzTG}>^Q0wUunQyn|TAiHzyX2_%ATx%P z%7gW)%4rA9^)M<_%k@`Y?RbC<29sWU&5;@|9thf2#zf8z12$hRcZ!CSb>kUp=4N#y zl3hE#y6>kkA8VY2`W`g5Ip?2qC_BY$>R`iGQLhz2-S>x(RuWv)SPaGdl^)gGw7tjR zH@;jwk!jIaCgSg_*9iF|a);sRUTq30(8I(obh^|}S~}P4U^BIGYqcz;MPpC~Y@k_m zaw4WG1_vz2GdCAX!$_a%GHK**@IrHSkGoN>)e}>yzUTm52on`hYot7cB=oA-h1u|R ztH$11t?54Qg2L+i33FPFKKRm1aOjKST{l1*(nps`>sv%VqeVMWjl5+Gh+9);hIP8? zA@$?}Sc z3qIRpba+y5yf{R6G(u8Z^vkg0Fu&D-7?1s=QZU`Ub{-!Y`I?AGf1VNuc^L3v>)>i# z{DV9W$)>34wnzAXUiV^ZpYKw>UElrN_5Xj6{r_3| z$X5PK`e5$7>~9Dj7gK5ash(dvs`vwfk}&RD`>04;j62zoXESkFBklYaKm5seyiX(P zqQ-;XxlV*yg?Dhlx%xt!b0N3GHp@(p$A;8|%# zZ5m2KL|{on4nr>2_s9Yh=r5ScQ0;aMF)G$-9-Ca6%wA`Pa)i?NGFA|#Yi?{X-4ZO_ z^}%7%vkzvUHa$-^Y#aA+aiR5sa%S|Ebyn`EV<3Pc?ax_f>@sBZF1S;7y$CXd5t5=WGsTKBk8$OfH4v|0?0I=Yp}7c=WBSCg!{0n)XmiU;lfx)**zZaYqmDJelxk$)nZyx5`x$6R|fz(;u zEje5Dtm|a%zK!!tk3{i9$I2b{vXNFy%Bf{50X!x{98+BsDr_u9i>G5%*sqEX|06J0 z^IY{UcEbj6LDwuMh7cH`H@9sVt1l1#8kEQ(LyT@&+K}(ReE`ux8gb0r6L_#bDUo^P z3Ka2lRo52Hdtl_%+pwVs14=q`{d^L58PsU@AMf(hENumaxM{7iAT5sYmWh@hQCO^ zK&}ijo=`VqZ#a3vE?`7QW0ZREL17ZvDfdqKGD?0D4fg{7v%|Yj&_jcKJAB)>=*RS* zto8p6@k%;&^ZF>hvXm&$PCuEp{uqw3VPG$9VMdW5$w-fy2CNNT>E;>ejBgy-m_6`& z97L1p{%srn@O_JQgFpa_#f(_)eb#YS>o>q3(*uB;uZb605(iqM$=NK{nHY=+X2*G) zO3-_Xh%aG}fHWe*==58zBwp%&`mge<8uq8;xIxOd=P%9EK!34^E9sk|(Zq1QSz-JVeP12Fp)-`F|KY$LPwUE?rku zY@OJ)Z9A!ojfzfeyJ9;zv2EM7ZQB)AR5xGa-tMn^bl)FmoIiVyJ@!~@%{}qXXD&Ns zPnfe5U+&ohKefILu_1mPfLGuapX@btta5C#gPB2cjk5m4T}Nfi+Vfka!Yd(L?-c~5 z#ZK4VeQEXNPc4r$K00Fg>g#_W!YZ)cJ?JTS<&68_$#cZT-ME`}tcwqg3#``3M3UPvn+pi}(VNNx6y zFIMVb6OwYU(2`at$gHba*qrMVUl8xk5z-z~fb@Q3Y_+aXuEKH}L+>eW__!IAd@V}L zkw#s%H0v2k5-=vh$^vPCuAi22Luu3uKTf6fPo?*nvj$9(u)4$6tvF-%IM+3pt*cgs z_?wW}J7VAA{_~!?))?s6{M=KPpVhg4fNuU*|3THp@_(q!b*hdl{fjRVFWtu^1dV(f z6iOux9hi&+UK=|%M*~|aqFK{Urfl!TA}UWY#`w(0P!KMe1Si{8|o))Gy6d7;!JQYhgMYmXl?3FfOM2nQGN@~Ap6(G z3+d_5y@=nkpKAhRqf{qQ~k7Z$v&l&@m7Ppt#FSNzKPZM z8LhihcE6i=<(#87E|Wr~HKvVWhkll4iSK$^mUHaxgy8*K$_Zj;zJ`L$naPj+^3zTi z-3NTaaKnD5FPY-~?Tq6QHnmDDRxu0mh0D|zD~Y=vv_qig5r-cIbCpxlju&8Sya)@{ zsmv6XUSi)@(?PvItkiZEeN*)AE~I_?#+Ja-r8$(XiXei2d@Hi7Rx8+rZZb?ZLa{;@*EHeRQ-YDadz~M*YCM4&F-r;E#M+@CSJMJ0oU|PQ^ z=E!HBJDMQ2TN*Y(Ag(ynAL8%^v;=~q?s4plA_hig&5Z0x_^Oab!T)@6kRN$)qEJ6E zNuQjg|G7iwU(N8pI@_6==0CL;lRh1dQF#wePhmu@hADFd3B5KIH#dx(2A zp~K&;Xw}F_N6CU~0)QpQk7s$a+LcTOj1%=WXI(U=Dv!6 z{#<#-)2+gCyyv=Jw?Ab#PVkxPDeH|sAxyG`|Ys}A$PW4TdBv%zDz z^?lwrxWR<%Vzc8Sgt|?FL6ej_*e&rhqJZ3Y>k=X(^dytycR;XDU16}Pc9Vn0>_@H+ zQ;a`GSMEG64=JRAOg%~L)x*w{2re6DVprNp+FcNra4VdNjiaF0M^*>CdPkt(m150rCue?FVdL0nFL$V%5y6N z%eLr5%YN7D06k5ji5*p4v$UMM)G??Q%RB27IvH7vYr_^3>1D-M66#MN8tWGw>WED} z5AhlsanO=STFYFs)Il_0i)l)f<8qn|$DW7ZXhf5xI;m+7M5-%P63XFQrG9>DMqHc} zsgNU9nR`b}E^mL5=@7<1_R~j@q_2U^3h|+`7YH-?C=vme1C3m`Fe0HC>pjt6f_XMh zy~-i-8R46QNYneL4t@)<0VU7({aUO?aH`z4V2+kxgH5pYD5)wCh75JqQY)jIPN=U6 z+qi8cGiOtXG2tXm;_CfpH9ESCz#i5B(42}rBJJF$jh<1sbpj^8&L;gzGHb8M{of+} zzF^8VgML2O9nxBW7AvdEt90vp+#kZxWf@A)o9f9}vKJy9NDBjBW zSt=Hcs=YWCwnfY1UYx*+msp{g!w0HC<_SM!VL1(I2PE?CS}r(eh?{I)mQixmo5^p# zV?2R!R@3GV6hwTCrfHiK#3Orj>I!GS2kYhk1S;aFBD_}u2v;0HYFq}Iz1Z(I4oca4 zxquja8$+8JW_EagDHf$a1OTk5S97umGSDaj)gH=fLs9>_=XvVj^Xj9a#gLdk=&3tl zfmK9MNnIX9v{?%xdw7568 zNrZ|roYs(vC4pHB5RJ8>)^*OuyNC>x7ad)tB_}3SgQ96+-JT^Qi<`xi=)_=$Skwv~ zdqeT9Pa`LYvCAn&rMa2aCDV(TMI#PA5g#RtV|CWpgDYRA^|55LLN^uNh*gOU>Z=a06qJ;$C9z8;n-Pq=qZnc1zUwJ@t)L;&NN+E5m zRkQ(SeM8=l-aoAKGKD>!@?mWTW&~)uF2PYUJ;tB^my`r9n|Ly~0c%diYzqs9W#FTjy?h&X3TnH zXqA{QI82sdjPO->f=^K^f>N`+B`q9&rN0bOXO79S&a9XX8zund(kW7O76f4dcWhIu zER`XSMSFbSL>b;Rp#`CuGJ&p$s~G|76){d?xSA5wVg##_O0DrmyEYppyBr%fyWbbv zp`K84JwRNP$d-pJ!Qk|(RMr?*!wi1if-9G#0p>>1QXKXWFy)eB3ai)l3601q8!9JC zvU#ZWWDNKq9g6fYs?JQ)Q4C_cgTy3FhgKb8s&m)DdmL5zhNK#8wWg!J*7G7Qhe9VU zha?^AQTDpYcuN!B+#1dE*X{<#!M%zfUQbj=zLE{dW0XeQ7-oIsGY6RbkP2re@Q{}r_$iiH0xU%iN*ST`A)-EH6eaZB$GA#v)cLi z*MpA(3bYk$oBDKAzu^kJoSUsDd|856DApz={3u8sbQV@JnRkp2nC|)m;#T=DvIL-O zI4vh;g7824l}*`_p@MT4+d`JZ2%6NQh=N9bmgJ#q!hK@_<`HQq3}Z8Ij>3%~<*= zcv=!oT#5xmeGI92lqm9sGVE%#X$ls;St|F#u!?5Y7syhx6q#MVRa&lBmmn%$C0QzU z);*ldgwwCmzM3uglr}!Z2G+?& zf%Dpo&mD%2ZcNFiN-Z0f;c_Q;A%f@>26f?{d1kxIJD}LxsQkB47SAdwinfMILZdN3 zfj^HmTzS3Ku5BxY>ANutS8WPQ-G>v4^_Qndy==P3pDm+Xc?>rUHl-4+^%Sp5atOja z2oP}ftw-rqnb}+khR3CrRg^ibi6?QYk1*i^;kQGirQ=uB9Sd1NTfT-Rbv;hqnY4neE5H1YUrjS2m+2&@uXiAo- zrKUX|Ohg7(6F(AoP~tj;NZlV#xsfo-5reuQHB$&EIAhyZk;bL;k9ouDmJNBAun;H& zn;Of1z_Qj`x&M;5X;{s~iGzBQTY^kv-k{ksbE*Dl%Qf%N@hQCfY~iUw!=F-*$cpf2 z3wix|aLBV0b;W@z^%7S{>9Z^T^fLOI68_;l@+Qzaxo`nAI8emTV@rRhEKZ z?*z_{oGdI~R*#<2{bkz$G~^Qef}$*4OYTgtL$e9q!FY7EqxJ2`zk6SQc}M(k(_MaV zSLJnTXw&@djco1~a(vhBl^&w=$fa9{Sru>7g8SHahv$&Bl(D@(Zwxo_3r=;VH|uc5 zi1Ny)J!<(KN-EcQ(xlw%PNwK8U>4$9nVOhj(y0l9X^vP1TA>r_7WtSExIOsz`nDOP zs}d>Vxb2Vo2e5x8p(n~Y5ggAyvib>d)6?)|E@{FIz?G3PVGLf7-;BxaP;c?7ddH$z zA+{~k^V=bZuXafOv!RPsE1GrR3J2TH9uB=Z67gok+u`V#}BR86hB1xl}H4v`F+mRfr zYhortD%@IGfh!JB(NUNSDh+qDz?4ztEgCz&bIG-Wg7w-ua4ChgQR_c+z8dT3<1?uX z*G(DKy_LTl*Ea!%v!RhpCXW1WJO6F`bgS-SB;Xw9#! z<*K}=#wVu9$`Yo|e!z-CPYH!nj7s9dEPr-E`DXUBu0n!xX~&|%#G=BeM?X@shQQMf zMvr2!y7p_gD5-!Lnm|a@z8Of^EKboZsTMk%5VsJEm>VsJ4W7Kv{<|#4f-qDE$D-W>gWT%z-!qXnDHhOvLk=?^a1*|0j z{pW{M0{#1VcR5;F!!fIlLVNh_Gj zbnW(_j?0c2q$EHIi@fSMR{OUKBcLr{Y&$hrM8XhPByyZaXy|dd&{hYQRJ9@Fn%h3p7*VQolBIV@Eq`=y%5BU~3RPa^$a?ixp^cCg z+}Q*X+CW9~TL29@OOng(#OAOd!)e$d%sr}^KBJ-?-X&|4HTmtemxmp?cT3uA?md4% zT8yZ0U;6Rg6JHy3fJae{6TMGS?ZUX6+gGTT{Q{)SI85$5FD{g-eR%O0KMpWPY`4@O zx!hen1*8^E(*}{m^V_?}(b5k3hYo=T+$&M32+B`}81~KKZhY;2H{7O-M@vbCzuX0n zW-&HXeyr1%I3$@ns-V1~Lb@wIpkmx|8I~ob1Of7i6BTNysEwI}=!nU%q7(V_^+d*G z7G;07m(CRTJup!`cdYi93r^+LY+`M*>aMuHJm(A8_O8C#A*$!Xvddgpjx5)?_EB*q zgE8o5O>e~9IiSC@WtZpF{4Bj2J5eZ>uUzY%TgWF7wdDE!fSQIAWCP)V{;HsU3ap?4 znRsiiDbtN7i9hapO;(|Ew>Ip2TZSvK9Z^N21%J?OiA_&eP1{(Pu_=%JjKy|HOardq ze?zK^K zA%sjF64*Wufad%H<) z^|t>e*h+Z1#l=5wHexzt9HNDNXgM=-OPWKd^5p!~%SIl>Fo&7BvNpbf8{NXmH)o{r zO=aBJ;meX1^{O%q;kqdw*5k!Y7%t_30 zy{nGRVc&5qt?dBwLs+^Sfp;f`YVMSB#C>z^a9@fpZ!xb|b-JEz1LBX7ci)V@W+kvQ89KWA0T~Lj$aCcfW#nD5bt&Y_< z-q{4ZXDqVg?|0o)j1%l0^_it0WF*LCn-+)c!2y5yS7aZIN$>0LqNnkujV*YVes(v$ zY@_-!Q;!ZyJ}Bg|G-~w@or&u0RO?vlt5*9~yeoPV_UWrO2J54b4#{D(D>jF(R88u2 zo#B^@iF_%S>{iXSol8jpmsZuJ?+;epg>k=$d`?GSegAVp3n$`GVDvK${N*#L_1`44 z{w0fL{2%)0|E+qgZtjX}itZz^KJt4Y;*8uSK}Ft38+3>j|K(PxIXXR-t4VopXo#9# zt|F{LWr-?34y`$nLBVV_*UEgA6AUI65dYIbqpNq9cl&uLJ0~L}<=ESlOm?Y-S@L*d z<7vt}`)TW#f%Rp$Q}6@3=j$7Tze@_uZO@aMn<|si{?S}~maII`VTjs&?}jQ4_cut9$)PEqMukwoXobzaKx^MV z2fQwl+;LSZ$qy%Tys0oo^K=jOw$!YwCv^ei4NBVauL)tN%=wz9M{uf{IB(BxK|lT*pFkmNK_1tV`nb%jH=a0~VNq2RCKY(rG7jz!-D^k)Ec)yS%17pE#o6&eY+ z^qN(hQT$}5F(=4lgNQhlxj?nB4N6ntUY6(?+R#B?W3hY_a*)hnr4PA|vJ<6p`K3Z5Hy z{{8(|ux~NLUW=!?9Qe&WXMTAkQnLXg(g=I@(VG3{HE13OaUT|DljyWXPs2FE@?`iU z4GQlM&Q=T<4&v@Fe<+TuXiZQT3G~vZ&^POfmI1K2h6t4eD}Gk5XFGpbj1n_g*{qmD6Xy z`6Vv|lLZtLmrnv*{Q%xxtcWVj3K4M%$bdBk_a&ar{{GWyu#ljM;dII;*jP;QH z#+^o-A4np{@|Mz+LphTD0`FTyxYq#wY)*&Ls5o{0z9yg2K+K7ZN>j1>N&;r+Z`vI| zDzG1LJZ+sE?m?>x{5LJx^)g&pGEpY=fQ-4}{x=ru;}FL$inHemOg%|R*ZXPodU}Kh zFEd5#+8rGq$Y<_?k-}r5zgQ3jRV=ooHiF|@z_#D4pKVEmn5CGV(9VKCyG|sT9nc=U zEoT67R`C->KY8Wp-fEcjjFm^;Cg(ls|*ABVHq8clBE(;~K^b+S>6uj70g? z&{XQ5U&!Z$SO7zfP+y^8XBbiu*Cv-yJG|l-oe*!s5$@Lh_KpxYL2sx`B|V=dETN>5K+C+CU~a_3cI8{vbu$TNVdGf15*>D zz@f{zIlorkY>TRh7mKuAlN9A0>N>SV`X)+bEHms=mfYTMWt_AJtz_h+JMmrgH?mZt zm=lfdF`t^J*XLg7v+iS)XZROygK=CS@CvUaJo&w2W!Wb@aa?~Drtf`JV^cCMjngVZ zv&xaIBEo8EYWuML+vxCpjjY^s1-ahXJzAV6hTw%ZIy!FjI}aJ+{rE&u#>rs)vzuxz z+$5z=7W?zH2>Eb32dvgHYZtCAf!=OLY-pb4>Ae79rd68E2LkVPj-|jFeyqtBCCwiW zkB@kO_(3wFq)7qwV}bA=zD!*@UhT`geq}ITo%@O(Z5Y80nEX~;0-8kO{oB6|(4fQh z);73T!>3@{ZobPwRv*W?7m0Ml9GmJBCJd&6E?hdj9lV= z4flNfsc(J*DyPv?RCOx!MSvk(M952PJ-G|JeVxWVjN~SNS6n-_Ge3Q;TGE;EQvZg86%wZ`MB zSMQua(i*R8a75!6$QRO^(o7sGoomb+Y{OMy;m~Oa`;P9Yqo>?bJAhqXxLr7_3g_n>f#UVtxG!^F#1+y@os6x(sg z^28bsQ@8rw%Gxk-stAEPRbv^}5sLe=VMbkc@Jjimqjvmd!3E7+QnL>|(^3!R} zD-l1l7*Amu@j+PWLGHXXaFG0Ct2Q=}5YNUxEQHCAU7gA$sSC<5OGylNnQUa>>l%sM zyu}z6i&({U@x^hln**o6r2s-(C-L50tQvz|zHTqW!ir?w&V23tuYEDJVV#5pE|OJu z7^R!A$iM$YCe?8n67l*J-okwfZ+ZTkGvZ)tVPfR;|3gyFjF)8V zyXXN=!*bpyRg9#~Bg1+UDYCt0 ztp4&?t1X0q>uz;ann$OrZs{5*r`(oNvw=$7O#rD|Wuv*wIi)4b zGtq4%BX+kkagv3F9Id6~-c+1&?zny%w5j&nk9SQfo0k4LhdSU_kWGW7axkfpgR`8* z!?UTG*Zi_baA1^0eda8S|@&F z{)Rad0kiLjB|=}XFJhD(S3ssKlveFFmkN{Vl^_nb!o5M!RC=m)V&v2%e?ZoRC@h3> zJ(?pvToFd`*Zc@HFPL#=otWKwtuuQ_dT-Hr{S%pQX<6dqVJ8;f(o)4~VM_kEQkMR+ zs1SCVi~k>M`u1u2xc}>#D!V&6nOOh-E$O&SzYrjJdZpaDv1!R-QGA141WjQe2s0J~ zQ;AXG)F+K#K8_5HVqRoRM%^EduqOnS(j2)|ctA6Q^=|s_WJYU;Z%5bHp08HPL`YF2 zR)Ad1z{zh`=sDs^&V}J z%$Z$!jd7BY5AkT?j`eqMs%!Gm@T8)4w3GYEX~IwgE~`d|@T{WYHkudy(47brgHXx& zBL1yFG6!!!VOSmDxBpefy2{L_u5yTwja&HA!mYA#wg#bc-m%~8aRR|~AvMnind@zs zy>wkShe5&*un^zvSOdlVu%kHsEo>@puMQ`b1}(|)l~E{5)f7gC=E$fP(FC2=F<^|A zxeIm?{EE!3sO!Gr7e{w)Dx(uU#3WrFZ>ibmKSQ1tY?*-Nh1TDHLe+k*;{Rp!Bmd_m zb#^kh`Y*8l|9Cz2e{;RL%_lg{#^Ar+NH|3z*Zye>!alpt{z;4dFAw^^H!6ING*EFc z_yqhr8d!;%nHX9AKhFQZBGrSzfzYCi%C!(Q5*~hX>)0N`vbhZ@N|i;_972WSx*>LH z87?en(;2_`{_JHF`Sv6Wlps;dCcj+8IJ8ca6`DsOQCMb3n# z3)_w%FuJ3>fjeOOtWyq)ag|PmgQbC-s}KRHG~enBcIwqIiGW8R8jFeBNY9|YswRY5 zjGUxdGgUD26wOpwM#8a!Nuqg68*dG@VM~SbOroL_On0N6QdT9?)NeB3@0FCC?Z|E0 z6TPZj(AsPtwCw>*{eDEE}Gby>0q{*lI+g2e&(YQrsY&uGM{O~}(oM@YWmb*F zA0^rr5~UD^qmNljq$F#ARXRZ1igP`MQx4aS6*MS;Ot(1L5jF2NJ;de!NujUYg$dr# z=TEL_zTj2@>ZZN(NYCeVX2==~=aT)R30gETO{G&GM4XN<+!&W&(WcDP%oL8PyIVUC zs5AvMgh6qr-2?^unB@mXK*Dbil^y-GTC+>&N5HkzXtozVf93m~xOUHn8`HpX=$_v2 z61H;Z1qK9o;>->tb8y%#4H)765W4E>TQ1o0PFj)uTOPEvv&}%(_mG0ISmyhnQV33Z$#&yd{ zc{>8V8XK$3u8}04CmAQ#I@XvtmB*s4t8va?-IY4@CN>;)mLb_4!&P3XSw4pA_NzDb zORn!blT-aHk1%Jpi>T~oGLuh{DB)JIGZ9KOsciWs2N7mM1JWM+lna4vkDL?Q)z_Ct z`!mi0jtr+4*L&N7jk&LodVO#6?_qRGVaucqVB8*us6i3BTa^^EI0x%EREQSXV@f!lak6Wf1cNZ8>*artIJ(ADO*=<-an`3zB4d*oO*8D1K!f z*A@P1bZCNtU=p!742MrAj%&5v%Xp_dSX@4YCw%F|%Dk=u|1BOmo)HsVz)nD5USa zR~??e61sO(;PR)iaxK{M%QM_rIua9C^4ppVS$qCT9j2%?*em?`4Z;4@>I(c%M&#cH z>4}*;ej<4cKkbCAjjDsyKS8rIm90O)Jjgyxj5^venBx&7B!xLmzxW3jhj7sR(^3Fz z84EY|p1NauwXUr;FfZjdaAfh%ivyp+^!jBjJuAaKa!yCq=?T_)R!>16?{~p)FQ3LDoMyG%hL#pR!f@P%*;#90rs_y z@9}@r1BmM-SJ#DeuqCQk=J?ixDSwL*wh|G#us;dd{H}3*-Y7Tv5m=bQJMcH+_S`zVtf;!0kt*(zwJ zs+kedTm!A}cMiM!qv(c$o5K%}Yd0|nOd0iLjus&;s0Acvoi-PFrWm?+q9f^FslxGi z6ywB`QpL$rJzWDg(4)C4+!2cLE}UPCTBLa*_=c#*$b2PWrRN46$y~yST3a2$7hEH= zNjux+wna^AzQ=KEa_5#9Ph=G1{S0#hh1L3hQ`@HrVnCx{!fw_a0N5xV(iPdKZ-HOM za)LdgK}1ww*C_>V7hbQnTzjURJL`S%`6nTHcgS+dB6b_;PY1FsrdE8(2K6FN>37!62j_cBlui{jO^$dPkGHV>pXvW0EiOA zqW`YaSUBWg_v^Y5tPJfWLcLpsA8T zG)!x>pKMpt!lv3&KV!-um= zKCir6`bEL_LCFx4Z5bAFXW$g3Cq`?Q%)3q0r852XI*Der*JNuKUZ`C{cCuu8R8nkt z%pnF>R$uY8L+D!V{s^9>IC+bmt<05h**>49R*#vpM*4i0qRB2uPbg8{{s#9yC;Z18 zD7|4m<9qneQ84uX|J&f-g8a|nFKFt34@Bt{CU`v(SYbbn95Q67*)_Esl_;v291s=9 z+#2F2apZU4Tq=x+?V}CjwD(P=U~d<=mfEFuyPB`Ey82V9G#Sk8H_Ob_RnP3s?)S_3 zr%}Pb?;lt_)Nf>@zX~D~TBr;-LS<1I##8z`;0ZCvI_QbXNh8Iv)$LS=*gHr;}dgb=w5$3k2la1keIm|=7<-JD>)U%=Avl0Vj@+&vxn zt-)`vJxJr88D&!}2^{GPXc^nmRf#}nb$4MMkBA21GzB`-Or`-3lq^O^svO7Vs~FdM zv`NvzyG+0T!P8l_&8gH|pzE{N(gv_tgDU7SWeiI-iHC#0Ai%Ixn4&nt{5y3(GQs)i z&uA;~_0shP$0Wh0VooIeyC|lak__#KVJfxa7*mYmZ22@(<^W}FdKjd*U1CqSjNKW% z*z$5$=t^+;Ui=MoDW~A7;)Mj%ibX1_p4gu>RC}Z_pl`U*{_z@+HN?AF{_W z?M_X@o%w8fgFIJ$fIzBeK=v#*`mtY$HC3tqw7q^GCT!P$I%=2N4FY7j9nG8aIm$c9 zeKTxVKN!UJ{#W)zxW|Q^K!3s;(*7Gbn;e@pQBCDS(I|Y0euK#dSQ_W^)sv5pa%<^o zyu}3d?Lx`)3-n5Sy9r#`I{+t6x%I%G(iewGbvor&I^{lhu-!#}*Q3^itvY(^UWXgvthH52zLy&T+B)Pw;5>4D6>74 zO_EBS)>l!zLTVkX@NDqyN2cXTwsUVao7$HcqV2%t$YzdAC&T)dwzExa3*kt9d(}al zA~M}=%2NVNUjZiO7c>04YH)sRelXJYpWSn^aC$|Ji|E13a^-v2MB!Nc*b+=KY7MCm zqIteKfNkONq}uM;PB?vvgQvfKLPMB8u5+Am=d#>g+o&Ysb>dX9EC8q?D$pJH!MTAqa=DS5$cb+;hEvjwVfF{4;M{5U&^_+r zvZdu_rildI!*|*A$TzJ&apQWV@p{!W`=?t(o0{?9y&vM)V)ycGSlI3`;ps(vf2PUq zX745#`cmT*ra7XECC0gKkpu2eyhFEUb?;4@X7weEnLjXj_F~?OzL1U1L0|s6M+kIhmi%`n5vvDALMagi4`wMc=JV{XiO+^ z?s9i7;GgrRW{Mx)d7rj)?(;|b-`iBNPqdwtt%32se@?w4<^KU&585_kZ=`Wy^oLu9 z?DQAh5z%q;UkP48jgMFHTf#mj?#z|=w= z(q6~17Vn}P)J3M?O)x))%a5+>TFW3No~TgP;f}K$#icBh;rSS+R|}l鯊%1Et zwk~hMkhq;MOw^Q5`7oC{CUUyTw9x>^%*FHx^qJw(LB+E0WBX@{Ghw;)6aA-KyYg8p z7XDveQOpEr;B4je@2~usI5BlFadedX^ma{b{ypd|RNYqo#~d*mj&y`^iojR}s%~vF z(H!u`yx68D1Tj(3(m;Q+Ma}s2n#;O~bcB1`lYk%Irx60&-nWIUBr2x&@}@76+*zJ5 ze&4?q8?m%L9c6h=J$WBzbiTf1Z-0Eb5$IZs>lvm$>1n_Mezp*qw_pr8<8$6f)5f<@ zyV#tzMCs51nTv_5ca`x`yfE5YA^*%O_H?;tWYdM_kHPubA%vy47i=9>Bq) zRQ&0UwLQHeswmB1yP)+BiR;S+Vc-5TX84KUA;8VY9}yEj0eESSO`7HQ4lO z4(CyA8y1G7_C;6kd4U3K-aNOK!sHE}KL_-^EDl(vB42P$2Km7$WGqNy=%fqB+ zSLdrlcbEH=T@W8V4(TgoXZ*G1_aq$K^@ek=TVhoKRjw;HyI&coln|uRr5mMOy2GXP zwr*F^Y|!Sjr2YQXX(Fp^*`Wk905K%$bd03R4(igl0&7IIm*#f`A!DCarW9$h$z`kYk9MjjqN&5-DsH@8xh63!fTNPxWsFQhNv z#|3RjnP$Thdb#Ys7M+v|>AHm0BVTw)EH}>x@_f4zca&3tXJhTZ8pO}aN?(dHo)44Z z_5j+YP=jMlFqwvf3lq!57-SAuRV2_gJ*wsR_!Y4Z(trO}0wmB9%f#jNDHPdQGHFR; zZXzS-$`;7DQ5vF~oSgP3bNV$6Z(rwo6W(U07b1n3UHqml>{=6&-4PALATsH@Bh^W? z)ob%oAPaiw{?9HfMzpGb)@Kys^J$CN{uf*HX?)z=g`J(uK1YO^8~s1(ZIbG%Et(|q z$D@_QqltVZu9Py4R0Ld8!U|#`5~^M=b>fnHthzKBRr=i+w@0Vr^l|W;=zFT#PJ?*a zbC}G#It}rQP^Ait^W&aa6B;+0gNvz4cWUMzpv(1gvfw-X4xJ2Sv;mt;zb2Tsn|kSS zo*U9N?I{=-;a-OybL4r;PolCfiaL=y@o9{%`>+&FI#D^uy#>)R@b^1ue&AKKwuI*` zx%+6r48EIX6nF4o;>)zhV_8(IEX})NGU6Vs(yslrx{5fII}o3SMHW7wGtK9oIO4OM&@@ECtXSICLcPXoS|{;=_yj>hh*%hP27yZwOmj4&Lh z*Nd@OMkd!aKReoqNOkp5cW*lC)&C$P?+H3*%8)6HcpBg&IhGP^77XPZpc%WKYLX$T zsSQ$|ntaVVOoRat$6lvZO(G-QM5s#N4j*|N_;8cc2v_k4n6zx9c1L4JL*83F-C1Cn zaJhd;>rHXB%%ZN=3_o3&Qd2YOxrK~&?1=UuN9QhL$~OY-Qyg&})#ez*8NpQW_*a&kD&ANjedxT0Ar z<6r{eaVz3`d~+N~vkMaV8{F?RBVemN(jD@S8qO~L{rUw#=2a$V(7rLE+kGUZ<%pdr z?$DP|Vg#gZ9S}w((O2NbxzQ^zTot=89!0^~hE{|c9q1hVzv0?YC5s42Yx($;hAp*E zyoGuRyphQY{Q2ee0Xx`1&lv(l-SeC$NEyS~8iil3_aNlnqF_G|;zt#F%1;J)jnPT& z@iU0S;wHJ2$f!juqEzPZeZkjcQ+Pa@eERSLKsWf=`{R@yv7AuRh&ALRTAy z8=g&nxsSJCe!QLchJ=}6|LshnXIK)SNd zRkJNiqHwKK{SO;N5m5wdL&qK`v|d?5<4!(FAsDxR>Ky#0#t$8XCMptvNo?|SY?d8b z`*8dVBlXTUanlh6n)!EHf2&PDG8sXNAt6~u-_1EjPI1|<=33T8 zEnA00E!`4Ave0d&VVh0e>)Dc}=FfAFxpsC1u9ATfQ`-Cu;mhc8Z>2;uyXtqpLb7(P zd2F9<3cXS} znMg?{&8_YFTGRQZEPU-XPq55%51}RJpw@LO_|)CFAt62-_!u_Uq$csc+7|3+TV_!h z+2a7Yh^5AA{q^m|=KSJL+w-EWDBc&I_I1vOr^}P8i?cKMhGy$CP0XKrQzCheG$}G# zuglf8*PAFO8%xop7KSwI8||liTaQ9NCAFarr~psQt)g*pC@9bORZ>m`_GA`_K@~&% zijH0z;T$fd;-Liw8%EKZas>BH8nYTqsK7F;>>@YsE=Rqo?_8}UO-S#|6~CAW0Oz1} z3F(1=+#wrBJh4H)9jTQ_$~@#9|Bc1Pd3rAIA_&vOpvvbgDJOM(yNPhJJq2%PCcMaI zrbe~toYzvkZYQ{ea(Wiyu#4WB#RRN%bMe=SOk!CbJZv^m?Flo5p{W8|0i3`hI3Np# zvCZqY%o258CI=SGb+A3yJe~JH^i{uU`#U#fvSC~rWTq+K`E%J@ zasU07&pB6A4w3b?d?q}2=0rA#SA7D`X+zg@&zm^iA*HVi z009#PUH<%lk4z~p^l0S{lCJk1Uxi=F4e_DwlfHA`X`rv(|JqWKAA5nH+u4Da+E_p+ zVmH@lg^n4ixs~*@gm_dgQ&eDmE1mnw5wBz9Yg?QdZwF|an67Xd*x!He)Gc8&2!urh z4_uXzbYz-aX)X1>&iUjGp;P1u8&7TID0bTH-jCL&Xk8b&;;6p2op_=y^m@Nq*0{#o!!A;wNAFG@0%Z9rHo zcJs?Th>Ny6+hI`+1XoU*ED$Yf@9f91m9Y=#N(HJP^Y@ZEYR6I?oM{>&Wq4|v0IB(p zqX#Z<_3X(&{H+{3Tr|sFy}~=bv+l=P;|sBz$wk-n^R`G3p0(p>p=5ahpaD7>r|>pm zv;V`_IR@tvZreIuv2EM7ZQHhO+qUgw#kOs%*ekY^n|=1#x9&c;Ro&I~{rG-#_3ZB1 z?|9}IFdbP}^DneP*T-JaoYHt~r@EfvnPE5EKUwIxjPbsr$% zfWW83pgWST7*B(o=kmo)74$8UU)v0{@4DI+ci&%=#90}!CZz|rnH+Mz=HN~97G3~@ z;v5(9_2%eca(9iu@J@aqaMS6*$TMw!S>H(b z4(*B!|H|8&EuB%mITr~O?vVEf%(Gr)6E=>H~1VR z&1YOXluJSG1!?TnT)_*YmJ*o_Q@om~(GdrhI{$Fsx_zrkupc#y{DK1WOUR>tk>ZE) ziOLoBkhZZ?0Uf}cm>GsA>Rd6V8@JF)J*EQlQ<=JD@m<)hyElXR0`pTku*3MU`HJn| zIf7$)RlK^pW-$87U;431;Ye4Ie+l~_B3*bH1>*yKzn23cH0u(i5pXV! z4K?{3oF7ZavmmtTq((wtml)m6i)8X6ot_mrE-QJCW}Yn!(3~aUHYG=^fA<^~`e3yc z-NWTb{gR;DOUcK#zPbN^D*e=2eR^_!(!RKkiwMW@@yYtEoOp4XjOGgzi`;=8 zi3`Ccw1%L*y(FDj=C7Ro-V?q)-%p?Ob2ZElu`eZ99n14-ZkEV#y5C+{Pq87Gu3&>g zFy~Wk7^6v*)4pF3@F@rE__k3ikx(hzN3@e*^0=KNA6|jC^B5nf(XaoQaZN?Xi}Rn3 z$8&m*KmWvPaUQ(V<#J+S&zO|8P-#!f%7G+n_%sXp9=J%Z4&9OkWXeuZN}ssgQ#Tcj z8p6ErJQJWZ+fXLCco=RN8D{W%+*kko*2-LEb))xcHwNl~Xmir>kmAxW?eW50Osw3# zki8Fl$#fvw*7rqd?%E?}ZX4`c5-R&w!Y0#EBbelVXSng+kUfeUiqofPehl}$ormli zg%r)}?%=?_pHb9`Cq9Z|B`L8b>(!+8HSX?`5+5mm81AFXfnAt1*R3F z%b2RPIacKAddx%JfQ8l{3U|vK@W7KB$CdLqn@wP^?azRks@x8z59#$Q*7q!KilY-P zHUbs(IFYRGG1{~@RF;Lqyho$~7^hNC`NL3kn^Td%A7dRgr_&`2k=t+}D-o9&C!y^? z6MsQ=tc3g0xkK(O%DzR9nbNB(r@L;1zQrs8mzx&4dz}?3KNYozOW5;=w18U6$G4U2 z#2^qRLT*Mo4bV1Oeo1PKQ2WQS2Y-hv&S|C7`xh6=Pj7MNLC5K-zokZ67S)C;(F0Dd zloDK2_o1$Fmza>EMj3X9je7e%Q`$39Dk~GoOj89-6q9|_WJlSl!!+*{R=tGp z8u|MuSwm^t7K^nUe+^0G3dkGZr3@(X+TL5eah)K^Tn zXEtHmR9UIaEYgD5Nhh(s*fcG_lh-mfy5iUF3xxpRZ0q3nZ=1qAtUa?(LnT9I&~uxX z`pV?+=|-Gl(kz?w!zIieXT}o}7@`QO>;u$Z!QB${a08_bW0_o@&9cjJUXzVyNGCm8 zm=W+$H!;_Kzp6WQqxUI;JlPY&`V}9C$8HZ^m?NvI*JT@~BM=()T()Ii#+*$y@lTZBkmMMda>7s#O(1YZR+zTG@&}!EXFG{ zEWPSDI5bFi;NT>Yj*FjH((=oe%t%xYmE~AGaOc4#9K_XsVpl<4SP@E!TgC0qpe1oi zNpxU2b0(lEMcoibQ-G^cxO?ySVW26HoBNa;n0}CWL*{k)oBu1>F18X061$SP{Gu67 z-v-Fa=Fl^u3lnGY^o5v)Bux}bNZ~ z5pL+7F_Esoun8^5>z8NFoIdb$sNS&xT8_|`GTe8zSXQzs4r^g0kZjg(b0bJvz`g<70u9Z3fQILX1Lj@;@+##bP|FAOl)U^9U>0rx zGi)M1(Hce)LAvQO-pW!MN$;#ZMX?VE(22lTlJrk#pB0FJNqVwC+*%${Gt#r_tH9I_ z;+#)#8cWAl?d@R+O+}@1A^hAR1s3UcW{G+>;X4utD2d9X(jF555}!TVN-hByV6t+A zdFR^aE@GNNgSxxixS2p=on4(+*+f<8xrwAObC)D5)4!z7)}mTpb7&ofF3u&9&wPS< zB62WHLGMhmrmOAgmJ+|c>qEWTD#jd~lHNgT0?t-p{T=~#EMcB| z=AoDKOL+qXCfk~F)-Rv**V}}gWFl>liXOl7Uec_8v)(S#av99PX1sQIVZ9eNLkhq$ zt|qu0b?GW_uo}TbU8!jYn8iJeIP)r@;!Ze_7mj{AUV$GEz6bDSDO=D!&C9!M@*S2! zfGyA|EPlXGMjkH6x7OMF?gKL7{GvGfED=Jte^p=91FpCu)#{whAMw`vSLa`K#atdN zThnL+7!ZNmP{rc=Z>%$meH;Qi1=m1E3Lq2D_O1-X5C;!I0L>zur@tPAC9*7Jeh)`;eec}1`nkRP(%iv-`N zZ@ip-g|7l6Hz%j%gcAM}6-nrC8oA$BkOTz^?dakvX?`^=ZkYh%vUE z9+&)K1UTK=ahYiaNn&G5nHUY5niLGus@p5E2@RwZufRvF{@$hW{;{3QhjvEHMvduO z#Wf-@oYU4ht?#uP{N3utVzV49mEc9>*TV_W2TVC`6+oI)zAjy$KJrr=*q##&kobiQ z1vNbya&OVjK`2pdRrM?LuK6BgrLN7H_3m z!qpNKg~87XgCwb#I=Q&0rI*l$wM!qTkXrx1ko5q-f;=R2fImRMwt5Qs{P*p^z@9ex z`2#v(qE&F%MXlHpdO#QEZyZftn4f05ab^f2vjxuFaat2}jke{j?5GrF=WYBR?gS(^ z9SBiNi}anzBDBRc+QqizTTQuJrzm^bNA~A{j%ugXP7McZqJ}65l10({wk++$=e8O{ zxWjG!Qp#5OmI#XRQQM?n6?1ztl6^D40hDJr?4$Wc&O_{*OfMfxe)V0=e{|N?J#fgE>j9jAajze$iN!*yeF%jJU#G1c@@rm zolGW!j?W6Q8pP=lkctNFdfgUMg92wlM4E$aks1??M$~WQfzzzXtS)wKrr2sJeCN4X zY(X^H_c^PzfcO8Bq(Q*p4c_v@F$Y8cHLrH$`pJ2}=#*8%JYdqsqnGqEdBQMpl!Ot04tUGSXTQdsX&GDtjbWD=prcCT9(+ z&UM%lW%Q3yrl1yiYs;LxzIy>2G}EPY6|sBhL&X&RAQrSAV4Tlh2nITR?{6xO9ujGu zr*)^E`>o!c=gT*_@6S&>0POxcXYNQd&HMw6<|#{eSute2C3{&h?Ah|cw56-AP^f8l zT^kvZY$YiH8j)sk7_=;gx)vx-PW`hbSBXJGCTkpt;ap(}G2GY=2bbjABU5)ty%G#x zAi07{Bjhv}>OD#5zh#$0w;-vvC@^}F! z#X$@)zIs1L^E;2xDAwEjaXhTBw2<{&JkF*`;c3<1U@A4MaLPe{M5DGGkL}#{cHL%* zYMG+-Fm0#qzPL#V)TvQVI|?_M>=zVJr9>(6ib*#z8q@mYKXDP`k&A4A};xMK0h=yrMp~JW{L?mE~ph&1Y1a#4%SO)@{ zK2juwynUOC)U*hVlJU17%llUxAJFuKZh3K0gU`aP)pc~bE~mM!i1mi!~LTf>1Wp< zuG+ahp^gH8g8-M$u{HUWh0m^9Rg@cQ{&DAO{PTMudV6c?ka7+AO& z746QylZ&Oj`1aqfu?l&zGtJnpEQOt;OAFq19MXTcI~`ZcoZmyMrIKDFRIDi`FH)w; z8+*8tdevMDv*VtQi|e}CnB_JWs>fhLOH-+Os2Lh!&)Oh2utl{*AwR)QVLS49iTp{6 z;|172Jl!Ml17unF+pd+Ff@jIE-{Oxv)5|pOm@CkHW?{l}b@1>Pe!l}VccX#xp@xgJ zyE<&ep$=*vT=}7vtvif0B?9xw_3Gej7mN*dOHdQPtW5kA5_zGD zpA4tV2*0E^OUimSsV#?Tg#oiQ>%4D@1F5@AHwT8Kgen$bSMHD3sXCkq8^(uo7CWk`mT zuslYq`6Yz;L%wJh$3l1%SZv#QnG3=NZ=BK4yzk#HAPbqXa92;3K5?0kn4TQ`%E%X} z&>Lbt!!QclYKd6+J7Nl@xv!uD%)*bY-;p`y^ZCC<%LEHUi$l5biu!sT3TGGSTPA21 zT8@B&a0lJHVn1I$I3I1I{W9fJAYc+8 zVj8>HvD}&O`TqU2AAb={?eT;0hyL(R{|h23=4fDSZKC32;wWxsVj`P z3J3{M$PwdH!ro*Cn!D&=jnFR>BNGR<<|I8CI@+@658Dy(lhqbhXfPTVecY@L8%`3Q z1Fux2w?2C3th60jI~%OC9BtpNF$QPqcG+Pz96qZJ71_`0o0w_q7|h&O>`6U+^BA&5 zXd5Zp1Xkw~>M%RixTm&OqpNl8Q+ue=92Op_>T~_9UON?ZM2c0aGm=^A4ejrXj3dV9 zhh_bCt-b9`uOX#cFLj!vhZ#lS8Tc47OH>*)y#{O9?AT~KR9LntM|#l#Dlm^8{nZdk zjMl#>ZM%#^nK2TPzLcKxqx24P7R1FPlBy7LSBrRvx>fE$9AJ;7{PQm~^LBX^k#6Zq zw*Z(zJC|`!6_)EFR}8|n8&&Rbj8y028~P~sFXBFRt+tmqH-S3<%N;C&WGH!f3{7cm zy_fCAb9@HqaXa1Y5vFbxWf%#zg6SI$C+Uz5=CTO}e|2fjWkZ;Dx|84Ow~bkI=LW+U zuq;KSv9VMboRvs9)}2PAO|b(JCEC_A0wq{uEj|3x@}*=bOd zwr{TgeCGG>HT<@Zeq8y}vTpwDg#UBvD)BEs@1KP$^3$sh&_joQPn{hjBXmLPJ{tC) z*HS`*2+VtJO{|e$mM^|qv1R*8i(m1`%)}g=SU#T#0KlTM2RSvYUc1fP+va|4;5}Bfz98UvDCpq7}+SMV&;nX zQw~N6qOX{P55{#LQkrZk(e5YGzr|(B;Q;ju;2a`q+S9bsEH@i1{_Y0;hWYn1-79jl z5c&bytD*k)GqrVcHn6t-7kinadiD>B{Tl`ZY@`g|b~pvHh5!gKP4({rp?D0aFd_cN zhHRo4dd5^S6ViN(>(28qZT6E>??aRhc($kP`>@<+lIKS5HdhjVU;>f7<4))E*5|g{ z&d1}D|vpuV^eRj5j|xx9nwaCxXFG?Qbjn~_WSy=N}P0W>MP zG-F%70lX5Xr$a)2i6?i|iMyM|;Jtf*hO?=Jxj12oz&>P=1#h~lf%#fc73M2_(SUM- zf&qnjS80|_Y0lDgl&I?*eMumUklLe_=Td!9G@eR*tcPOgIShJipp3{A10u(4eT~DY zHezEj8V+7m!knn7)W!-5QI3=IvC^as5+TW1@Ern@yX| z7Nn~xVx&fGSr+L%4iohtS3w^{-H1A_5=r&x8}R!YZvp<2T^YFvj8G_vm}5q;^UOJf ztl=X3iL;;^^a#`t{Ae-%5Oq{?M#s6Npj+L(n-*LMI-yMR{)qki!~{5z{&`-iL}lgW zxo+tnvICK=lImjV$Z|O_cYj_PlEYCzu-XBz&XC-JVxUh9;6*z4fuBG+H{voCC;`~GYV|hj%j_&I zDZCj>Q_0RCwFauYoVMiUSB+*Mx`tg)bWmM^SwMA+?lBg12QUF_x2b)b?qb88K-YUd z0dO}3k#QirBV<5%jL$#wlf!60dizu;tsp(7XLdI=eQs?P`tOZYMjVq&jE)qK*6B^$ zBe>VvH5TO>s>izhwJJ$<`a8fakTL!yM^Zfr2hV9`f}}VVUXK39p@G|xYRz{fTI+Yq z20d=)iwjuG9RB$%$^&8#(c0_j0t_C~^|n+c`Apu|x7~;#cS-s=X1|C*YxX3ailhg_|0`g!E&GZJEr?bh#Tpb8siR=JxWKc{#w7g zWznLwi;zLFmM1g8V5-P#RsM@iX>TK$xsWuujcsVR^7TQ@!+vCD<>Bk9tdCo7Mzgq5 zv8d>dK9x8C@Qoh01u@3h0X_`SZluTb@5o;{4{{eF!-4405x8X7hewZWpz z2qEi4UTiXTvsa(0X7kQH{3VMF>W|6;6iTrrYD2fMggFA&-CBEfSqPlQDxqsa>{e2M z(R5PJ7uOooFc|9GU0ELA%m4&4Ja#cQpNw8i8ACAoK6?-px+oBl_yKmenZut#Xumjz zk8p^OV2KY&?5MUwGrBOo?ki`Sxo#?-Q4gw*Sh0k`@ zFTaYK2;}%Zk-68`#5DXU$2#=%YL#S&MTN8bF+!J2VT6x^XBci6O)Q#JfW{YMz) zOBM>t2rSj)n#0a3cjvu}r|k3od6W(SN}V-cL?bi*Iz-8uOcCcsX0L>ZXjLqk zZu2uHq5B|Kt>e+=pPKu=1P@1r9WLgYFq_TNV1p9pu0erHGd!+bBp!qGi+~4A(RsYN@CyXNrC&hxGmW)u5m35OmWwX`I+0yByglO`}HC4nGE^_HUs^&A(uaM zKPj^=qI{&ayOq#z=p&pnx@@k&I1JI>cttJcu@Ihljt?6p^6{|ds`0MoQwp+I{3l6` zB<9S((RpLG^>=Kic`1LnhpW2=Gu!x`m~=y;A`Qk!-w`IN;S8S930#vBVMv2vCKi}u z6<-VPrU0AnE&vzwV(CFC0gnZYcpa-l5T0ZS$P6(?9AM;`Aj~XDvt;Jua=jIgF=Fm? zdp=M$>`phx%+Gu};;-&7T|B1AcC#L4@mW5SV_^1BRbo6;2PWe$r+npRV`yc;T1mo& z+~_?7rA+(Um&o@Tddl zL_hxvWk~a)yY}%j`Y+200D%9$bWHy&;(yj{jpi?Rtz{J66ANw)UyPOm;t6FzY3$hx zcn)Ir79nhFvNa7^a{SHN7XH*|Vlsx`CddPnA&Qvh8aNhEA;mPVv;Ah=k<*u!Zq^7 z<=xs*iQTQOMMcg|(NA_auh@x`3#_LFt=)}%SQppP{E>mu_LgquAWvh<>L7tf9+~rO znwUDS52u)OtY<~!d$;m9+87aO+&`#2ICl@Y>&F{jI=H(K+@3M1$rr=*H^dye#~TyD z!){#Pyfn+|ugUu}G;a~!&&0aqQ59U@UT3|_JuBlYUpT$2+11;}JBJ`{+lQN9T@QFY z5+`t;6(TS0F?OlBTE!@7D`8#URDNqx2t6`GZ{ZgXeS@v%-eJzZOHz18aS|svxII$a zZeFjrJ*$IwX$f-Rzr_G>xbu@euGl)B7pC&S+CmDJBg$BoV~jxSO#>y z33`bupN#LDoW0feZe0%q8un0rYN|eRAnwDHQ6e_)xBTbtoZtTA=Fvk){q}9Os~6mQ zKB80VI_&6iSq`LnK7*kfHZoeX6?WE}8yjuDn=2#JG$+;-TOA1%^=DnXx%w{b=w}tS zQbU3XxtOI8E(!%`64r2`zog;5<0b4i)xBmGP^jiDZ2%HNSxIf3@wKs~uk4%3Mxz;~ zts_S~E4>W+YwI<-*-$U8*^HKDEa8oLbmqGg?3vewnaNg%Mm)W=)lcC_J+1ov^u*N3 zXJ?!BrH-+wGYziJq2Y#vyry6Z>NPgkEk+Ke`^DvNRdb>Q2Nlr#v%O@<5hbflI6EKE z9dWc0-ORk^T}jP!nkJ1imyjdVX@GrjOs%cpgA8-c&FH&$(4od#x6Y&=LiJZPINVyW z0snY$8JW@>tc2}DlrD3StQmA0Twck~@>8dSix9CyQOALcREdxoM$Sw*l!}bXKq9&r zysMWR@%OY24@e`?+#xV2bk{T^C_xSo8v2ZI=lBI*l{RciPwuE>L5@uhz@{!l)rtVlWC>)6(G)1~n=Q|S!{E9~6*fdpa*n z!()-8EpTdj=zr_Lswi;#{TxbtH$8*G=UM`I+icz7sr_SdnHXrv=?iEOF1UL+*6O;% zPw>t^kbW9X@oEXx<97%lBm-9?O_7L!DeD)Me#rwE54t~UBu9VZ zl_I1tBB~>jm@bw0Aljz8! zXBB6ATG6iByKIxs!qr%pz%wgqbg(l{65DP4#v(vqhhL{0b#0C8mq`bnqZ1OwFV z7mlZZJFMACm>h9v^2J9+^_zc1=JjL#qM5ZHaThH&n zXPTsR8(+)cj&>Un{6v*z?@VTLr{TmZ@-fY%*o2G}*G}#!bmqpoo*Ay@U!JI^Q@7gj;Kg-HIrLj4}#ec4~D2~X6vo;ghep-@&yOivYP zC19L0D`jjKy1Yi-SGPAn94(768Tcf$urAf{)1)9W58P`6MA{YG%O?|07!g9(b`8PXG1B1Sh0?HQmeJtP0M$O$hI z{5G`&9XzYhh|y@qsF1GnHN|~^ru~HVf#)lOTSrv=S@DyR$UKQk zjdEPFDz{uHM&UM;=mG!xKvp;xAGHOBo~>_=WFTmh$chpC7c`~7?36h)7$fF~Ii}8q zF|YXxH-Z?d+Q+27Rs3X9S&K3N+)OBxMHn1u(vlrUC6ckBY@@jl+mgr#KQUKo#VeFm zFwNYgv0<%~Wn}KeLeD9e1$S>jhOq&(e*I@L<=I5b(?G(zpqI*WBqf|Zge0&aoDUsC zngMRA_Kt0>La+Erl=Uv_J^p(z=!?XHpenzn$%EA`JIq#yYF?JLDMYiPfM(&Csr#f{ zdd+LJL1by?xz|D8+(fgzRs~(N1k9DSyK@LJygwaYX8dZl0W!I&c^K?7)z{2is;OkE zd$VK-(uH#AUaZrp=1z;O*n=b?QJkxu`Xsw&7yrX0?(CX=I-C#T;yi8a<{E~?vr3W> zQrpPqOW2M+AnZ&p{hqmHZU-;Q(7?- zP8L|Q0RM~sB0w1w53f&Kd*y}ofx@c z5Y6B8qGel+uT1JMot$nT1!Tim6{>oZzJXdyA+4euOLME?5Fd_85Uk%#E*ln%y{u8Q z$|?|R@Hpb~yTVK-Yr_S#%NUy7EBfYGAg>b({J|5b+j-PBpPy$Ns`PaJin4JdRfOaS zE|<HjH%NuJgsd2wOlv>~y=np%=2)$M9LS|>P)zJ+Fei5vYo_N~B0XCn+GM76 z)Xz3tg*FRVFgIl9zpESgdpWAavvVViGlU8|UFY{{gVJskg*I!ZjWyk~OW-Td4(mZ6 zB&SQreAAMqwp}rjy`HsG({l2&q5Y52<@AULVAu~rWI$UbFuZs>Sc*x+XI<+ez%$U)|a^unjpiW0l0 zj1!K0(b6$8LOjzRqQ~K&dfbMIE=TF}XFAi)$+h}5SD3lo z%%Qd>p9se=VtQG{kQ;N`sI)G^u|DN#7{aoEd zkksYP%_X$Rq08);-s6o>CGJ<}v`qs%eYf+J%DQ^2k68C%nvikRsN?$ap--f+vCS`K z#&~)f7!N^;sdUXu54gl3L=LN>FB^tuK=y2e#|hWiWUls__n@L|>xH{%8lIJTd5`w? zSwZbnS;W~DawT4OwSJVdAylbY+u5S+ZH{4hAi2&}Iv~W(UvHg(1GTZRPz`@{SOqzy z(8g&Dz=$PfRV=6FgxN~zo+G8OoPI&d-thcGVR*_^(R8COTM@bq?fDwY{}WhsQS1AK zF6R1t8!RdFmfocpJ6?9Yv~;WYi~XPgs(|>{5})j!AR!voO7y9&cMPo#80A(`za@t>cx<0;qxM@S*m(jYP)dMXr*?q0E`oL;12}VAep179uEr8c<=D zr5?A*C{eJ`z9Ee;E$8)MECqatHkbHH z&Y+ho0B$31MIB-xm&;xyaFCtg<{m~M-QDbY)fQ>Q*Xibb~8ytxZQ?QMf9!%cV zU0_X1@b4d+Pg#R!`OJ~DOrQz3@cpiGy~XSKjZQQ|^4J1puvwKeScrH8o{bscBsowomu z^f12kTvje`yEI3eEXDHJ6L+O{Jv$HVj%IKb|J{IvD*l6IG8WUgDJ*UGz z3!C%>?=dlfSJ>4U88)V+`U-!9r^@AxJBx8R;)J4Fn@`~k>8>v0M9xp90OJElWP&R5 zM#v*vtT}*Gm1^)Bv!s72T3PB0yVIjJW)H7a)ilkAvoaH?)jjb`MP>2z{%Y?}83 zUIwBKn`-MSg)=?R)1Q0z3b>dHE^)D8LFs}6ASG1|daDly_^lOSy&zIIhm*HXm1?VS=_iacG);_I9c zUQH1>i#*?oPIwBMJkzi_*>HoUe}_4o>2(SHWzqQ=;TyhAHS;Enr7!#8;sdlty&(>d zl%5cjri8`2X^Ds`jnw7>A`X|bl=U8n+3LKLy(1dAu8`g@9=5iw$R0qk)w8Vh_Dt^U zIglK}sn^)W7aB(Q>HvrX=rxB z+*L)3DiqpQ_%~|m=44LcD4-bxO3OO*LPjsh%p(k?&jvLp0py57oMH|*IMa(<|{m1(0S|x)?R-mqJ=I;_YUZA>J z62v*eSK;5w!h8J+6Z2~oyGdZ68waWfy09?4fU&m7%u~zi?YPHPgK6LDwphgaYu%0j zurtw)AYOpYKgHBrkX189mlJ`q)w-f|6>IER{5Lk97%P~a-JyCRFjejW@L>n4vt6#hq;!|m;hNE||LK3nw1{bJOy+eBJjK=QqNjI;Q6;Rp5 z&035pZDUZ#%Oa;&_7x0T<7!RW`#YBOj}F380Bq?MjjEhrvlCATPdkCTTl+2efTX$k zH&0zR1n^`C3ef~^sXzJK-)52(T}uTG%OF8yDhT76L~|^+hZ2hiSM*QA9*D5odI1>& z9kV9jC~twA5MwyOx(lsGD_ggYmztXPD`2=_V|ks_FOx!_J8!zM zTzh^cc+=VNZ&(OdN=y4Juw)@8-85lwf_#VMN!Ed(eQiRiLB2^2e`4dp286h@v@`O%_b)Y~A; zv}r6U?zs&@uD_+(_4bwoy7*uozNvp?bXFoB8?l8yG0qsm1JYzIvB_OH4_2G*IIOwT zVl%HX1562vLVcxM_RG*~w_`FbIc!(T=3>r528#%mwwMK}uEhJ()3MEby zQQjzqjWkwfI~;Fuj(Lj=Ug0y`>~C7`w&wzjK(rPw+Hpd~EvQ-ufQOiB4OMpyUKJhw zqEt~jle9d7S~LI~$6Z->J~QJ{Vdn3!c}g9}*KG^Kzr^(7VI5Gk(mHLL{itj_hG?&K4Ws0+T4gLfi3eu$N=`s36geNC?c zm!~}vG6lx9Uf^5M;bWntF<-{p^bruy~f?sk9 zcETAPQZLoJ8JzMMg<-=ju4keY@SY%Wo?u9Gx=j&dfa6LIAB|IrbORLV1-H==Z1zCM zeZcOYpm5>U2fU7V*h;%n`8 zN95QhfD994={1*<2vKLCNF)feKOGk`R#K~G=;rfq}|)s20&MCa65 zUM?xF5!&e0lF%|U!#rD@I{~OsS_?=;s_MQ_b_s=PuWdC)q|UQ&ea)DMRh5>fpQjXe z%9#*x=7{iRCtBKT#H>#v%>77|{4_slZ)XCY{s3j_r{tdpvb#|r|sbS^dU1x70$eJMU!h{Y7Kd{dl}9&vxQl6Jt1a` zHQZrWyY0?!vqf@u-fxU_@+}u(%Wm>0I#KP48tiAPYY!TdW(o|KtVI|EUB9V`CBBNaBLVih7+yMVF|GSoIQD0Jfb{ z!OXq;(>Z?O`1gap(L~bUcp>Lc@Jl-})^=6P%<~~9ywY=$iu8pJ0m*hOPzr~q`23eX zgbs;VOxxENe0UMVeN*>uCn9Gk!4siN-e>x)pIKAbQz!G)TcqIJ0`JBBaX>1-4_XO_-HCS^vr2vjv#7KltDZdyQ{tlWh4$Gm zB>|O1cBDC)yG(sbnc*@w6e%e}r*|IhpXckx&;sQCwGdKH+3oSG-2)Bf#x`@<4ETAr z0My%7RFh6ZLiZ_;X6Mu1YmXx7C$lSZ^}1h;j`EZd6@%JNUe=btBE z%s=Xmo1Ps?8G`}9+6>iaB8bgjUdXT?=trMu|4yLX^m0Dg{m7rpKNJey|EwHI+nN1e zL^>qN%5Fg)dGs4DO~uwIdXImN)QJ*Jhpj7$fq_^`{3fwpztL@WBB}OwQ#Epo-mqMO zsM$UgpFiG&d#)lzEQ{3Q;)&zTw;SzGOah-Dpm{!q7<8*)Ti_;xvV2TYXa}=faXZy? z3y?~GY@kl)>G&EvEijk9y1S`*=zBJSB1iet>0;x1Ai)*`^{pj0JMs)KAM=@UyOGtO z3y0BouW$N&TnwU6!%zS%nIrnANvZF&vB1~P5_d`x-giHuG zPJ;>XkVoghm#kZXRf>qxxEix;2;D1CC~NrbO6NBX!`&_$iXwP~P*c($EVV|669kDO zKoTLZNF4Cskh!Jz5ga9uZ`3o%7Pv`d^;a=cXI|>y;zC3rYPFLQkF*nv(r>SQvD*## z(Vo%^9g`%XwS0t#94zPq;mYGLKu4LU3;txF26?V~A0xZbU4Lmy`)>SoQX^m7fd^*E z+%{R4eN!rIk~K)M&UEzxp9dbY;_I^c} zOc{wlIrN_P(PPqi51k_$>Lt|X6A^|CGYgKAmoI#Li?;Wq%q~q*L7ehZkUrMxW67Jl zhsb~+U?33QS>eqyN{(odAkbopo=Q$Az?L+NZW>j;#~@wCDX?=L5SI|OxI~7!Pli;e zELMFcZtJY3!|=Gr2L4>z8yQ-{To>(f80*#;6`4IAiqUw`=Pg$%C?#1 z_g@hIGerILSU>=P>z{gM|DS91A4cT@PEIB^hSop!uhMo#2G;+tQSpDO_6nOnPWSLU zS;a9m^DFMXR4?*X=}d7l;nXuHk&0|m`NQn%d?8|Ab3A9l9Jh5s120ibWBdB z$5YwsK3;wvp!Kn@)Qae{ef`0#NwlRpQ}k^r>yos_Ne1;xyKLO?4)t_G4eK~wkUS2A&@_;)K0-03XGBzU+5f+uMDxC z(s8!8!RvdC#@`~fx$r)TKdLD6fWEVdEYtV#{ncT-ZMX~eI#UeQ-+H(Z43vVn%Yj9X zLdu9>o%wnWdvzA-#d6Z~vzj-}V3FQ5;axDIZ;i(95IIU=GQ4WuU{tl-{gk!5{l4_d zvvb&uE{%!iFwpymz{wh?bKr1*qzeZb5f6e6m_ozRF&zux2mlK=v_(_s^R6b5lu?_W4W3#<$zeG~Pd)^!4tzhs}-Sx$FJP>)ZGF(hVTH|C3(U zs0PO&*h_ zNA-&qZpTP$$LtIgfiCn07}XDbK#HIXdmv8zdz4TY;ifNIH-0jy(gMSByG2EF~Th#eb_TueZC` zE?3I>UTMpKQ})=C;6p!?G)M6w^u*A57bD?2X`m3X^6;&4%i_m(uGJ3Z5h`nwxM<)H z$I5m?wN>O~8`BGnZ=y^p6;0+%_0K}Dcg|K;+fEi|qoBqvHj(M&aHGqNF48~XqhtU? z^ogwBzRlOfpAJ+Rw7IED8lRbTdBdyEK$gPUpUG}j-M42xDj_&qEAQEtbs>D#dRd7Y z<&TpSZ(quQDHiCFn&0xsrz~4`4tz!CdL8m~HxZM_agu@IrBpyeL1Ft}V$HX_ZqDPm z-f89)pjuEzGdq-PRu`b1m+qBGY{zr_>{6Ss>F|xHZlJj9dt5HD$u`1*WZe)qEIuDSR)%z+|n zatVlhQ?$w#XRS7xUrFE;Y8vMGhQS5*T{ZnY=q1P?w5g$OKJ#M&e??tAmPWHMj3xhS ziGxapy?kn@$~2%ZY;M8Bc@%$pkl%Rvj!?o%agBvpQ-Q61n9kznC4ttrRNQ4%GFR5u zyv%Yo9~yxQJWJSfj z?#HY$y=O~F|2pZs22pu|_&Ajd+D(Mt!nPUG{|1nlvP`=R#kKH zO*s$r_%ss5h1YO7k0bHJ2CXN)Yd6CHn~W!R=SqkWe=&nAZu(Q1G!xgcUilM@YVei@2@a`8he z9@pM`)VB*=e7-MWgLlXlc)t;fF&-AwM{E-EX}pViFn0I0CNw2bNEnN2dj!^4(^zS3 zobUm1uQnpqk_4q{pl*n06=TfK_C>UgurKFjRXsK_LEn};=79`TB12tv6KzwSu*-C8 z;=~ohDLZylHQ|Mpx-?yql>|e=vI1Z!epyUpAcDCp4T|*RV&X`Q$0ogNwy6mFALo^@ z9=&(9txO8V@E!@6^(W0{*~CT>+-MA~vnJULBxCTUW>X5>r7*eXYUT0B6+w@lzw%n> z_VjJ<2qf|(d6jYq2(x$(ZDf!yVkfnbvNmb5c|hhZ^2TV_LBz`9w!e_V*W_(MiA7|= z&EeIIkw*+$Xd!)j8<@_<}A5;~A_>3JT*kX^@}cDoLd>Qj<`Se^wdUa(j0dp+Tl8EptwBm{9OGsdFEq zM`!pjf(Lm(`$e3FLOjqA5LnN5o!}z{ zNf}rJuZh@yUtq&ErjHeGzX4(!luV!jB&;FAP|!R_QHYw#^Z1LwTePAKJ6X&IDNO#; z)#I@Xnnzyij~C@UH~X51JCgQeF0&hTXnuoElz#m{heZRexWc0k4<>0+ClX7%0 zEBqCCld1tD9Zwkr4{?Nor19#E5-YKfB8d?qgR82-Ow2^AuNevly2*tHA|sK!ybYkX zm-sLQH72P&{vEAW6+z~O5d0qd=xW~rua~5a?ymYFSD@8&gV)E5@RNNBAj^C99+Z5Z zR@Pq55mbCQbz+Mn$d_CMW<-+?TU960agEk1J<>d>0K=pF19yN))a~4>m^G&tc*xR+yMD*S=yip-q=H zIlredHpsJV8H(32@Zxc@bX6a21dUV95Th--8pE6C&3F>pk=yv$yd6@Haw;$v4+Fcb zRwn{Qo@0`7aPa2LQOP}j9v>sjOo5Kqvn|`FLizX zB+@-u4Lw|jsvz{p^>n8Vo8H2peIqJJnMN}A)q6%$Tmig7eu^}K2 zrh$X?T|ZMsoh{6pdw1G$_T<`Ds-G=jc;qcGdK4{?dN2-XxjDNbb(7pk|3JUVCU4y; z)?LXR>f+AAu)JEiti_Zy#z5{RgsC}R(@jl%9YZ>zu~hKQ*AxbvhC378-I@{~#%Y`Z zy=a=9YpewPIC+gkEUUwtUL7|RU7=!^Aa}Mk^6uxOgRGA#JXjWLsjFUnix|Mau{hDT z7mn*z1m5g`vP(#tjT0Zy4eAY(br&!RiiXE=ZI!{sE1#^#%x^Z7t1U)b<;%Y}Q9=5v z;wpDCEZ@OE36TWT=|gxigT@VaW9BvHS05;_P(#s z8zI4XFQys}q)<`tkX$WnSarn{3e!s}4(J!=Yf>+Y>cP3f;vr63f2{|S^`_pWc)^5_!R z*(x-fuBxL51@xe!lnDBKi}Br$c$BMZ3%f2Sa6kLabiBS{pq*yj;q|k(86x`PiC{p6 z_bxCW{>Q2BA8~Ggz&0jkrcU+-$ANBsOop*ms>34K9lNYil@}jC;?cYP(m^P}nR6FV zk(M%48Z&%2Rx$A&FhOEirEhY0(dn;-k(qkTU)sFQ`+-ih+s@A8g?r8Pw+}2;35WYf zi}VO`jS`p(tc)$X$a>-#WXoW!phhatC*$}|rk>|wUU71eUJG^$c6_jwX?iSHM@6__ zvV|6%U*$sSXJu9SX?2%M^kK|}a2QJ8AhF{fuXrHZxXsI~O zGKX45!K7p*MCPEQ=gp?eu&#AW*pR{lhQR##P_*{c_DjMGL|3T3-bSJ(o$|M{ytU}> zAV>wq*uE*qFo9KvnA^@juy{x<-u*#2NvkV={Ly}ysKYB-k`K3@K#^S1Bb$8Y#0L0# z`6IkSG&|Z$ODy|VLS+y5pFJx&8tvPmMd8c9FhCyiU8~k6FwkakUd^(_ml8`rnl>JS zZV){9G*)xBqPz^LDqRwyS6w86#D^~xP4($150M)SOZRe9sn=>V#aG0Iy(_^YcPpIz8QYM-#s+n% z@Jd?xQq?Xk6=<3xSY7XYP$$yd&Spu{A#uafiIfy8gRC`o0nk{ezEDjb=q_qRAlR1d zFq^*9Gn)yTG4b}R{!+3hWQ+u3GT~8nwl2S1lpw`s0X_qpxv)g+JIkVKl${sYf_nV~B>Em>M;RlqGb5WVil(89 zs=ld@|#;dq1*vQGz=7--Br-|l) zZ%Xh@v8>B7P?~}?Cg$q9_={59l%m~O&*a6TKsCMAzG&vD>k2WDzJ6!tc!V)+oxF;h zJH;apM=wO?r_+*#;ulohuP=E>^zon}a$NnlcQ{1$SO*i=jnGVcQa^>QOILc)e6;eNTI>os=eaJ{*^DE+~jc zS}TYeOykDmJ=6O%>m`i*>&pO_S;qMySJIyP=}4E&J%#1zju$RpVAkZbEl+p%?ZP^C z*$$2b4t%a(e+%>a>d_f_<JjxI#J1x;=hPd1zFPx=6T$;;X1TD*2(edZ3f46zaAoW>L53vS_J*N8TMB|n+;LD| zC=GkQPpyDY#Am4l49chDv*gojhRj_?63&&8#doW`INATAo(qY#{q}%nf@eTIXmtU< zdB<7YWfyCmBs|c)cK>1)v&M#!yNj#4d$~pVfDWQc_ke1?fw{T1Nce_b`v|Vp5ig(H zJvRD^+ps46^hLX;=e2!2e;w9y1D@!D$c@Jc&%%%IL=+xzw55&2?darw=9g~>P z9>?Kdc$r?6c$m%x2S$sdpPl>GQZ{rC9mPS63*qjCVa?OIBj!fW zm|g?>CVfGXNjOfcyqImXR_(tXS(F{FcoNzKvG5R$IgGaxC@)i(e+$ME}vPVIhd|mx2IIE+f zM?9opQHIVgBWu)^A|RzXw!^??S!x)SZOwZaJkGjc<_}2l^eSBm!eAJG9T>EC6I_sy z?bxzDIAn&K5*mX)$RQzDA?s)-no-XF(g*yl4%+GBf`##bDXJ==AQk*xmnatI;SsLp zP9XTHq5mmS=iWu~9ES>b%Q=1aMa|ya^vj$@qz9S!ih{T8_PD%Sf_QrNKwgrXw9ldm zHRVR98*{C?_XNpJn{abA!oix_mowRMu^2lV-LPi;0+?-F(>^5#OHX-fPED zCu^l7u3E%STI}c4{J2!)9SUlGP_@!d?5W^QJXOI-Ea`hFMKjR7TluLvzC-ozCPn1`Tpy z!vlv@_Z58ILX6>nDjTp-1LlFMx~-%GA`aJvG$?8*Ihn;mH37eK**rmOEwqegf-Ccx zrIX4;{c~RK>XuTXxYo5kMiWMy)!IC{*DHG@E$hx?RwP@+wuad(P1{@%tRkyJRqD)3 zMHHHZ4boqDn>-=DgR5VlhQTpfVy182Gk;A_S8A1-;U1RR>+$62>(MUx@Nox$vTjHq z%QR=j!6Gdyb5wu7y(YUktwMuW5<@jl?m4cv4BODiT5o8qVdC0MBqGr@-YBIwnpZAY znX9(_uQjP}JJ=!~Ve9#5I~rUnN|P_3D$LqZcvBnywYhjlMSFHm`;u9GPla{5QD7(7*6Tb3Svr8;(nuAd81q$*uq6HC_&~je*Ca7hP4sJp0av{M8480wF zxASi7Qv+~@2U%Nu1Ud;s-G4CTVWIPyx!sg&8ZG0Wq zG_}i3C(6_1>q3w!EH7$Kwq8uBp2F2N7}l65mk1p*9v0&+;th=_E-W)E;w}P(j⁢ zv5o9#E7!G0XmdzfsS{efPNi`1b44~SZ4Z8fuX!I}#8g+(wxzQwUT#Xb2(tbY1+EUhGKoT@KEU9Ktl>_0 z%bjDJg;#*gtJZv!-Zs`?^}v5eKmnbjqlvnSzE@_SP|LG_PJ6CYU+6zY6>92%E+ z=j@TZf-iW4(%U{lnYxQA;7Q!b;^brF8n0D>)`q5>|WDDXLrqYU_tKN2>=#@~OE7grMnNh?UOz-O~6 z6%rHy{#h9K0AT+lDC7q4{hw^|q6*Ry;;L%Q@)Ga}$60_q%D)rv(CtS$CQbpq9|y1e zRSrN4;$Jyl{m5bZw`$8TGvb}(LpY{-cQ)fcyJv7l3S52TLXVDsphtv&aPuDk1OzCA z4A^QtC(!11`IsNx_HnSy?>EKpHJWT^wmS~hc^p^zIIh@9f6U@I2 zC=Mve{j2^)mS#U$e{@Q?SO6%LDsXz@SY+=cK_QMmXBIU)j!$ajc-zLx3V60EXJ!qC zi<%2x8Q24YN+&8U@CIlN zrZkcT9yh%LrlGS9`G)KdP(@9Eo-AQz@8GEFWcb7U=a0H^ZVbLmz{+&M7W(nXJ4sN8 zJLR7eeK(K8`2-}j(T7JsO`L!+CvbueT%izanm-^A1Dn{`1Nw`9P?cq;7no+XfC`K(GO9?O^5zNIt4M+M8LM0=7Gz8UA@Z0N+lg+cX)NfazRu z5D)~HA^(u%w^cz+@2@_#S|u>GpB+j4KzQ^&Wcl9f z&hG#bCA(Yk0D&t&aJE^xME^&E-&xGHhXn%}psEIj641H+Nl-}boj;)Zt*t(4wZ5DN z@GXF$bL=&pBq-#vkTkh>7hl%K5|3 z{`Vn9b$iR-SoGENp}bn4;fR3>9sA%X2@1L3aE9yTra;Wb#_`xWwLSLdfu+PAu+o3| zGVnpzPr=ch{uuoHjtw7+_!L_2;knQ!DuDl0R`|%jr+}jFzXtrHIKc323?JO{l&;VF z*L1+}JU7%QJOg|5|Tc|D8fN zJORAg=_vsy{ak|o);@)Yh8Lkcg@$FG3k@ep36BRa^>~UmnRPziS>Z=`Jb2x*Q#`%A zU*i3&Vg?TluO@X0O;r2Jl6LKLUOVhSqg1*qOt^|8*c7 zo(298@+r$k_wQNGHv{|$tW(T8L+4_`FQ{kEW5Jgg{yf7ey4ss_(SNKfz(N9lx&a;< je(UuV8hP?p&}TPdm1I$XmG#(RzlD&B2izSj9sl%y5~4qc literal 0 HcmV?d00001 diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..1058752 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$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/pathplanner/autos/Example Auto.auto b/src/main/deploy/pathplanner/autos/Example Auto.auto new file mode 100644 index 0000000..77a8433 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Example Auto.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 2.0, + "y": 7.0 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Run Flywheel" + } + }, + { + "type": "path", + "data": { + "pathName": "Example Path" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..690f5db --- /dev/null +++ b/src/main/deploy/pathplanner/navgrid.json @@ -0,0 +1,1633 @@ +{ + "field_size": { + "x": 16.54, + "y": 8.21 + }, + "nodeSizeMeters": 0.3, + "grid": [ + [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true + ], + [ + true, + true, + true, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true + ], + [ + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true + ], + [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ] + ] +} diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path new file mode 100644 index 0000000..8f3609b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Example Path.path @@ -0,0 +1,65 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.013282910175676, + "y": 6.5274984191074985 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.166769560390973, + "y": 5.0964860911203305 + }, + "prevControl": { + "x": 4.166769560390973, + "y": 6.0964860911203305 + }, + "nextControl": { + "x": 6.166769560390973, + "y": 4.0964860911203305 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.0, + "y": 1.0 + }, + "prevControl": { + "x": 6.75, + "y": 2.5 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ 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..a82210e --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,37 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +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 { + public static final Mode currentMode = Mode.REAL; + + public static enum Mode { + /** Running on a real robot. */ + REAL, + + /** Running a physics simulator. */ + SIM, + + /** Replaying from a log file. */ + REPLAY + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..e8af1c1 --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,34 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +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..ea47d35 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,160 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import org.littletonrobotics.junction.LogFileUtil; +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGReader; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; + +/** + * 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 LoggedRobot { + private Command autonomousCommand; + private RobotContainer robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Record metadata + Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0: + Logger.recordMetadata("GitDirty", "All changes committed"); + break; + case 1: + Logger.recordMetadata("GitDirty", "Uncomitted changes"); + break; + default: + Logger.recordMetadata("GitDirty", "Unknown"); + break; + } + + // Set up data receivers & replay source + switch (Constants.currentMode) { + case REAL: + // Running on a real robot, log to a USB stick ("/U/logs") + Logger.addDataReceiver(new WPILOGWriter()); + Logger.addDataReceiver(new NT4Publisher()); + break; + + case SIM: + // Running a physics simulator, log to NT + Logger.addDataReceiver(new NT4Publisher()); + break; + + case REPLAY: + // Replaying a log, set up replay source + setUseTiming(false); // Run as fast as possible + String logPath = LogFileUtil.findReplayLog(); + Logger.setReplaySource(new WPILOGReader(logPath)); + Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); + break; + } + + // See http://bit.ly/3YIzFZ6 for more information on timestamps in AdvantageKit. + // Logger.disableDeterministicTimestamps() + + // Start AdvantageKit logger + Logger.start(); + + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our autonomous chooser on the dashboard. + robotContainer = new RobotContainer(); + } + + /** This function is called periodically during all modes. */ + @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 when the robot is disabled. */ + @Override + public void disabledInit() {} + + /** This function is called periodically when disabled. */ + @Override + public void disabledPeriodic() {} + + /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ + @Override + public void autonomousInit() { + autonomousCommand = robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (autonomousCommand != null) { + autonomousCommand.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} + + /** This function is called once when teleop is enabled. */ + @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 (autonomousCommand != null) { + autonomousCommand.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() {} + + /** This function is called once when test mode is enabled. */ + @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..8159492 --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,178 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.auto.NamedCommands; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.XboxController; +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.sysid.SysIdRoutine; +import frc.robot.commands.DriveCommands; +import frc.robot.subsystems.drive.Drive; +import frc.robot.subsystems.drive.GyroIO; +import frc.robot.subsystems.drive.GyroIOPigeon2; +import frc.robot.subsystems.drive.ModuleIO; +import frc.robot.subsystems.drive.ModuleIOSim; +import frc.robot.subsystems.drive.ModuleIOSparkMax; +import frc.robot.subsystems.flywheel.Flywheel; +import frc.robot.subsystems.flywheel.FlywheelIO; +import frc.robot.subsystems.flywheel.FlywheelIOSim; +import frc.robot.subsystems.flywheel.FlywheelIOSparkMax; +import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; +import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; + +/** + * 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 button mappings) should be declared here. + */ +public class RobotContainer { + // Subsystems + private final Drive drive; + private final Flywheel flywheel; + + // Controller + private final CommandXboxController controller = new CommandXboxController(0); + + // Dashboard inputs + private final LoggedDashboardChooser autoChooser; + private final LoggedDashboardNumber flywheelSpeedInput = + new LoggedDashboardNumber("Flywheel Speed", 1500.0); + + /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { + switch (Constants.currentMode) { + case REAL: + // Real robot, instantiate hardware IO implementations + drive = + new Drive( + new GyroIOPigeon2(), + new ModuleIOSparkMax(0), + new ModuleIOSparkMax(1), + new ModuleIOSparkMax(2), + new ModuleIOSparkMax(3)); + flywheel = new Flywheel(new FlywheelIOSparkMax()); + // drive = new Drive( + // new GyroIOPigeon2(), + // new ModuleIOTalonFX(0), + // new ModuleIOTalonFX(1), + // new ModuleIOTalonFX(2), + // new ModuleIOTalonFX(3)); + // flywheel = new Flywheel(new FlywheelIOTalonFX()); + break; + + case SIM: + // Sim robot, instantiate physics sim IO implementations + drive = + new Drive( + new GyroIO() {}, + new ModuleIOSim(), + new ModuleIOSim(), + new ModuleIOSim(), + new ModuleIOSim()); + flywheel = new Flywheel(new FlywheelIOSim()); + break; + + default: + // Replayed robot, disable IO implementations + drive = + new Drive( + new GyroIO() {}, + new ModuleIO() {}, + new ModuleIO() {}, + new ModuleIO() {}, + new ModuleIO() {}); + flywheel = new Flywheel(new FlywheelIO() {}); + break; + } + + // Set up auto routines + NamedCommands.registerCommand( + "Run Flywheel", + Commands.startEnd( + () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel) + .withTimeout(5.0)); + autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); + + // Set up SysId routines + autoChooser.addOption( + "Drive SysId (Quasistatic Forward)", + drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward)); + autoChooser.addOption( + "Drive SysId (Quasistatic Reverse)", + drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse)); + autoChooser.addOption( + "Drive SysId (Dynamic Forward)", drive.sysIdDynamic(SysIdRoutine.Direction.kForward)); + autoChooser.addOption( + "Drive SysId (Dynamic Reverse)", drive.sysIdDynamic(SysIdRoutine.Direction.kReverse)); + autoChooser.addOption( + "Flywheel SysId (Quasistatic Forward)", + flywheel.sysIdQuasistatic(SysIdRoutine.Direction.kForward)); + autoChooser.addOption( + "Flywheel SysId (Quasistatic Reverse)", + flywheel.sysIdQuasistatic(SysIdRoutine.Direction.kReverse)); + autoChooser.addOption( + "Flywheel SysId (Dynamic Forward)", flywheel.sysIdDynamic(SysIdRoutine.Direction.kForward)); + autoChooser.addOption( + "Flywheel SysId (Dynamic Reverse)", flywheel.sysIdDynamic(SysIdRoutine.Direction.kReverse)); + + // Configure the button bindings + configureButtonBindings(); + } + + /** + * Use this method to define your button->command mappings. Buttons can be created by + * instantiating a {@link GenericHID} or one of its subclasses ({@link + * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link + * edu.wpi.first.wpilibj2.command.button.JoystickButton}. + */ + private void configureButtonBindings() { + drive.setDefaultCommand( + DriveCommands.joystickDrive( + drive, + () -> -controller.getLeftY(), + () -> -controller.getLeftX(), + () -> -controller.getRightX())); + controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); + controller + .b() + .onTrue( + Commands.runOnce( + () -> + drive.setPose( + new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), + drive) + .ignoringDisable(true)); + controller + .a() + .whileTrue( + Commands.startEnd( + () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return autoChooser.get(); + } +} diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java new file mode 100644 index 0000000..fc8f596 --- /dev/null +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -0,0 +1,77 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.commands; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.subsystems.drive.Drive; +import java.util.function.DoubleSupplier; + +public class DriveCommands { + private static final double DEADBAND = 0.1; + + private DriveCommands() {} + + /** + * Field relative drive command using two joysticks (controlling linear and angular velocities). + */ + public static Command joystickDrive( + Drive drive, + DoubleSupplier xSupplier, + DoubleSupplier ySupplier, + DoubleSupplier omegaSupplier) { + return Commands.run( + () -> { + // Apply deadband + double linearMagnitude = + MathUtil.applyDeadband( + Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND); + Rotation2d linearDirection = + new Rotation2d(xSupplier.getAsDouble(), ySupplier.getAsDouble()); + double omega = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND); + + // Square values + linearMagnitude = linearMagnitude * linearMagnitude; + omega = Math.copySign(omega * omega, omega); + + // Calcaulate new linear velocity + Translation2d linearVelocity = + new Pose2d(new Translation2d(), linearDirection) + .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())) + .getTranslation(); + + // Convert to field relative speeds & send command + boolean isFlipped = + DriverStation.getAlliance().isPresent() + && DriverStation.getAlliance().get() == Alliance.Red; + drive.runVelocity( + ChassisSpeeds.fromFieldRelativeSpeeds( + linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(), + linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(), + omega * drive.getMaxAngularSpeedRadPerSec(), + isFlipped + ? drive.getRotation().plus(new Rotation2d(Math.PI)) + : drive.getRotation())); + }, + drive); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java new file mode 100644 index 0000000..7d5474e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -0,0 +1,280 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import static edu.wpi.first.units.Units.*; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.pathfinding.Pathfinding; +import com.pathplanner.lib.util.HolonomicPathFollowerConfig; +import com.pathplanner.lib.util.PathPlannerLogging; +import com.pathplanner.lib.util.ReplanningConfig; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Twist2d; +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.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import frc.robot.util.LocalADStarAK; +import org.littletonrobotics.junction.AutoLogOutput; +import org.littletonrobotics.junction.Logger; + +public class Drive extends SubsystemBase { + private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5); + private static final double TRACK_WIDTH_X = Units.inchesToMeters(25.0); + private static final double TRACK_WIDTH_Y = Units.inchesToMeters(25.0); + private static final double DRIVE_BASE_RADIUS = + Math.hypot(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0); + private static final double MAX_ANGULAR_SPEED = MAX_LINEAR_SPEED / DRIVE_BASE_RADIUS; + + private final GyroIO gyroIO; + private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged(); + private final Module[] modules = new Module[4]; // FL, FR, BL, BR + private final SysIdRoutine sysId; + + private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); + private Rotation2d rawGyroRotation = new Rotation2d(); + private SwerveModulePosition[] lastModulePositions = // For delta tracking + new SwerveModulePosition[] { + new SwerveModulePosition(), + new SwerveModulePosition(), + new SwerveModulePosition(), + new SwerveModulePosition() + }; + private SwerveDrivePoseEstimator poseEstimator = + new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, new Pose2d()); + + public Drive( + GyroIO gyroIO, + ModuleIO flModuleIO, + ModuleIO frModuleIO, + ModuleIO blModuleIO, + ModuleIO brModuleIO) { + this.gyroIO = gyroIO; + modules[0] = new Module(flModuleIO, 0); + modules[1] = new Module(frModuleIO, 1); + modules[2] = new Module(blModuleIO, 2); + modules[3] = new Module(brModuleIO, 3); + + // Configure AutoBuilder for PathPlanner + AutoBuilder.configureHolonomic( + this::getPose, + this::setPose, + () -> kinematics.toChassisSpeeds(getModuleStates()), + this::runVelocity, + new HolonomicPathFollowerConfig( + MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), + () -> + DriverStation.getAlliance().isPresent() + && DriverStation.getAlliance().get() == Alliance.Red, + this); + Pathfinding.setPathfinder(new LocalADStarAK()); + PathPlannerLogging.setLogActivePathCallback( + (activePath) -> { + Logger.recordOutput( + "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()])); + }); + PathPlannerLogging.setLogTargetPoseCallback( + (targetPose) -> { + Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose); + }); + + // Configure SysId + sysId = + new SysIdRoutine( + new SysIdRoutine.Config( + null, + null, + null, + (state) -> Logger.recordOutput("Drive/SysIdState", state.toString())), + new SysIdRoutine.Mechanism( + (voltage) -> { + for (int i = 0; i < 4; i++) { + modules[i].runCharacterization(voltage.in(Volts)); + } + }, + null, + this)); + } + + public void periodic() { + gyroIO.updateInputs(gyroInputs); + Logger.processInputs("Drive/Gyro", gyroInputs); + for (var module : modules) { + module.periodic(); + } + + // Stop moving when disabled + if (DriverStation.isDisabled()) { + for (var module : modules) { + module.stop(); + } + } + // Log empty setpoint states when disabled + if (DriverStation.isDisabled()) { + Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); + Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); + } + + // Read wheel positions and deltas from each module + SwerveModulePosition[] modulePositions = getModulePositions(); + SwerveModulePosition[] moduleDeltas = new SwerveModulePosition[4]; + for (int moduleIndex = 0; moduleIndex < 4; moduleIndex++) { + moduleDeltas[moduleIndex] = + new SwerveModulePosition( + modulePositions[moduleIndex].distanceMeters + - lastModulePositions[moduleIndex].distanceMeters, + modulePositions[moduleIndex].angle); + lastModulePositions[moduleIndex] = modulePositions[moduleIndex]; + } + + // Update gyro angle + if (gyroInputs.connected) { + // Use the real gyro angle + rawGyroRotation = gyroInputs.yawPosition; + } else { + // Use the angle delta from the kinematics and module deltas + Twist2d twist = kinematics.toTwist2d(moduleDeltas); + rawGyroRotation = rawGyroRotation.plus(new Rotation2d(twist.dtheta)); + } + + // Apply odometry update + poseEstimator.update(rawGyroRotation, modulePositions); + } + + /** + * Runs the drive at the desired velocity. + * + * @param speeds Speeds in meters/sec + */ + public void runVelocity(ChassisSpeeds speeds) { + // Calculate module setpoints + ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02); + SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds); + SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, MAX_LINEAR_SPEED); + + // Send setpoints to modules + SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[4]; + for (int i = 0; i < 4; i++) { + // The module returns the optimized state, useful for logging + optimizedSetpointStates[i] = modules[i].runSetpoint(setpointStates[i]); + } + + // Log setpoint states + Logger.recordOutput("SwerveStates/Setpoints", setpointStates); + Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); + } + + /** Stops the drive. */ + public void stop() { + runVelocity(new ChassisSpeeds()); + } + + /** + * Stops the drive and turns the modules to an X arrangement to resist movement. The modules will + * return to their normal orientations the next time a nonzero velocity is requested. + */ + public void stopWithX() { + Rotation2d[] headings = new Rotation2d[4]; + for (int i = 0; i < 4; i++) { + headings[i] = getModuleTranslations()[i].getAngle(); + } + kinematics.resetHeadings(headings); + stop(); + } + + /** Returns a command to run a quasistatic test in the specified direction. */ + public Command sysIdQuasistatic(SysIdRoutine.Direction direction) { + return sysId.quasistatic(direction); + } + + /** Returns a command to run a dynamic test in the specified direction. */ + public Command sysIdDynamic(SysIdRoutine.Direction direction) { + return sysId.dynamic(direction); + } + + /** Returns the module states (turn angles and drive velocities) for all of the modules. */ + @AutoLogOutput(key = "SwerveStates/Measured") + private SwerveModuleState[] getModuleStates() { + SwerveModuleState[] states = new SwerveModuleState[4]; + for (int i = 0; i < 4; i++) { + states[i] = modules[i].getState(); + } + return states; + } + + /** Returns the module positions (turn angles and drive positions) for all of the modules. */ + private SwerveModulePosition[] getModulePositions() { + SwerveModulePosition[] states = new SwerveModulePosition[4]; + for (int i = 0; i < 4; i++) { + states[i] = modules[i].getPosition(); + } + return states; + } + + /** Returns the current odometry pose. */ + @AutoLogOutput(key = "Odometry/Robot") + public Pose2d getPose() { + return poseEstimator.getEstimatedPosition(); + } + + /** Returns the current odometry rotation. */ + public Rotation2d getRotation() { + return getPose().getRotation(); + } + + /** Resets the current odometry pose. */ + public void setPose(Pose2d pose) { + poseEstimator.resetPosition(rawGyroRotation, getModulePositions(), pose); + } + + /** + * Adds a vision measurement to the pose estimator. + * + * @param visionPose The pose of the robot as measured by the vision camera. + * @param timestamp The timestamp of the vision measurement in seconds. + */ + public void addVisionMeasurement(Pose2d visionPose, double timestamp) { + poseEstimator.addVisionMeasurement(visionPose, timestamp); + } + + /** Returns the maximum linear speed in meters per sec. */ + public double getMaxLinearSpeedMetersPerSec() { + return MAX_LINEAR_SPEED; + } + + /** Returns the maximum angular speed in radians per sec. */ + public double getMaxAngularSpeedRadPerSec() { + return MAX_ANGULAR_SPEED; + } + + /** Returns an array of module translations. */ + public static Translation2d[] getModuleTranslations() { + return new Translation2d[] { + new Translation2d(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0), + new Translation2d(TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0), + new Translation2d(-TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0), + new Translation2d(-TRACK_WIDTH_X / 2.0, -TRACK_WIDTH_Y / 2.0) + }; + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java new file mode 100644 index 0000000..7926fd0 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java @@ -0,0 +1,28 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import edu.wpi.first.math.geometry.Rotation2d; +import org.littletonrobotics.junction.AutoLog; + +public interface GyroIO { + @AutoLog + public static class GyroIOInputs { + public boolean connected = false; + public Rotation2d yawPosition = new Rotation2d(); + public double yawVelocityRadPerSec = 0.0; + } + + public default void updateInputs(GyroIOInputs inputs) {} +} diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java new file mode 100644 index 0000000..4c5fc2d --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -0,0 +1,44 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusCode; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.Pigeon2Configuration; +import com.ctre.phoenix6.hardware.Pigeon2; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; + +/** IO implementation for Pigeon2 */ +public class GyroIOPigeon2 implements GyroIO { + private final Pigeon2 pigeon = new Pigeon2(20); + private final StatusSignal yaw = pigeon.getYaw(); + private final StatusSignal yawVelocity = pigeon.getAngularVelocityZWorld(); + + public GyroIOPigeon2() { + pigeon.getConfigurator().apply(new Pigeon2Configuration()); + pigeon.getConfigurator().setYaw(0.0); + yaw.setUpdateFrequency(100.0); + yawVelocity.setUpdateFrequency(100.0); + pigeon.optimizeBusUtilization(); + } + + @Override + public void updateInputs(GyroIOInputs inputs) { + inputs.connected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK); + inputs.yawPosition = Rotation2d.fromDegrees(yaw.getValueAsDouble()); + inputs.yawVelocityRadPerSec = Units.degreesToRadians(yawVelocity.getValueAsDouble()); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java new file mode 100644 index 0000000..9ef4afc --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -0,0 +1,174 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import edu.wpi.first.math.controller.PIDController; +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.util.Units; +import frc.robot.Constants; +import org.littletonrobotics.junction.Logger; + +public class Module { + private static final double WHEEL_RADIUS = Units.inchesToMeters(2.0); + + private final ModuleIO io; + private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged(); + private final int index; + + private final SimpleMotorFeedforward driveFeedforward; + private final PIDController driveFeedback; + private final PIDController turnFeedback; + private Rotation2d angleSetpoint = null; // Setpoint for closed loop control, null for open loop + private Double speedSetpoint = null; // Setpoint for closed loop control, null for open loop + private Rotation2d turnRelativeOffset = null; // Relative + Offset = Absolute + + public Module(ModuleIO io, int index) { + this.io = io; + this.index = index; + + // Switch constants based on mode (the physics simulator is treated as a + // separate robot with different tuning) + switch (Constants.currentMode) { + case REAL: + case REPLAY: + driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); + driveFeedback = new PIDController(0.05, 0.0, 0.0); + turnFeedback = new PIDController(7.0, 0.0, 0.0); + break; + case SIM: + driveFeedforward = new SimpleMotorFeedforward(0.0, 0.13); + driveFeedback = new PIDController(0.1, 0.0, 0.0); + turnFeedback = new PIDController(10.0, 0.0, 0.0); + break; + default: + driveFeedforward = new SimpleMotorFeedforward(0.0, 0.0); + driveFeedback = new PIDController(0.0, 0.0, 0.0); + turnFeedback = new PIDController(0.0, 0.0, 0.0); + break; + } + + turnFeedback.enableContinuousInput(-Math.PI, Math.PI); + setBrakeMode(true); + } + + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Drive/Module" + Integer.toString(index), inputs); + + // On first cycle, reset relative turn encoder + // Wait until absolute angle is nonzero in case it wasn't initialized yet + if (turnRelativeOffset == null && inputs.turnAbsolutePosition.getRadians() != 0.0) { + turnRelativeOffset = inputs.turnAbsolutePosition.minus(inputs.turnPosition); + } + + // Run closed loop turn control + if (angleSetpoint != null) { + io.setTurnVoltage( + turnFeedback.calculate(getAngle().getRadians(), angleSetpoint.getRadians())); + + // Run closed loop drive control + // Only allowed if closed loop turn control is running + if (speedSetpoint != null) { + // Scale velocity based on turn error + // + // When the error is 90°, the velocity setpoint should be 0. As the wheel turns + // towards the setpoint, its velocity should increase. This is achieved by + // taking the component of the velocity in the direction of the setpoint. + double adjustSpeedSetpoint = speedSetpoint * Math.cos(turnFeedback.getPositionError()); + + // Run drive controller + double velocityRadPerSec = adjustSpeedSetpoint / WHEEL_RADIUS; + io.setDriveVoltage( + driveFeedforward.calculate(velocityRadPerSec) + + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec)); + } + } + } + + /** Runs the module with the specified setpoint state. Returns the optimized state. */ + public SwerveModuleState runSetpoint(SwerveModuleState state) { + // Optimize state based on current angle + // Controllers run in "periodic" when the setpoint is not null + var optimizedState = SwerveModuleState.optimize(state, getAngle()); + + // Update setpoints, controllers run in "periodic" + angleSetpoint = optimizedState.angle; + speedSetpoint = optimizedState.speedMetersPerSecond; + + return optimizedState; + } + + /** Runs the module with the specified voltage while controlling to zero degrees. */ + public void runCharacterization(double volts) { + // Closed loop turn control + angleSetpoint = new Rotation2d(); + + // Open loop drive control + io.setDriveVoltage(volts); + speedSetpoint = null; + } + + /** Disables all outputs to motors. */ + public void stop() { + io.setTurnVoltage(0.0); + io.setDriveVoltage(0.0); + + // Disable closed loop control for turn and drive + angleSetpoint = null; + speedSetpoint = null; + } + + /** Sets whether brake mode is enabled. */ + public void setBrakeMode(boolean enabled) { + io.setDriveBrakeMode(enabled); + io.setTurnBrakeMode(enabled); + } + + /** Returns the current turn angle of the module. */ + public Rotation2d getAngle() { + if (turnRelativeOffset == null) { + return new Rotation2d(); + } else { + return inputs.turnPosition.plus(turnRelativeOffset); + } + } + + /** Returns the current drive position of the module in meters. */ + public double getPositionMeters() { + return inputs.drivePositionRad * WHEEL_RADIUS; + } + + /** Returns the current drive velocity of the module in meters per second. */ + public double getVelocityMetersPerSec() { + return inputs.driveVelocityRadPerSec * WHEEL_RADIUS; + } + + /** Returns the module position (turn angle and drive position). */ + public SwerveModulePosition getPosition() { + return new SwerveModulePosition(getPositionMeters(), getAngle()); + } + + /** Returns the module state (turn angle and drive velocity). */ + public SwerveModuleState getState() { + return new SwerveModuleState(getVelocityMetersPerSec(), getAngle()); + } + + /** Returns the drive velocity in radians/sec. */ + public double getCharacterizationVelocity() { + return inputs.driveVelocityRadPerSec; + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java new file mode 100644 index 0000000..78450e4 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -0,0 +1,48 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import edu.wpi.first.math.geometry.Rotation2d; +import org.littletonrobotics.junction.AutoLog; + +public interface ModuleIO { + @AutoLog + public static class ModuleIOInputs { + public double drivePositionRad = 0.0; + public double driveVelocityRadPerSec = 0.0; + public double driveAppliedVolts = 0.0; + public double[] driveCurrentAmps = new double[] {}; + + public Rotation2d turnAbsolutePosition = new Rotation2d(); + public Rotation2d turnPosition = new Rotation2d(); + public double turnVelocityRadPerSec = 0.0; + public double turnAppliedVolts = 0.0; + public double[] turnCurrentAmps = new double[] {}; + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(ModuleIOInputs inputs) {} + + /** Run the drive motor at the specified voltage. */ + public default void setDriveVoltage(double volts) {} + + /** Run the turn motor at the specified voltage. */ + public default void setTurnVoltage(double volts) {} + + /** Enable or disable brake mode on the drive motor. */ + public default void setDriveBrakeMode(boolean enable) {} + + /** Enable or disable brake mode on the turn motor. */ + public default void setTurnBrakeMode(boolean enable) {} +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java new file mode 100644 index 0000000..cbc030d --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java @@ -0,0 +1,67 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; + +/** + * Physics sim implementation of module IO. + * + *

Uses two flywheel sims for the drive and turn motors, with the absolute position initialized + * to a random value. The flywheel sims are not physically accurate, but provide a decent + * approximation for the behavior of the module. + */ +public class ModuleIOSim implements ModuleIO { + private static final double LOOP_PERIOD_SECS = 0.02; + + private DCMotorSim driveSim = new DCMotorSim(DCMotor.getNEO(1), 6.75, 0.025); + private DCMotorSim turnSim = new DCMotorSim(DCMotor.getNEO(1), 150.0 / 7.0, 0.004); + + private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI); + private double driveAppliedVolts = 0.0; + private double turnAppliedVolts = 0.0; + + @Override + public void updateInputs(ModuleIOInputs inputs) { + driveSim.update(LOOP_PERIOD_SECS); + turnSim.update(LOOP_PERIOD_SECS); + + inputs.drivePositionRad = driveSim.getAngularPositionRad(); + inputs.driveVelocityRadPerSec = driveSim.getAngularVelocityRadPerSec(); + inputs.driveAppliedVolts = driveAppliedVolts; + inputs.driveCurrentAmps = new double[] {Math.abs(driveSim.getCurrentDrawAmps())}; + + inputs.turnAbsolutePosition = + new Rotation2d(turnSim.getAngularPositionRad()).plus(turnAbsoluteInitPosition); + inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad()); + inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec(); + inputs.turnAppliedVolts = turnAppliedVolts; + inputs.turnCurrentAmps = new double[] {Math.abs(turnSim.getCurrentDrawAmps())}; + } + + @Override + public void setDriveVoltage(double volts) { + driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); + driveSim.setInputVoltage(driveAppliedVolts); + } + + @Override + public void setTurnVoltage(double volts) { + turnAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); + turnSim.setInputVoltage(turnAppliedVolts); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java new file mode 100644 index 0000000..edb1f3d --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java @@ -0,0 +1,153 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; +import com.revrobotics.RelativeEncoder; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.AnalogInput; +import edu.wpi.first.wpilibj.RobotController; + +/** + * Module IO implementation for SparkMax drive motor controller, SparkMax turn motor controller (NEO + * or NEO 550), and analog absolute encoder connected to the RIO + * + *

NOTE: This implementation should be used as a starting point and adapted to different hardware + * configurations (e.g. If using a CANcoder, copy from "ModuleIOTalonFX") + * + *

To calibrate the absolute encoder offsets, point the modules straight (such that forward + * motion on the drive motor will propel the robot forward) and copy the reported values from the + * absolute encoders using AdvantageScope. These values are logged under + * "/Drive/ModuleX/TurnAbsolutePositionRad" + */ +public class ModuleIOSparkMax implements ModuleIO { + // Gear ratios for SDS MK4i L2, adjust as necessary + private static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); + private static final double TURN_GEAR_RATIO = 150.0 / 7.0; + + private final CANSparkMax driveSparkMax; + private final CANSparkMax turnSparkMax; + + private final RelativeEncoder driveEncoder; + private final RelativeEncoder turnRelativeEncoder; + private final AnalogInput turnAbsoluteEncoder; + + private final boolean isTurnMotorInverted = true; + private final Rotation2d absoluteEncoderOffset; + + public ModuleIOSparkMax(int index) { + switch (index) { + case 0: + driveSparkMax = new CANSparkMax(1, MotorType.kBrushless); + turnSparkMax = new CANSparkMax(2, MotorType.kBrushless); + turnAbsoluteEncoder = new AnalogInput(0); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 1: + driveSparkMax = new CANSparkMax(3, MotorType.kBrushless); + turnSparkMax = new CANSparkMax(4, MotorType.kBrushless); + turnAbsoluteEncoder = new AnalogInput(1); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 2: + driveSparkMax = new CANSparkMax(5, MotorType.kBrushless); + turnSparkMax = new CANSparkMax(6, MotorType.kBrushless); + turnAbsoluteEncoder = new AnalogInput(2); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 3: + driveSparkMax = new CANSparkMax(7, MotorType.kBrushless); + turnSparkMax = new CANSparkMax(8, MotorType.kBrushless); + turnAbsoluteEncoder = new AnalogInput(3); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + default: + throw new RuntimeException("Invalid module index"); + } + + driveSparkMax.restoreFactoryDefaults(); + turnSparkMax.restoreFactoryDefaults(); + + driveSparkMax.setCANTimeout(250); + turnSparkMax.setCANTimeout(250); + + driveEncoder = driveSparkMax.getEncoder(); + turnRelativeEncoder = turnSparkMax.getEncoder(); + + turnSparkMax.setInverted(isTurnMotorInverted); + driveSparkMax.setSmartCurrentLimit(40); + turnSparkMax.setSmartCurrentLimit(30); + driveSparkMax.enableVoltageCompensation(12.0); + turnSparkMax.enableVoltageCompensation(12.0); + + driveEncoder.setPosition(0.0); + driveEncoder.setMeasurementPeriod(10); + driveEncoder.setAverageDepth(2); + + turnRelativeEncoder.setPosition(0.0); + turnRelativeEncoder.setMeasurementPeriod(10); + turnRelativeEncoder.setAverageDepth(2); + + driveSparkMax.setCANTimeout(0); + turnSparkMax.setCANTimeout(0); + + driveSparkMax.burnFlash(); + turnSparkMax.burnFlash(); + } + + @Override + public void updateInputs(ModuleIOInputs inputs) { + inputs.drivePositionRad = + Units.rotationsToRadians(driveEncoder.getPosition()) / DRIVE_GEAR_RATIO; + inputs.driveVelocityRadPerSec = + Units.rotationsPerMinuteToRadiansPerSecond(driveEncoder.getVelocity()) / DRIVE_GEAR_RATIO; + inputs.driveAppliedVolts = driveSparkMax.getAppliedOutput() * driveSparkMax.getBusVoltage(); + inputs.driveCurrentAmps = new double[] {driveSparkMax.getOutputCurrent()}; + + inputs.turnAbsolutePosition = + new Rotation2d( + turnAbsoluteEncoder.getVoltage() / RobotController.getVoltage5V() * 2.0 * Math.PI) + .minus(absoluteEncoderOffset); + inputs.turnPosition = + Rotation2d.fromRotations(turnRelativeEncoder.getPosition() / TURN_GEAR_RATIO); + inputs.turnVelocityRadPerSec = + Units.rotationsPerMinuteToRadiansPerSecond(turnRelativeEncoder.getVelocity()) + / TURN_GEAR_RATIO; + inputs.turnAppliedVolts = turnSparkMax.getAppliedOutput() * turnSparkMax.getBusVoltage(); + inputs.turnCurrentAmps = new double[] {turnSparkMax.getOutputCurrent()}; + } + + @Override + public void setDriveVoltage(double volts) { + driveSparkMax.setVoltage(volts); + } + + @Override + public void setTurnVoltage(double volts) { + turnSparkMax.setVoltage(volts); + } + + @Override + public void setDriveBrakeMode(boolean enable) { + driveSparkMax.setIdleMode(enable ? IdleMode.kBrake : IdleMode.kCoast); + } + + @Override + public void setTurnBrakeMode(boolean enable) { + turnSparkMax.setIdleMode(enable ? IdleMode.kBrake : IdleMode.kCoast); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java new file mode 100644 index 0000000..f92591b --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -0,0 +1,193 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; + +/** + * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and + * CANcoder + * + *

NOTE: This implementation should be used as a starting point and adapted to different hardware + * configurations (e.g. If using an analog encoder, copy from "ModuleIOSparkMax") + * + *

To calibrate the absolute encoder offsets, point the modules straight (such that forward + * motion on the drive motor will propel the robot forward) and copy the reported values from the + * absolute encoders using AdvantageScope. These values are logged under + * "/Drive/ModuleX/TurnAbsolutePositionRad" + */ +public class ModuleIOTalonFX implements ModuleIO { + private final TalonFX driveTalon; + private final TalonFX turnTalon; + private final CANcoder cancoder; + + private final StatusSignal drivePosition; + private final StatusSignal driveVelocity; + private final StatusSignal driveAppliedVolts; + private final StatusSignal driveCurrent; + + private final StatusSignal turnAbsolutePosition; + private final StatusSignal turnPosition; + private final StatusSignal turnVelocity; + private final StatusSignal turnAppliedVolts; + private final StatusSignal turnCurrent; + + // Gear ratios for SDS MK4i L2, adjust as necessary + private final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); + private final double TURN_GEAR_RATIO = 150.0 / 7.0; + + private final boolean isTurnMotorInverted = true; + private final Rotation2d absoluteEncoderOffset; + + public ModuleIOTalonFX(int index) { + switch (index) { + case 0: + driveTalon = new TalonFX(0); + turnTalon = new TalonFX(1); + cancoder = new CANcoder(2); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 1: + driveTalon = new TalonFX(3); + turnTalon = new TalonFX(4); + cancoder = new CANcoder(5); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 2: + driveTalon = new TalonFX(6); + turnTalon = new TalonFX(7); + cancoder = new CANcoder(8); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 3: + driveTalon = new TalonFX(9); + turnTalon = new TalonFX(10); + cancoder = new CANcoder(11); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + default: + throw new RuntimeException("Invalid module index"); + } + + var driveConfig = new TalonFXConfiguration(); + driveConfig.CurrentLimits.SupplyCurrentLimit = 40.0; + driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true; + driveTalon.getConfigurator().apply(driveConfig); + setDriveBrakeMode(true); + + var turnConfig = new TalonFXConfiguration(); + turnConfig.CurrentLimits.SupplyCurrentLimit = 30.0; + turnConfig.CurrentLimits.SupplyCurrentLimitEnable = true; + turnTalon.getConfigurator().apply(turnConfig); + setTurnBrakeMode(true); + + cancoder.getConfigurator().apply(new CANcoderConfiguration()); + + drivePosition = driveTalon.getPosition(); + driveVelocity = driveTalon.getVelocity(); + driveAppliedVolts = driveTalon.getMotorVoltage(); + driveCurrent = driveTalon.getSupplyCurrent(); + + turnAbsolutePosition = cancoder.getAbsolutePosition(); + turnPosition = turnTalon.getPosition(); + turnVelocity = turnTalon.getVelocity(); + turnAppliedVolts = turnTalon.getMotorVoltage(); + turnCurrent = turnTalon.getSupplyCurrent(); + + BaseStatusSignal.setUpdateFrequencyForAll( + 100.0, drivePosition, turnPosition); // Required for odometry, use faster rate + BaseStatusSignal.setUpdateFrequencyForAll( + 50.0, + driveVelocity, + driveAppliedVolts, + driveCurrent, + turnAbsolutePosition, + turnVelocity, + turnAppliedVolts, + turnCurrent); + driveTalon.optimizeBusUtilization(); + turnTalon.optimizeBusUtilization(); + } + + @Override + public void updateInputs(ModuleIOInputs inputs) { + BaseStatusSignal.refreshAll( + drivePosition, + driveVelocity, + driveAppliedVolts, + driveCurrent, + turnAbsolutePosition, + turnPosition, + turnVelocity, + turnAppliedVolts, + turnCurrent); + + inputs.drivePositionRad = + Units.rotationsToRadians(drivePosition.getValueAsDouble()) / DRIVE_GEAR_RATIO; + inputs.driveVelocityRadPerSec = + Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / DRIVE_GEAR_RATIO; + inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); + inputs.driveCurrentAmps = new double[] {driveCurrent.getValueAsDouble()}; + + inputs.turnAbsolutePosition = + Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()) + .minus(absoluteEncoderOffset); + inputs.turnPosition = + Rotation2d.fromRotations(turnPosition.getValueAsDouble() / TURN_GEAR_RATIO); + inputs.turnVelocityRadPerSec = + Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / TURN_GEAR_RATIO; + inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); + inputs.turnCurrentAmps = new double[] {turnCurrent.getValueAsDouble()}; + } + + @Override + public void setDriveVoltage(double volts) { + driveTalon.setControl(new VoltageOut(volts)); + } + + @Override + public void setTurnVoltage(double volts) { + turnTalon.setControl(new VoltageOut(volts)); + } + + @Override + public void setDriveBrakeMode(boolean enable) { + var config = new MotorOutputConfigs(); + config.Inverted = InvertedValue.CounterClockwise_Positive; + config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; + driveTalon.getConfigurator().apply(config); + } + + @Override + public void setTurnBrakeMode(boolean enable) { + var config = new MotorOutputConfigs(); + config.Inverted = + isTurnMotorInverted + ? InvertedValue.Clockwise_Positive + : InvertedValue.CounterClockwise_Positive; + config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; + turnTalon.getConfigurator().apply(config); + } +} diff --git a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java new file mode 100644 index 0000000..6056b24 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java @@ -0,0 +1,110 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.flywheel; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import frc.robot.Constants; +import org.littletonrobotics.junction.AutoLogOutput; +import org.littletonrobotics.junction.Logger; + +public class Flywheel extends SubsystemBase { + private final FlywheelIO io; + private final FlywheelIOInputsAutoLogged inputs = new FlywheelIOInputsAutoLogged(); + private final SimpleMotorFeedforward ffModel; + private final SysIdRoutine sysId; + + /** Creates a new Flywheel. */ + public Flywheel(FlywheelIO io) { + this.io = io; + + // Switch constants based on mode (the physics simulator is treated as a + // separate robot with different tuning) + switch (Constants.currentMode) { + case REAL: + case REPLAY: + ffModel = new SimpleMotorFeedforward(0.1, 0.05); + io.configurePID(1.0, 0.0, 0.0); + break; + case SIM: + ffModel = new SimpleMotorFeedforward(0.0, 0.03); + io.configurePID(0.5, 0.0, 0.0); + break; + default: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + break; + } + + // Configure SysId + sysId = + new SysIdRoutine( + new SysIdRoutine.Config( + null, + null, + null, + (state) -> Logger.recordOutput("Flywheel/SysIdState", state.toString())), + new SysIdRoutine.Mechanism((voltage) -> runVolts(voltage.in(Volts)), null, this)); + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Flywheel", inputs); + } + + /** Run open loop at the specified voltage. */ + public void runVolts(double volts) { + io.setVoltage(volts); + } + + /** Run closed loop at the specified velocity. */ + public void runVelocity(double velocityRPM) { + var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM); + io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec)); + + // Log flywheel setpoint + Logger.recordOutput("Flywheel/SetpointRPM", velocityRPM); + } + + /** Stops the flywheel. */ + public void stop() { + io.stop(); + } + + /** Returns a command to run a quasistatic test in the specified direction. */ + public Command sysIdQuasistatic(SysIdRoutine.Direction direction) { + return sysId.quasistatic(direction); + } + + /** Returns a command to run a dynamic test in the specified direction. */ + public Command sysIdDynamic(SysIdRoutine.Direction direction) { + return sysId.dynamic(direction); + } + + /** Returns the current velocity in RPM. */ + @AutoLogOutput + public double getVelocityRPM() { + return Units.radiansPerSecondToRotationsPerMinute(inputs.velocityRadPerSec); + } + + /** Returns the current velocity in radians per second. */ + public double getCharacterizationVelocity() { + return inputs.velocityRadPerSec; + } +} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java new file mode 100644 index 0000000..98f7624 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java @@ -0,0 +1,41 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.flywheel; + +import org.littletonrobotics.junction.AutoLog; + +public interface FlywheelIO { + @AutoLog + public static class FlywheelIOInputs { + public double positionRad = 0.0; + public double velocityRadPerSec = 0.0; + public double appliedVolts = 0.0; + public double[] currentAmps = new double[] {}; + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(FlywheelIOInputs inputs) {} + + /** Run open loop at the specified voltage. */ + public default void setVoltage(double volts) {} + + /** Run closed loop at the specified velocity. */ + public default void setVelocity(double velocityRadPerSec, double ffVolts) {} + + /** Stop in open loop. */ + public default void stop() {} + + /** Set velocity PID constants. */ + public default void configurePID(double kP, double kI, double kD) {} +} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java new file mode 100644 index 0000000..32ffa6f --- /dev/null +++ b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java @@ -0,0 +1,68 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.flywheel; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.FlywheelSim; + +public class FlywheelIOSim implements FlywheelIO { + private FlywheelSim sim = new FlywheelSim(DCMotor.getNEO(1), 1.5, 0.004); + private PIDController pid = new PIDController(0.0, 0.0, 0.0); + + private boolean closedLoop = false; + private double ffVolts = 0.0; + private double appliedVolts = 0.0; + + @Override + public void updateInputs(FlywheelIOInputs inputs) { + if (closedLoop) { + appliedVolts = + MathUtil.clamp(pid.calculate(sim.getAngularVelocityRadPerSec()) + ffVolts, -12.0, 12.0); + sim.setInputVoltage(appliedVolts); + } + + sim.update(0.02); + + inputs.positionRad = 0.0; + inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec(); + inputs.appliedVolts = appliedVolts; + inputs.currentAmps = new double[] {sim.getCurrentDrawAmps()}; + } + + @Override + public void setVoltage(double volts) { + closedLoop = false; + appliedVolts = volts; + sim.setInputVoltage(volts); + } + + @Override + public void setVelocity(double velocityRadPerSec, double ffVolts) { + closedLoop = true; + pid.setSetpoint(velocityRadPerSec); + this.ffVolts = ffVolts; + } + + @Override + public void stop() { + setVoltage(0.0); + } + + @Override + public void configurePID(double kP, double kI, double kD) { + pid.setPID(kP, kI, kD); + } +} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java new file mode 100644 index 0000000..787f369 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java @@ -0,0 +1,89 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.flywheel; + +import com.revrobotics.CANSparkBase.ControlType; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.SparkPIDController; +import com.revrobotics.SparkPIDController.ArbFFUnits; +import edu.wpi.first.math.util.Units; + +/** + * NOTE: To use the Spark Flex / NEO Vortex, replace all instances of "CANSparkMax" with + * "CANSparkFlex". + */ +public class FlywheelIOSparkMax implements FlywheelIO { + private static final double GEAR_RATIO = 1.5; + + private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless); + private final CANSparkMax follower = new CANSparkMax(1, MotorType.kBrushless); + private final RelativeEncoder encoder = leader.getEncoder(); + private final SparkPIDController pid = leader.getPIDController(); + + public FlywheelIOSparkMax() { + leader.restoreFactoryDefaults(); + follower.restoreFactoryDefaults(); + + leader.setCANTimeout(250); + follower.setCANTimeout(250); + + leader.setInverted(false); + follower.follow(leader, false); + + leader.enableVoltageCompensation(12.0); + leader.setSmartCurrentLimit(30); + + leader.burnFlash(); + follower.burnFlash(); + } + + @Override + public void updateInputs(FlywheelIOInputs inputs) { + inputs.positionRad = Units.rotationsToRadians(encoder.getPosition() / GEAR_RATIO); + inputs.velocityRadPerSec = + Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / GEAR_RATIO); + inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage(); + inputs.currentAmps = new double[] {leader.getOutputCurrent(), follower.getOutputCurrent()}; + } + + @Override + public void setVoltage(double volts) { + leader.setVoltage(volts); + } + + @Override + public void setVelocity(double velocityRadPerSec, double ffVolts) { + pid.setReference( + Units.radiansPerSecondToRotationsPerMinute(velocityRadPerSec) * GEAR_RATIO, + ControlType.kVelocity, + 0, + ffVolts, + ArbFFUnits.kVoltage); + } + + @Override + public void stop() { + leader.stopMotor(); + } + + @Override + public void configurePID(double kP, double kI, double kD) { + pid.setP(kP, 0); + pid.setI(kI, 0); + pid.setD(kD, 0); + pid.setFF(0, 0); + } +} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java new file mode 100644 index 0000000..3f53512 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java @@ -0,0 +1,98 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.flywheel; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.util.Units; + +public class FlywheelIOTalonFX implements FlywheelIO { + private static final double GEAR_RATIO = 1.5; + + private final TalonFX leader = new TalonFX(0); + private final TalonFX follower = new TalonFX(1); + + private final StatusSignal leaderPosition = leader.getPosition(); + private final StatusSignal leaderVelocity = leader.getVelocity(); + private final StatusSignal leaderAppliedVolts = leader.getMotorVoltage(); + private final StatusSignal leaderCurrent = leader.getSupplyCurrent(); + private final StatusSignal followerCurrent = follower.getSupplyCurrent(); + + public FlywheelIOTalonFX() { + var config = new TalonFXConfiguration(); + config.CurrentLimits.SupplyCurrentLimit = 30.0; + config.CurrentLimits.SupplyCurrentLimitEnable = true; + config.MotorOutput.NeutralMode = NeutralModeValue.Coast; + leader.getConfigurator().apply(config); + follower.getConfigurator().apply(config); + follower.setControl(new Follower(leader.getDeviceID(), false)); + + BaseStatusSignal.setUpdateFrequencyForAll( + 50.0, leaderPosition, leaderVelocity, leaderAppliedVolts, leaderCurrent, followerCurrent); + leader.optimizeBusUtilization(); + follower.optimizeBusUtilization(); + } + + @Override + public void updateInputs(FlywheelIOInputs inputs) { + BaseStatusSignal.refreshAll( + leaderPosition, leaderVelocity, leaderAppliedVolts, leaderCurrent, followerCurrent); + inputs.positionRad = Units.rotationsToRadians(leaderPosition.getValueAsDouble()) / GEAR_RATIO; + inputs.velocityRadPerSec = + Units.rotationsToRadians(leaderVelocity.getValueAsDouble()) / GEAR_RATIO; + inputs.appliedVolts = leaderAppliedVolts.getValueAsDouble(); + inputs.currentAmps = + new double[] {leaderCurrent.getValueAsDouble(), followerCurrent.getValueAsDouble()}; + } + + @Override + public void setVoltage(double volts) { + leader.setControl(new VoltageOut(volts)); + } + + @Override + public void setVelocity(double velocityRadPerSec, double ffVolts) { + leader.setControl( + new VelocityVoltage( + Units.radiansToRotations(velocityRadPerSec), + 0.0, + true, + ffVolts, + 0, + false, + false, + false)); + } + + @Override + public void stop() { + leader.stopMotor(); + } + + @Override + public void configurePID(double kP, double kI, double kD) { + var config = new Slot0Configs(); + config.kP = kP; + config.kI = kI; + config.kD = kD; + leader.getConfigurator().apply(config); + } +} diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java new file mode 100644 index 0000000..191b54f --- /dev/null +++ b/src/main/java/frc/robot/util/LocalADStarAK.java @@ -0,0 +1,153 @@ +package frc.robot.util; + +import com.pathplanner.lib.path.GoalEndState; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.path.PathPoint; +import com.pathplanner.lib.pathfinding.LocalADStar; +import com.pathplanner.lib.pathfinding.Pathfinder; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.geometry.Translation2d; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.inputs.LoggableInputs; + +// NOTE: This file is available at +// https://gist.github.com/mjansen4857/a8024b55eb427184dbd10ae8923bd57d + +public class LocalADStarAK implements Pathfinder { + private final ADStarIO io = new ADStarIO(); + + /** + * Get if a new path has been calculated since the last time a path was retrieved + * + * @return True if a new path is available + */ + @Override + public boolean isNewPathAvailable() { + if (!Logger.hasReplaySource()) { + io.updateIsNewPathAvailable(); + } + + Logger.processInputs("LocalADStarAK", io); + + return io.isNewPathAvailable; + } + + /** + * Get the most recently calculated path + * + * @param constraints The path constraints to use when creating the path + * @param goalEndState The goal end state to use when creating the path + * @return The PathPlannerPath created from the points calculated by the pathfinder + */ + @Override + public PathPlannerPath getCurrentPath(PathConstraints constraints, GoalEndState goalEndState) { + if (!Logger.hasReplaySource()) { + io.updateCurrentPathPoints(constraints, goalEndState); + } + + Logger.processInputs("LocalADStarAK", io); + + if (io.currentPathPoints.isEmpty()) { + return null; + } + + return PathPlannerPath.fromPathPoints(io.currentPathPoints, constraints, goalEndState); + } + + /** + * Set the start position to pathfind from + * + * @param startPosition Start position on the field. If this is within an obstacle it will be + * moved to the nearest non-obstacle node. + */ + @Override + public void setStartPosition(Translation2d startPosition) { + if (!Logger.hasReplaySource()) { + io.adStar.setStartPosition(startPosition); + } + } + + /** + * Set the goal position to pathfind to + * + * @param goalPosition Goal position on the field. f this is within an obstacle it will be moved + * to the nearest non-obstacle node. + */ + @Override + public void setGoalPosition(Translation2d goalPosition) { + if (!Logger.hasReplaySource()) { + io.adStar.setGoalPosition(goalPosition); + } + } + + /** + * Set the dynamic obstacles that should be avoided while pathfinding. + * + * @param obs A List of Translation2d pairs representing obstacles. Each Translation2d represents + * opposite corners of a bounding box. + * @param currentRobotPos The current position of the robot. This is needed to change the start + * position of the path to properly avoid obstacles + */ + @Override + public void setDynamicObstacles( + List> obs, Translation2d currentRobotPos) { + if (!Logger.hasReplaySource()) { + io.adStar.setDynamicObstacles(obs, currentRobotPos); + } + } + + private static class ADStarIO implements LoggableInputs { + public LocalADStar adStar = new LocalADStar(); + public boolean isNewPathAvailable = false; + public List currentPathPoints = Collections.emptyList(); + + @Override + public void toLog(LogTable table) { + table.put("IsNewPathAvailable", isNewPathAvailable); + + double[] pointsLogged = new double[currentPathPoints.size() * 2]; + int idx = 0; + for (PathPoint point : currentPathPoints) { + pointsLogged[idx] = point.position.getX(); + pointsLogged[idx + 1] = point.position.getY(); + idx += 2; + } + + table.put("CurrentPathPoints", pointsLogged); + } + + @Override + public void fromLog(LogTable table) { + isNewPathAvailable = table.get("IsNewPathAvailable", false); + + double[] pointsLogged = table.get("CurrentPathPoints", new double[0]); + + List pathPoints = new ArrayList<>(); + for (int i = 0; i < pointsLogged.length; i += 2) { + pathPoints.add( + new PathPoint(new Translation2d(pointsLogged[i], pointsLogged[i + 1]), null)); + } + + currentPathPoints = pathPoints; + } + + public void updateIsNewPathAvailable() { + isNewPathAvailable = adStar.isNewPathAvailable(); + } + + public void updateCurrentPathPoints(PathConstraints constraints, GoalEndState goalEndState) { + PathPlannerPath currentPath = adStar.getCurrentPath(constraints, goalEndState); + + if (currentPath != null) { + currentPathPoints = currentPath.getAllPathPoints(); + } else { + currentPathPoints = Collections.emptyList(); + } + } + } +} diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..1f57c3b --- /dev/null +++ b/vendordeps/AdvantageKit.json @@ -0,0 +1,42 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "3.2.1", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "wpilib-shim", + "version": "3.2.1" + }, + { + "groupId": "org.littletonrobotics.akit.junction", + "artifactId": "junction-core", + "version": "3.2.1" + }, + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-api", + "version": "3.2.1" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit.conduit", + "artifactId": "conduit-wpilibio", + "version": "3.2.1", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [] +} diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..f528a51 --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2024.2.8", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2024", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2024.2.8" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2024.2.8", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json new file mode 100644 index 0000000..adf6e02 --- /dev/null +++ b/vendordeps/Phoenix5.json @@ -0,0 +1,151 @@ +{ + "fileName": "Phoenix5.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.33.1", + "frcYear": 2024, + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.33.1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.33.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.33.1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.33.1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.33.1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.33.1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.33.1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.33.1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json new file mode 100644 index 0000000..1f0cf3a --- /dev/null +++ b/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.3.0", + "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-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": "24.3.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "libName": "CTRE_SimTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..9eda5ac --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.4", + "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": "2024.2.4" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.4", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..67bf389 --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +}