From 2386846cac10ec3ca9c2f5d91c589473e182d489 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Tue, 30 Dec 2025 20:44:34 -0600 Subject: [PATCH 01/62] origin/2026 (#6) * Begin working on 2026. * Added minion support, explicitly disallowed pulsar support. * Added 2026 support. * Updated example gradle and vdeps to beta --------- Co-authored-by: thenetworkgrinch --- .../.wpilib/wpilib_preferences.json | 2 +- examples/clock_drive_drivebase/build.gradle | 16 +- .../clock_drive_drivebase/settings.gradle | 6 +- .../vendordeps/Phoenix5-frc2025-latest.json | 171 - .../Phoenix5-replay-5.36.0-beta-1.json | 221 + .../Phoenix6-replay-26.0.0-beta-1.json} | 162 +- .../vendordeps/REVLib.json | 76 +- .../vendordeps/ReduxLib-2025.0.1.json | 72 - .../vendordeps/Studica-2025.0.1.json | 71 - .../vendordeps/Studica-2026.0.0-beta.json | 71 + .../vendordeps/StudicaLib.json | 71 + .../vendordeps/ThriftyLib.json | 8 +- .../vendordeps/WPILibNewCommands.json | 3 +- .../vendordeps/maple-sim.json | 26 - .../vendordeps/photonlib.json | 71 - .../vendordeps/yagsl-2025.7.2.json | 64 - .../.wpilib/wpilib_preferences.json | 2 +- examples/drivebase_only/build.gradle | 16 +- examples/drivebase_only/settings.gradle | 6 +- .../vendordeps/Phoenix5-frc2025-latest.json | 171 - .../Phoenix5-replay-5.36.0-beta-1.json | 221 + .../Phoenix6-replay-26.0.0-beta-1.json} | 162 +- .../drivebase_only/vendordeps/REVLib.json | 76 +- .../vendordeps/ReduxLib-2025.0.1.json | 72 - .../vendordeps/Studica-2025.0.1.json | 71 - .../vendordeps/Studica-2026.0.0-beta.json | 71 + .../drivebase_only/vendordeps/StudicaLib.json | 71 + .../drivebase_only/vendordeps/ThriftyLib.json | 8 +- .../vendordeps/WPILibNewCommands.json | 3 +- .../drivebase_only/vendordeps/maple-sim.json | 26 - .../drivebase_only/vendordeps/photonlib.json | 71 - .../vendordeps/yagsl-2025.7.2.json | 64 - examples/drivebase_only_2026/.gitignore | 187 + .../drivebase_only_2026/.vscode/launch.json | 21 + 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+ .../swerve/neo/modules/pidfproperties.json | 16 + .../main/deploy/swerve/neo/swervedrive.json | 15 + .../src/main/java/frc/robot/Constants.java | 51 + .../src/main/java/frc/robot/Main.java | 29 + .../src/main/java/frc/robot/Robot.java | 178 + .../main/java/frc/robot/RobotContainer.java | 205 + .../swervedrive/auto/AutoBalanceCommand.java | 86 + .../swervedrive/drivebase/AbsoluteDrive.java | 120 + .../drivebase/AbsoluteDriveAdv.java | 154 + .../drivebase/AbsoluteFieldDrive.java | 95 + .../swervedrive/SwerveSubsystem.java | 486 + .../Phoenix5-replay-5.36.0-beta-1.json | 221 + .../Phoenix6-replay-26.0.0-beta-1.json} | 162 +- .../vendordeps/REVLib.json | 133 + .../vendordeps/Studica-2026.0.0-beta.json | 71 + .../vendordeps/StudicaLib.json | 71 + .../vendordeps/ThriftyLib.json | 20 + .../vendordeps/WPILibNewCommands.json | 39 + .../.wpilib/wpilib_preferences.json | 2 +- .../drivebase_with_PathPlanner/build.gradle | 16 +- .../settings.gradle | 6 +- .../vendordeps/PathplannerLib.json | 38 - 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.../swervelib/motors/ThriftyNovaSwerve.java | 24 +- .../parser/SwerveDriveConfiguration.java | 4 +- .../swervelib/parser/json/DeviceJson.java | 32 +- .../simulation/SwerveIMUSimulation.java | 2 +- .../simulation/SwerveModuleSimulation.java | 8 +- .../simulation/ironmaple/LICENSE-Dyn4j.md | 27 + .../simulation/ironmaple/simulation/Goal.java | 297 + .../simulation/IntakeSimulation.java | 406 + .../ironmaple/simulation/SimulatedArena.java | 760 ++ .../AbstractDriveTrainSimulation.java | 170 + .../ironmaple/simulation/drivesims/COTS.java | 404 + .../simulation/drivesims/GyroSimulation.java | 212 + .../SelfControlledSwerveDriveSimulation.java | 580 ++ .../drivesims/SwerveDriveSimulation.java | 368 + .../drivesims/SwerveModuleSimulation.java | 541 + .../drivesims/configs/BoundingCheck.java | 12 + .../configs/DriveTrainSimulationConfig.java | 323 + .../configs/SwerveModuleSimulationConfig.java | 128 + .../simulation/gamepieces/GamePiece.java | 56 + .../GamePieceOnFieldSimulation.java | 183 + .../gamepieces/GamePieceProjectile.java | 639 ++ .../simulation/motorsims/MapleMotorSim.java | 194 + .../simulation/motorsims/SimMotorConfigs.java | 203 + .../simulation/motorsims/SimMotorState.java | 95 + .../motorsims/SimulatedBattery.java | 138 + .../motorsims/SimulatedMotorController.java | 108 + .../crescendo2024/Arena2024Crescendo.java | 210 + .../crescendo2024/CrescendoAmp.java | 68 + .../CrescendoHumanPlayerSimulation.java | 36 + .../crescendo2024/CrescendoNoteOnField.java | 21 + .../crescendo2024/CrescendoSpeaker.java | 68 + .../crescendo2024/NoteOnFly.java | 57 + .../evergreen/ArenaEvergreen.java | 70 + .../reefscape2025/Arena2025Reefscape.java | 173 + .../reefscape2025/ReefscapeAlgaeOnField.java | 26 + .../reefscape2025/ReefscapeAlgaeOnFly.java | 58 + .../ReefscapeBargeSimulation.java | 75 + .../ReefscapeCoralAlgaeStack.java | 146 + .../reefscape2025/ReefscapeCoralOnField.java | 27 + .../reefscape2025/ReefscapeCoralOnFly.java | 98 + .../ReefscapeProcessorSimulation.java | 87 + .../reefscape2025/ReefscapeReefBranch.java | 220 + .../ReefscapeReefSimulation.java | 105 + .../ironmaple/utils/FieldMirroringUtils.java | 55 + .../utils/LegacyFieldMirroringUtils2024.java | 61 + .../utils/mathutils/GeometryConvertor.java | 53 + .../utils/mathutils/MapleCommonMath.java | 61 + .../mathutils/SwerveStateProjection.java | 26 + 252 files changed, 37304 insertions(+), 6607 deletions(-) delete mode 100644 examples/clock_drive_drivebase/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename examples/{drivebase_only/vendordeps/Phoenix6-frc2025-latest.json => clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json} (81%) delete mode 100644 examples/clock_drive_drivebase/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/clock_drive_drivebase/vendordeps/Studica-2025.0.1.json create mode 100644 examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/clock_drive_drivebase/vendordeps/StudicaLib.json delete mode 100644 examples/clock_drive_drivebase/vendordeps/maple-sim.json delete mode 100644 examples/clock_drive_drivebase/vendordeps/photonlib.json delete mode 100644 examples/clock_drive_drivebase/vendordeps/yagsl-2025.7.2.json delete mode 100644 examples/drivebase_only/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/drivebase_only/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename examples/{clock_drive_drivebase/vendordeps/Phoenix6-frc2025-latest.json => drivebase_only/vendordeps/Phoenix6-replay-26.0.0-beta-1.json} (81%) delete mode 100644 examples/drivebase_only/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/drivebase_only/vendordeps/Studica-2025.0.1.json create mode 100644 examples/drivebase_only/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/drivebase_only/vendordeps/StudicaLib.json delete mode 100644 examples/drivebase_only/vendordeps/maple-sim.json 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create mode 100644 examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java create mode 100644 examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java create mode 100644 examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename examples/{drivebase_with_PathPlanner/vendordeps/Phoenix6-frc2025-latest.json => drivebase_only_2026/vendordeps/Phoenix6-replay-26.0.0-beta-1.json} (81%) create mode 100644 examples/drivebase_only_2026/vendordeps/REVLib.json create mode 100644 examples/drivebase_only_2026/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/drivebase_only_2026/vendordeps/StudicaLib.json create mode 100644 examples/drivebase_only_2026/vendordeps/ThriftyLib.json create mode 100644 examples/drivebase_only_2026/vendordeps/WPILibNewCommands.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename examples/{drivebase_with_PhotonVision/vendordeps/Phoenix6-frc2025-latest.json => drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json} (81%) delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/Studica-2025.0.1.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/maple-sim.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/photonlib.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/yagsl-2025.7.2.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Studica-2025.0.1.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/maple-sim.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/photonlib.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/yagsl-2025.7.2.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/field_oriented_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/Phoenix6-frc2025-latest.json create mode 100644 examples/field_oriented_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/Studica-2025.0.1.json create mode 100644 examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/field_oriented_drivebase/vendordeps/StudicaLib.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/maple-sim.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/photonlib.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/yagsl-2025.7.2.json delete mode 100644 examples/full_example/vendordeps/PathplannerLib.json delete mode 100644 examples/full_example/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json delete mode 100644 examples/full_example/vendordeps/Phoenix6-frc2025-latest.json create mode 100644 examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json delete mode 100644 examples/full_example/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/full_example/vendordeps/Studica-2025.0.1.json create mode 100644 examples/full_example/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/full_example/vendordeps/StudicaLib.json delete mode 100644 examples/full_example/vendordeps/maple-sim.json delete mode 100644 examples/full_example/vendordeps/photonlib.json delete mode 100644 examples/full_example/vendordeps/yagsl-2025.7.2.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix6-frc2025-latest.json create mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/Studica-2025.0.1.json create mode 100644 examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json create mode 100644 examples/robot_relative_drivebase/vendordeps/StudicaLib.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/maple-sim.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/photonlib.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/yagsl-2025.7.2.json delete mode 100644 vendordep/vendordeps/Phoenix5-frc2025-latest.json create mode 100644 vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json delete mode 100644 vendordep/vendordeps/Phoenix6-frc2025-latest.json create mode 100644 vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json delete mode 100644 vendordep/vendordeps/ReduxLib-2025.0.1.json delete mode 100644 vendordep/vendordeps/Studica-2025.0.1.json create mode 100644 vendordep/vendordeps/Studica-2026.0.0-beta.json create mode 100644 vendordep/vendordeps/StudicaLib.json delete mode 100644 vendordep/vendordeps/maple-sim.json delete mode 100644 vendordep/vendordeps/photonlib.json create mode 100644 yagsl/java/swervelib/simulation/ironmaple/LICENSE-Dyn4j.md create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/AbstractDriveTrainSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/COTS.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/GyroSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/BoundingCheck.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java diff --git a/examples/clock_drive_drivebase/.wpilib/wpilib_preferences.json b/examples/clock_drive_drivebase/.wpilib/wpilib_preferences.json index 83517dd..f727ea3 100644 --- a/examples/clock_drive_drivebase/.wpilib/wpilib_preferences.json +++ b/examples/clock_drive_drivebase/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/clock_drive_drivebase/build.gradle b/examples/clock_drive_drivebase/build.gradle index fdf6d52..4233229 100644 --- a/examples/clock_drive_drivebase/build.gradle +++ b/examples/clock_drive_drivebase/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/clock_drive_drivebase/settings.gradle b/examples/clock_drive_drivebase/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/clock_drive_drivebase/settings.gradle +++ b/examples/clock_drive_drivebase/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/clock_drive_drivebase/vendordeps/Phoenix5-frc2025-latest.json b/examples/clock_drive_drivebase/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/clock_drive_drivebase/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/Phoenix6-frc2025-latest.json b/examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json similarity index 81% rename from examples/drivebase_only/vendordeps/Phoenix6-frc2025-latest.json rename to examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json index 6f40c84..5312c86 100644 --- a/examples/drivebase_only/vendordeps/Phoenix6-frc2025-latest.json +++ b/examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -1,38 +1,35 @@ { - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", "conflictsWith": [ { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.4.0" + "version": "26.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -40,21 +37,18 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -63,12 +57,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -77,12 +71,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -95,8 +89,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -109,8 +103,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,8 +117,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,21 +132,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +146,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +160,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -222,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -238,15 +218,12 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -254,24 +231,21 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPISim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -281,13 +255,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools_Sim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -297,13 +271,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", - "libName": "CTRE_SimTalonSRX", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -317,9 +291,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "libName": "CTRE_SimVictorSPX", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -333,9 +307,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -349,9 +323,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -365,9 +339,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -381,9 +355,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -398,7 +372,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -414,7 +388,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -430,7 +404,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -446,7 +420,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -462,7 +436,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/clock_drive_drivebase/vendordeps/REVLib.json b/examples/clock_drive_drivebase/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/clock_drive_drivebase/vendordeps/REVLib.json +++ b/examples/clock_drive_drivebase/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/ReduxLib-2025.0.1.json b/examples/clock_drive_drivebase/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/clock_drive_drivebase/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/Studica-2025.0.1.json b/examples/clock_drive_drivebase/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/clock_drive_drivebase/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json b/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/StudicaLib.json b/examples/clock_drive_drivebase/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json b/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json +++ b/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json b/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json +++ b/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/clock_drive_drivebase/vendordeps/maple-sim.json b/examples/clock_drive_drivebase/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/clock_drive_drivebase/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/photonlib.json b/examples/clock_drive_drivebase/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/clock_drive_drivebase/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/yagsl-2025.7.2.json b/examples/clock_drive_drivebase/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/clock_drive_drivebase/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/drivebase_only/.wpilib/wpilib_preferences.json b/examples/drivebase_only/.wpilib/wpilib_preferences.json index 83517dd..f727ea3 100644 --- a/examples/drivebase_only/.wpilib/wpilib_preferences.json +++ b/examples/drivebase_only/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/drivebase_only/build.gradle b/examples/drivebase_only/build.gradle index fdf6d52..4233229 100644 --- a/examples/drivebase_only/build.gradle +++ b/examples/drivebase_only/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/drivebase_only/settings.gradle b/examples/drivebase_only/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/drivebase_only/settings.gradle +++ b/examples/drivebase_only/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/drivebase_only/vendordeps/Phoenix5-frc2025-latest.json b/examples/drivebase_only/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/drivebase_only/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/drivebase_only/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/drivebase_only/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/Phoenix6-frc2025-latest.json b/examples/drivebase_only/vendordeps/Phoenix6-replay-26.0.0-beta-1.json similarity index 81% rename from examples/clock_drive_drivebase/vendordeps/Phoenix6-frc2025-latest.json rename to examples/drivebase_only/vendordeps/Phoenix6-replay-26.0.0-beta-1.json index 6f40c84..5312c86 100644 --- a/examples/clock_drive_drivebase/vendordeps/Phoenix6-frc2025-latest.json +++ b/examples/drivebase_only/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -1,38 +1,35 @@ { - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", "conflictsWith": [ { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.4.0" + "version": "26.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -40,21 +37,18 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -63,12 +57,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -77,12 +71,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -95,8 +89,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -109,8 +103,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,8 +117,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,21 +132,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +146,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +160,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -222,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -238,15 +218,12 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -254,24 +231,21 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPISim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -281,13 +255,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools_Sim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -297,13 +271,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", - "libName": "CTRE_SimTalonSRX", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -317,9 +291,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "libName": "CTRE_SimVictorSPX", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -333,9 +307,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -349,9 +323,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -365,9 +339,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -381,9 +355,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -398,7 +372,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -414,7 +388,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -430,7 +404,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -446,7 +420,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -462,7 +436,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_only/vendordeps/REVLib.json b/examples/drivebase_only/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/drivebase_only/vendordeps/REVLib.json +++ b/examples/drivebase_only/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/ReduxLib-2025.0.1.json b/examples/drivebase_only/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/drivebase_only/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/Studica-2025.0.1.json b/examples/drivebase_only/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/drivebase_only/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/Studica-2026.0.0-beta.json b/examples/drivebase_only/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/drivebase_only/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/StudicaLib.json b/examples/drivebase_only/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/drivebase_only/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/ThriftyLib.json b/examples/drivebase_only/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/drivebase_only/vendordeps/ThriftyLib.json +++ b/examples/drivebase_only/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/drivebase_only/vendordeps/WPILibNewCommands.json b/examples/drivebase_only/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/drivebase_only/vendordeps/WPILibNewCommands.json +++ b/examples/drivebase_only/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/drivebase_only/vendordeps/maple-sim.json b/examples/drivebase_only/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/drivebase_only/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/photonlib.json b/examples/drivebase_only/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/drivebase_only/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_only/vendordeps/yagsl-2025.7.2.json b/examples/drivebase_only/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/drivebase_only/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/drivebase_only_2026/.gitignore b/examples/drivebase_only_2026/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/examples/drivebase_only_2026/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/examples/drivebase_only_2026/.vscode/launch.json b/examples/drivebase_only_2026/.vscode/launch.json new file mode 100644 index 0000000..c9c9713 --- /dev/null +++ b/examples/drivebase_only_2026/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/examples/drivebase_only_2026/.vscode/settings.json b/examples/drivebase_only_2026/.vscode/settings.json new file mode 100644 index 0000000..5e6ede8 --- /dev/null +++ b/examples/drivebase_only_2026/.vscode/settings.json @@ -0,0 +1,61 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ], + "java.dependency.enableDependencyCheckup": false +} diff --git a/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json b/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..f727ea3 --- /dev/null +++ b/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2026beta", + "teamNumber": 3481 +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/WPILib-License.md b/examples/drivebase_only_2026/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/examples/drivebase_only_2026/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/examples/drivebase_only_2026/build.gradle b/examples/drivebase_only_2026/build.gradle new file mode 100644 index 0000000..4233229 --- /dev/null +++ b/examples/drivebase_only_2026/build.gradle @@ -0,0 +1,114 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + +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' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + 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() + implementation 'org.dyn4j:dyn4j:5.0.2' + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/examples/drivebase_only_2026/gradle/wrapper/gradle-wrapper.jar b/examples/drivebase_only_2026/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..a4b76b9530d66f5e68d973ea569d8e19de379189 GIT binary patch literal 43583 zcma&N1CXTcmMvW9vTb(Rwr$&4wr$(C?dmSu>@vG-+vuvg^_??!{yS%8zW-#zn-LkA 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b/examples/drivebase_only_2026/gradlew new file mode 100644 index 0000000..f5feea6 --- /dev/null +++ b/examples/drivebase_only_2026/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$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/examples/drivebase_only_2026/gradlew.bat b/examples/drivebase_only_2026/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/examples/drivebase_only_2026/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +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/examples/drivebase_only_2026/settings.gradle b/examples/drivebase_only_2026/settings.gradle new file mode 100644 index 0000000..25f6f6e --- /dev/null +++ b/examples/drivebase_only_2026/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2026' + 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/examples/drivebase_only_2026/src/main/deploy/example.txt b/examples/drivebase_only_2026/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/pathplanner/SamplePath.path b/examples/drivebase_only_2026/src/main/deploy/pathplanner/SamplePath.path new file mode 100644 index 0000000..d9df9e5 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/pathplanner/SamplePath.path @@ -0,0 +1,76 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 0.8409049675242211, + "y": 3.593000471715229 + }, + "prevControl": null, + "nextControl": { + "x": 1.8409049675242182, + "y": 3.593000471715229 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.0, + "y": 5.0 + }, + "prevControl": { + "x": 3.0, + "y": 3.8506044103316963 + }, + 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b/examples/drivebase_only_2026/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "New Path" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json b/examples/drivebase_only_2026/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json new file mode 100644 index 0000000..71f0fcd --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json @@ -0,0 +1,9002 @@ +[ + { + "time": 0.0, + "pose": { + "rotation": { + "radians": 0.003994666723425411 + }, + "translation": { + "x": 1.0, + "y": 3.0 + } + }, + "velocity": 0, + "acceleration": 3.0, + "curvature": 0.6639756640813854, + "holonomicRotation": 0.0, + "angularVelocity": 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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 + ] + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/pathplanner/paths/New Path.path b/examples/drivebase_only_2026/src/main/deploy/pathplanner/paths/New Path.path new file mode 100644 index 0000000..679a12e --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/pathplanner/paths/New Path.path @@ -0,0 +1,70 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.0, + "y": 6.5 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.958476027397261, + "y": 6.012192024384049 + }, + "prevControl": { + "x": 3.9584760273972606, + "y": 7.012192024384048 + }, + "nextControl": { + "x": 5.958476027397261, + "y": 5.012192024384049 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.225280307703473, + "y": 6.012192024384049 + }, + "prevControl": { + "x": 6.975280307703473, + "y": 7.512192024384059 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/pathplanner/settings.json b/examples/drivebase_only_2026/src/main/deploy/pathplanner/settings.json new file mode 100644 index 0000000..2ca3c4c --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/pathplanner/settings.json @@ -0,0 +1,32 @@ +{ + "robotWidth": 0.9, + "robotLength": 0.9, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 74.088, + "robotMOI": 6.883, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.048, + "driveGearing": 5.143, + "maxDriveSpeed": 5.45, + "driveMotorType": "NEO", + "driveCurrentLimit": 60.0, + "wheelCOF": 1.2, + "flModuleX": 0.273, + "flModuleY": 0.273, + "frModuleX": 0.273, + "frModuleY": -0.273, + "blModuleX": -0.273, + "blModuleY": 0.273, + "brModuleX": -0.273, + "brModuleY": -0.273, + "bumperOffsetX": 0.0, + "bumperOffsetY": 0.0, + "robotFeatures": [] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/controllerproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/controllerproperties.json new file mode 100644 index 0000000..5c7d529 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/controllerproperties.json @@ -0,0 +1,8 @@ +{ + "angleJoystickRadiusDeadband": 0.5, + "heading": { + "p": 0.118, + "i": 0, + "d": 0 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backleft.json new file mode 100644 index 0000000..547032e --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backleft.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "talonfx", + "id": 4, + "canbus": null + }, + "angle": { + "type": "talonfx", + "id": 2, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 1, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -259.805, + "location": { + "front": -7, + "left": 7 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backright.json new file mode 100644 index 0000000..557c253 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backright.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "talonfx", + "id": 3, + "canbus": null + }, + "angle": { + "type": "talonfx", + "id": 53, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 4, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -31.816, + "location": { + "front": -7, + "left": -7 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/frontleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/frontleft.json new file mode 100644 index 0000000..51c0ff2 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/frontleft.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "talonfx", + "id": 50, + "canbus": null + }, + "angle": { + "type": "talonfx", + "id": 8, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 3, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -139.043, + "location": { + "front": 7, + "left": 7 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/frontright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/frontright.json new file mode 100644 index 0000000..1037f63 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/frontright.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "talonfx", + "id": 51, + "canbus": null + }, + "angle": { + "type": "talonfx", + "id": 52, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 2, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -118.564, + "location": { + "front": 7, + "left": -7 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/physicalproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/physicalproperties.json new file mode 100644 index 0000000..efeb5d6 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/physicalproperties.json @@ -0,0 +1,23 @@ +{ + "conversionFactors": { + "angle": { + "gearRatio": 21.4285714286, + "factor": 0 + }, + "drive": { + "gearRatio": 8.14, + "diameter": 4, + "factor": 0 + } + }, + "currentLimit": { + "drive": 40, + "angle": 20 + }, + "rampRate": { + "drive": 0.25, + "angle": 0.25 + }, + "wheelGripCoefficientOfFriction": 1.19, + "optimalVoltage": 12 +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/pidfproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/pidfproperties.json new file mode 100644 index 0000000..5aed412 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/pidfproperties.json @@ -0,0 +1,16 @@ +{ + "drive": { + "p": 1, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + }, + "angle": { + "p": 50, + "i": 0, + "d": 0.32, + "f": 0, + "iz": 0 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json new file mode 100644 index 0000000..f4631eb --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json @@ -0,0 +1,15 @@ +{ + "$schema": "https://broncbotz3481.github.io/YAGSL-Example/schemas/swervedrive_schema.json", + "imu": { + "type": "navx", + "id": 13, + "canbus": "canivore" + }, + "invertedIMU": true, + "modules": [ + "frontleft.json", + "frontright.json", + "backleft.json", + "backright.json" + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/controllerproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/controllerproperties.json new file mode 100644 index 0000000..669097e --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/controllerproperties.json @@ -0,0 +1,8 @@ +{ + "angleJoystickRadiusDeadband": 0.5, + "heading": { + "p": 0.4, + "i": 0, + "d": 0.01 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/backleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/backleft.json new file mode 100644 index 0000000..571d166 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/backleft.json @@ -0,0 +1,27 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 42, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo550", + "id": 4, + "canbus": null + }, + "encoder": { + "type": "attached", + "id": 0, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderInverted": true, + "absoluteEncoderOffset": 301.3301969, + "location": { + "front": -12, + "left": 12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/backright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/backright.json new file mode 100644 index 0000000..90e2a56 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/backright.json @@ -0,0 +1,27 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 22, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo550", + "id": 21, + "canbus": null + }, + "encoder": { + "type": "attached", + "id": 0, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderInverted": true, + "absoluteEncoderOffset": 7.6941204, + "location": { + "front": -12, + "left": -12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/frontleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/frontleft.json new file mode 100644 index 0000000..c1ceeda --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/frontleft.json @@ -0,0 +1,27 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 32, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo550", + "id": 31, + "canbus": null + }, + "encoder": { + "type": "attached", + "id": 0, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderInverted": true, + "absoluteEncoderOffset": 90, + "location": { + "front": 12, + "left": 12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/frontright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/frontright.json new file mode 100644 index 0000000..6541c7c --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/frontright.json @@ -0,0 +1,27 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 12, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo550", + "id": 11, + "canbus": null + }, + "encoder": { + "type": "attached", + "id": 0, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderInverted": true, + "absoluteEncoderOffset": -90, + "location": { + "front": 12, + "left": -12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/physicalproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/physicalproperties.json new file mode 100644 index 0000000..e2013af --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/physicalproperties.json @@ -0,0 +1,23 @@ +{ + "conversionFactors": { + "angle": { + "gearRatio": 46.42, + "factor": 0 + }, + "drive": { + "gearRatio": 5.50, + "diameter": 3, + "factor": 0 + } + }, + "currentLimit": { + "drive": 40, + "angle": 20 + }, + "rampRate": { + "drive": 0.25, + "angle": 0.25 + }, + "optimalVoltage": 12, + "wheelGripCoefficientOfFriction": 1.19 +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/pidfproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/pidfproperties.json new file mode 100644 index 0000000..99664bb --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/modules/pidfproperties.json @@ -0,0 +1,16 @@ +{ + "drive": { + "p": 0.0020645, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + }, + "angle": { + "p": 0.01, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/swervedrive.json b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/swervedrive.json new file mode 100644 index 0000000..b42e51e --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/maxSwerve/swervedrive.json @@ -0,0 +1,14 @@ +{ + "imu": { + "type": "navx_spi", + "id": 0, + "canbus": null + }, + "invertedIMU": false, + "modules": [ + "frontleft.json", + "frontright.json", + "backleft.json", + "backright.json" + ] +} diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/controllerproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/controllerproperties.json new file mode 100644 index 0000000..669097e --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/controllerproperties.json @@ -0,0 +1,8 @@ +{ + "angleJoystickRadiusDeadband": 0.5, + "heading": { + "p": 0.4, + "i": 0, + "d": 0.01 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json new file mode 100644 index 0000000..6c6c7d9 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 7, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 8, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 12, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": 6.504, + "location": { + "front": -12, + "left": 12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json new file mode 100644 index 0000000..4f9f082 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 5, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 6, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 11, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -18.281, + "location": { + "front": -12, + "left": -12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json new file mode 100644 index 0000000..a3ef16b --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 4, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 3, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 9, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -114.609, + "location": { + "front": 12, + "left": 12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json new file mode 100644 index 0000000..b60f22f --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json @@ -0,0 +1,26 @@ +{ + "drive": { + "type": "sparkmax_neo", + "id": 2, + "canbus": null + }, + "angle": { + "type": "sparkmax_neo", + "id": 1, + "canbus": null + }, + "encoder": { + "type": "cancoder", + "id": 10, + "canbus": null + }, + "inverted": { + "drive": false, + "angle": false + }, + "absoluteEncoderOffset": -50.977, + "location": { + "front": 12, + "left": -12 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/physicalproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/physicalproperties.json new file mode 100644 index 0000000..d7ae5ab --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/physicalproperties.json @@ -0,0 +1,23 @@ +{ + "conversionFactors": { + "angle": { + "gearRatio": 12.8, + "factor": 0 + }, + "drive": { + "gearRatio": 8.14, + "diameter": 4, + "factor": 0 + } + }, + "currentLimit": { + "drive": 40, + "angle": 20 + }, + "rampRate": { + "drive": 0.25, + "angle": 0.25 + }, + "wheelGripCoefficientOfFriction": 1.19, + "optimalVoltage": 12 +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/pidfproperties.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/pidfproperties.json new file mode 100644 index 0000000..1f0b34b --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/pidfproperties.json @@ -0,0 +1,16 @@ +{ + "drive": { + "p": 0.00023, + "i": 0.0000002, + "d": 1, + "f": 0, + "iz": 0 + }, + "angle": { + "p": 0.01, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json new file mode 100644 index 0000000..89ae3b1 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json @@ -0,0 +1,15 @@ +{ + "$schema": "https://broncbotz3481.github.io/YAGSL-Example/schemas/swervedrive_schema.json", + "imu": { + "type": "pigeon2", + "id": 13, + "canbus": "canivore" + }, + "invertedIMU": true, + "modules": [ + "frontleft.json", + "frontright.json", + "backleft.json", + "backright.json" + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/Constants.java b/examples/drivebase_only_2026/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..b5b7e09 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/Constants.java @@ -0,0 +1,51 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.util.Units; +import swervelib.math.Matter; + +/** + * 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 double ROBOT_MASS = (148 - 20.3) * 0.453592; // 32lbs * kg per pound + public static final Matter CHASSIS = new Matter(new Translation3d(0, 0, Units.inchesToMeters(8)), ROBOT_MASS); + public static final double LOOP_TIME = 0.13; //s, 20ms + 110ms sprk max velocity lag + public static final double MAX_SPEED = Units.feetToMeters(14.5); + // Maximum speed of the robot in meters per second, used to limit acceleration. + +// public static final class AutonConstants +// { +// +// public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0, 0); +// public static final PIDConstants ANGLE_PID = new PIDConstants(0.4, 0, 0.01); +// } + + public static final class DrivebaseConstants + { + + // Hold time on motor brakes when disabled + public static final double WHEEL_LOCK_TIME = 10; // seconds + } + + public static class OperatorConstants + { + + // Joystick Deadband + public static final double DEADBAND = 0.1; + public static final double LEFT_Y_DEADBAND = 0.1; + public static final double RIGHT_X_DEADBAND = 0.1; + public static final double TURN_CONSTANT = 6; + } +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/Main.java b/examples/drivebase_only_2026/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..4ca4b2f --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/Main.java @@ -0,0 +1,29 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +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/examples/drivebase_only_2026/src/main/java/frc/robot/Robot.java b/examples/drivebase_only_2026/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..e70ed5b --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/Robot.java @@ -0,0 +1,178 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as + * described in the TimedRobot documentation. If you change the name of this class or the package after creating this + * project, you must also update the build.gradle file in the project. + */ +public class Robot extends TimedRobot +{ + + private static Robot instance; + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + private Timer disabledTimer; + + public Robot() + { + instance = this; + } + + public static Robot getInstance() + { + return instance; + } + + /** + * This function is run when the robot is first started up and should be used for any initialization code. + */ + @Override + public void robotInit() + { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + + // Create a timer to disable motor brake a few seconds after disable. This will let the robot stop + // immediately when disabled, but then also let it be pushed more + disabledTimer = new Timer(); + + if (isSimulation()) + { + DriverStation.silenceJoystickConnectionWarning(true); + } + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics that you want ran + * during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() + { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, running already-scheduled commands, removing finished or interrupted commands, + // and running subsystem periodic() methods. This must be called from the robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** + * This function is called once each time the robot enters Disabled mode. + */ + @Override + public void disabledInit() + { + m_robotContainer.setMotorBrake(true); + disabledTimer.reset(); + disabledTimer.start(); + } + + @Override + public void disabledPeriodic() + { + if (disabledTimer.hasElapsed(Constants.DrivebaseConstants.WHEEL_LOCK_TIME)) + { + m_robotContainer.setMotorBrake(false); + disabledTimer.stop(); + disabledTimer.reset(); + } + } + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() + { + m_robotContainer.setMotorBrake(true); + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + //Print the selected autonomous command upon autonomous init + System.out.println("Auto selected: " + m_autonomousCommand); + + // schedule the autonomous command selected in the autoChooser + if (m_autonomousCommand != null) + { + m_autonomousCommand.schedule(); + } + } + + /** + * This function is called periodically during autonomous. + */ + @Override + public void autonomousPeriodic() + { + } + + @Override + public void teleopInit() + { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) + { + m_autonomousCommand.cancel(); + } else + { + CommandScheduler.getInstance().cancelAll(); + } + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() + { + } + + @Override + public void testInit() + { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() + { + } + + /** + * This function is called once when the robot is first started up. + */ + @Override + public void simulationInit() + { + } + + /** + * This function is called periodically whilst in simulation. + */ + @Override + public void simulationPeriodic() + { + } +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java b/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..28294a8 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,205 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.math.controller.ProfiledPIDController; +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.trajectory.TrapezoidProfile.Constraints; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.OperatorConstants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.io.File; +import swervelib.SwerveInputStream; + +/** + * This class is where the bulk of the robot should be declared. Since Command-based is a "declarative" paradigm, very + * little robot logic should actually be handled in the {@link Robot} periodic methods (other than the scheduler calls). + * Instead, the structure of the robot (including subsystems, commands, and trigger mappings) should be declared here. + */ +public class RobotContainer +{ + + // Replace with CommandPS4Controller or CommandJoystick if needed + final CommandXboxController driverXbox = new CommandXboxController(0); + // The robot's subsystems and commands are defined here... + private final SwerveSubsystem drivebase = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), + "swerve/neo")); + + // Establish a Sendable Chooser that will be able to be sent to the SmartDashboard, allowing selection of desired auto + private final SendableChooser autoChooser = new SendableChooser<>(); + + /** + * Converts driver input into a field-relative ChassisSpeeds that is controlled by angular velocity. + */ + SwerveInputStream driveAngularVelocity = SwerveInputStream.of(drivebase.getSwerveDrive(), + () -> driverXbox.getLeftY() * -1, + () -> driverXbox.getLeftX() * -1) + .withControllerRotationAxis(driverXbox::getRightX) + .deadband(OperatorConstants.DEADBAND) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + + /** + * Clone's the angular velocity input stream and converts it to a fieldRelative input stream. + */ + SwerveInputStream driveDirectAngle = driveAngularVelocity.copy().withControllerHeadingAxis(driverXbox::getRightX, + driverXbox::getRightY) + .headingWhile(true); + + /** + * Clone's the angular velocity input stream and converts it to a robotRelative input stream. + */ + SwerveInputStream driveRobotOriented = driveAngularVelocity.copy().robotRelative(true) + .allianceRelativeControl(false); + + SwerveInputStream driveAngularVelocityKeyboard = SwerveInputStream.of(drivebase.getSwerveDrive(), + () -> -driverXbox.getLeftY(), + () -> -driverXbox.getLeftX()) + .withControllerRotationAxis(() -> driverXbox.getRawAxis( + 2)) + .deadband(OperatorConstants.DEADBAND) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + // Derive the heading axis with math! + SwerveInputStream driveDirectAngleKeyboard = driveAngularVelocityKeyboard.copy() + .withControllerHeadingAxis(() -> + Math.sin( + driverXbox.getRawAxis( + 2) * + Math.PI) * + (Math.PI * + 2), + () -> + Math.cos( + driverXbox.getRawAxis( + 2) * + Math.PI) * + (Math.PI * + 2)) + .headingWhile(true) + .translationHeadingOffset(true) + .translationHeadingOffset(Rotation2d.fromDegrees( + 0)); + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() + { + // Configure the trigger bindings + configureBindings(); + DriverStation.silenceJoystickConnectionWarning(true); + + //Set the default auto (do nothing) + autoChooser.setDefaultOption("Do Nothing", Commands.runOnce(drivebase::zeroGyroWithAlliance) + .andThen(Commands.none())); + + //Add a simple auto option to have the robot drive forward for 1 second then stop + autoChooser.addOption("Drive Forward", Commands.runOnce(drivebase::zeroGyroWithAlliance).withTimeout(.2) + .andThen(drivebase.driveForward().withTimeout(1))); + //Put the autoChooser on the SmartDashboard + SmartDashboard.putData("Auto Chooser", autoChooser); + + if (autoChooser.getSelected() == null ) { + RobotModeTriggers.autonomous().onTrue(Commands.runOnce(drivebase::zeroGyroWithAlliance)); + } + } + + /** + * Use this method to define your trigger->command mappings. Triggers can be created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary predicate, or via the + * named factories in {@link edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for + * {@link CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller PS4} + * controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight joysticks}. + */ + private void configureBindings() + { + Command driveFieldOrientedDirectAngle = drivebase.driveFieldOriented(driveDirectAngle); + Command driveFieldOrientedAnglularVelocity = drivebase.driveFieldOriented(driveAngularVelocity); + Command driveRobotOrientedAngularVelocity = drivebase.driveFieldOriented(driveRobotOriented); + Command driveFieldOrientedDirectAngleKeyboard = drivebase.driveFieldOriented(driveDirectAngleKeyboard); + Command driveFieldOrientedAnglularVelocityKeyboard = drivebase.driveFieldOriented(driveAngularVelocityKeyboard); + + + if (RobotBase.isSimulation()) + { + drivebase.setDefaultCommand(driveFieldOrientedDirectAngleKeyboard); + } else + { + drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); + } + + if (Robot.isSimulation()) + { + Pose2d target = new Pose2d(new Translation2d(1, 4), + Rotation2d.fromDegrees(90)); + //drivebase.getSwerveDrive().field.getObject("targetPose").setPose(target); + driveDirectAngleKeyboard.driveToPose(() -> target, + new ProfiledPIDController(5, + 0, + 0, + new Constraints(5, 2)), + new ProfiledPIDController(5, + 0, + 0, + new Constraints(Units.degreesToRadians(360), + Units.degreesToRadians(180)) + )); + driverXbox.start().onTrue(Commands.runOnce(() -> drivebase.resetOdometry(new Pose2d(3, 3, new Rotation2d())))); + driverXbox.button(1).whileTrue(drivebase.sysIdDriveMotorCommand()); + driverXbox.button(2).whileTrue(Commands.runEnd(() -> driveDirectAngleKeyboard.driveToPoseEnabled(true), + () -> driveDirectAngleKeyboard.driveToPoseEnabled(false))); + + + + } + if (DriverStation.isTest()) + { + drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); // Overrides drive command above! + + driverXbox.x().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); + driverXbox.start().onTrue((Commands.runOnce(drivebase::zeroGyro))); + driverXbox.back().whileTrue(drivebase.centerModulesCommand()); + driverXbox.leftBumper().onTrue(Commands.none()); + driverXbox.rightBumper().onTrue(Commands.none()); + } else + { + driverXbox.a().onTrue((Commands.runOnce(drivebase::zeroGyro))); + driverXbox.start().whileTrue(Commands.none()); + driverXbox.back().whileTrue(Commands.none()); + driverXbox.leftBumper().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); + driverXbox.rightBumper().onTrue(Commands.none()); + } + + } + + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() + { + // Pass in the selected auto from the SmartDashboard as our desired autnomous commmand + return autoChooser.getSelected(); + } + + public void setMotorBrake(boolean brake) + { + drivebase.setMotorBrake(brake); + } +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java new file mode 100644 index 0000000..6919e45 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java @@ -0,0 +1,86 @@ +package frc.robot.commands.swervedrive.auto; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; + + +/** + * Auto Balance command using a simple PID controller. Created by Team 3512 + * ... + */ +public class AutoBalanceCommand extends Command +{ + + private final SwerveSubsystem swerveSubsystem; + private final PIDController controller; + + public AutoBalanceCommand(SwerveSubsystem swerveSubsystem) + { + this.swerveSubsystem = swerveSubsystem; + controller = new PIDController(1.0, 0.0, 0.0); + controller.setTolerance(1); + controller.setSetpoint(0.0); + // each subsystem used by the command must be passed into the + // addRequirements() method (which takes a vararg of Subsystem) + addRequirements(this.swerveSubsystem); + } + + /** + * The initial subroutine of a command. Called once when the command is initially scheduled. + */ + @Override + public void initialize() + { + + } + + /** + * The main body of a command. Called repeatedly while the command is scheduled. (That is, it is called repeatedly + * until {@link #isFinished()}) returns true.) + */ + @Override + public void execute() + { + SmartDashboard.putBoolean("At Tolerance", controller.atSetpoint()); + + double translationVal = MathUtil.clamp(controller.calculate(swerveSubsystem.getPitch().getDegrees(), 0.0), -0.5, + 0.5); + swerveSubsystem.drive(new Translation2d(translationVal, 0.0), 0.0, true); + } + + /** + *

+ * Returns whether this command has finished. Once a command finishes -- indicated by this method returning true -- + * the scheduler will call its {@link #end(boolean)} method. + *

+ * Returning false will result in the command never ending automatically. It may still be cancelled manually or + * interrupted by another command. Hard coding this command to always return true will result in the command executing + * once and finishing immediately. It is recommended to use * + * {@link edu.wpi.first.wpilibj2.command.InstantCommand InstantCommand} for such an operation. + *

+ * + * @return whether this command has finished. + */ + @Override + public boolean isFinished() + { + return controller.atSetpoint(); + } + + /** + * The action to take when the command ends. Called when either the command finishes normally -- that is it is called + * when {@link #isFinished()} returns true -- or when it is interrupted/canceled. This is where you may want to wrap + * up loose ends, like shutting off a motor that was being used in the command. + * + * @param interrupted whether the command was interrupted/canceled + */ + @Override + public void end(boolean interrupted) + { + swerveSubsystem.lock(); + } +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java new file mode 100644 index 0000000..9ab90b7 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java @@ -0,0 +1,120 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.swervedrive.drivebase; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.List; +import java.util.function.DoubleSupplier; +import swervelib.SwerveController; +import swervelib.math.SwerveMath; + +/** + * An example command that uses an example subsystem. + */ +public class AbsoluteDrive extends Command +{ + + private final SwerveSubsystem swerve; + private final DoubleSupplier vX, vY; + private final DoubleSupplier headingHorizontal, headingVertical; + private boolean initRotation = false; + + /** + * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is + * torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian + * coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot + * will rotate to. + * + * @param swerve The swerve drivebase subsystem. + * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 + * to 1 with deadband already accounted for. Positive X is away from the alliance wall. + * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 + * to 1 with deadband already accounted for. Positive Y is towards the left wall when + * looking through the driver station glass. + * @param headingHorizontal DoubleSupplier that supplies the horizontal component of the robot's heading angle. In the + * robot coordinate system, this is along the same axis as vY. Should range from -1 to 1 with + * no deadband. Positive is towards the left wall when looking through the driver station + * glass. + * @param headingVertical DoubleSupplier that supplies the vertical component of the robot's heading angle. In the + * robot coordinate system, this is along the same axis as vX. Should range from -1 to 1 + * with no deadband. Positive is away from the alliance wall. + */ + public AbsoluteDrive(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingHorizontal, + DoubleSupplier headingVertical) + { + this.swerve = swerve; + this.vX = vX; + this.vY = vY; + this.headingHorizontal = headingHorizontal; + this.headingVertical = headingVertical; + + addRequirements(swerve); + } + + @Override + public void initialize() + { + initRotation = true; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() + { + + // Get the desired chassis speeds based on a 2 joystick module. + ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), + headingHorizontal.getAsDouble(), + headingVertical.getAsDouble()); + + // Prevent Movement After Auto + if (initRotation) + { + if (headingHorizontal.getAsDouble() == 0 && headingVertical.getAsDouble() == 0) + { + // Get the curretHeading + Rotation2d firstLoopHeading = swerve.getHeading(); + + // Set the Current Heading to the desired Heading + desiredSpeeds = swerve.getTargetSpeeds(0, 0, firstLoopHeading.getSin(), firstLoopHeading.getCos()); + } + //Dont Init Rotation Again + initRotation = false; + } + + // Limit velocity to prevent tippy + Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); + translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), + Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), + swerve.getSwerveDriveConfiguration()); + SmartDashboard.putNumber("LimitedTranslation", translation.getX()); + SmartDashboard.putString("Translation", translation.toString()); + + // Make the robot move + swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) + { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() + { + return false; + } + + +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java new file mode 100644 index 0000000..a92904f --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java @@ -0,0 +1,154 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.swervedrive.drivebase; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.List; +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; +import swervelib.SwerveController; +import swervelib.math.SwerveMath; + +/** + * A more advanced Swerve Control System that has 4 buttons for which direction to face + */ +public class AbsoluteDriveAdv extends Command +{ + + private final SwerveSubsystem swerve; + private final DoubleSupplier vX, vY; + private final DoubleSupplier headingAdjust; + private final BooleanSupplier lookAway, lookTowards, lookLeft, lookRight; + private boolean resetHeading = false; + + /** + * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is + * torwards/away from alliance wall and y is left/right. Heading Adjust changes the current heading after being + * multipied by a constant. The look booleans are shortcuts to get the robot to face a certian direction. Based off of + * ideas in https://www.chiefdelphi.com/t/experiments-with-a-swerve-steering-knob/446172 + * + * @param swerve The swerve drivebase subsystem. + * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 to 1 + * with deadband already accounted for. Positive X is away from the alliance wall. + * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 to 1 + * with deadband already accounted for. Positive Y is towards the left wall when looking through + * the driver station glass. + * @param headingAdjust DoubleSupplier that supplies the component of the robot's heading angle that should be + * adjusted. Should range from -1 to 1 with deadband already accounted for. + * @param lookAway Face the robot towards the opposing alliance's wall in the same direction the driver is + * facing + * @param lookTowards Face the robot towards the driver + * @param lookLeft Face the robot left + * @param lookRight Face the robot right + */ + public AbsoluteDriveAdv(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingAdjust, + BooleanSupplier lookAway, BooleanSupplier lookTowards, BooleanSupplier lookLeft, + BooleanSupplier lookRight) + { + this.swerve = swerve; + this.vX = vX; + this.vY = vY; + this.headingAdjust = headingAdjust; + this.lookAway = lookAway; + this.lookTowards = lookTowards; + this.lookLeft = lookLeft; + this.lookRight = lookRight; + + addRequirements(swerve); + } + + @Override + public void initialize() + { + resetHeading = true; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() + { + double headingX = 0; + double headingY = 0; + + // These are written to allow combinations for 45 angles + // Face Away from Drivers + if (lookAway.getAsBoolean()) + { + headingY = -1; + } + // Face Right + if (lookRight.getAsBoolean()) + { + headingX = 1; + } + // Face Left + if (lookLeft.getAsBoolean()) + { + headingX = -1; + } + // Face Towards the Drivers + if (lookTowards.getAsBoolean()) + { + headingY = 1; + } + + // Prevent Movement After Auto + if (resetHeading) + { + if (headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) == 0) + { + // Get the curret Heading + Rotation2d currentHeading = swerve.getHeading(); + + // Set the Current Heading to the desired Heading + headingX = currentHeading.getSin(); + headingY = currentHeading.getCos(); + } + //Dont reset Heading Again + resetHeading = false; + } + + ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), headingX, headingY); + + // Limit velocity to prevent tippy + Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); + translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), + Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), + swerve.getSwerveDriveConfiguration()); + SmartDashboard.putNumber("LimitedTranslation", translation.getX()); + SmartDashboard.putString("Translation", translation.toString()); + + // Make the robot move + if (headingX == 0 && headingY == 0 && Math.abs(headingAdjust.getAsDouble()) > 0) + { + resetHeading = true; + swerve.drive(translation, (Constants.OperatorConstants.TURN_CONSTANT * -headingAdjust.getAsDouble()), true); + } else + { + swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) + { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() + { + return false; + } + + +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java new file mode 100644 index 0000000..b91489f --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java @@ -0,0 +1,95 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands.swervedrive.drivebase; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.List; +import java.util.function.DoubleSupplier; +import swervelib.SwerveController; +import swervelib.math.SwerveMath; + +/** + * An example command that uses an example subsystem. + */ +public class AbsoluteFieldDrive extends Command +{ + + private final SwerveSubsystem swerve; + private final DoubleSupplier vX, vY, heading; + + /** + * Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is + * torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian + * coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot + * will rotate to. + * + * @param swerve The swerve drivebase subsystem. + * @param vX DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 to 1 with + * deadband already accounted for. Positive X is away from the alliance wall. + * @param vY DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 to 1 with + * deadband already accounted for. Positive Y is towards the left wall when looking through the driver + * station glass. + * @param heading DoubleSupplier that supplies the robot's heading angle. + */ + public AbsoluteFieldDrive(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, + DoubleSupplier heading) + { + this.swerve = swerve; + this.vX = vX; + this.vY = vY; + this.heading = heading; + + addRequirements(swerve); + } + + @Override + public void initialize() + { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() + { + + // Get the desired chassis speeds based on a 2 joystick module. + + ChassisSpeeds desiredSpeeds = swerve.getTargetSpeeds(vX.getAsDouble(), vY.getAsDouble(), + new Rotation2d(heading.getAsDouble() * Math.PI)); + + // Limit velocity to prevent tippy + Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); + translation = SwerveMath.limitVelocity(translation, swerve.getFieldVelocity(), swerve.getPose(), + Constants.LOOP_TIME, Constants.ROBOT_MASS, List.of(Constants.CHASSIS), + swerve.getSwerveDriveConfiguration()); + SmartDashboard.putNumber("LimitedTranslation", translation.getX()); + SmartDashboard.putString("Translation", translation.toString()); + + // Make the robot move + swerve.drive(translation, desiredSpeeds.omegaRadiansPerSecond, true); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) + { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() + { + return false; + } + + +} diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java new file mode 100644 index 0000000..1d70326 --- /dev/null +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -0,0 +1,486 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems.swervedrive; + +import static edu.wpi.first.units.Units.Meter; + +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +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.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; +import frc.robot.Constants; +import java.io.File; +import java.util.Arrays; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; +import swervelib.SwerveController; +import swervelib.SwerveDrive; +import swervelib.SwerveDriveTest; +import swervelib.math.SwerveMath; +import swervelib.parser.SwerveControllerConfiguration; +import swervelib.parser.SwerveDriveConfiguration; +import swervelib.parser.SwerveParser; +import swervelib.telemetry.SwerveDriveTelemetry; +import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity; + +public class SwerveSubsystem extends SubsystemBase +{ + /** + * Swerve drive object. + */ + private final SwerveDrive swerveDrive; + + /** + * Initialize {@link SwerveDrive} with the directory provided. + * + * @param directory Directory of swerve drive config files. + */ + public SwerveSubsystem(File directory) + { + boolean blueAlliance = false; + Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), + Meter.of(4)), + Rotation2d.fromDegrees(0)) + : new Pose2d(new Translation2d(Meter.of(16), + Meter.of(4)), + Rotation2d.fromDegrees(180)); + // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created. + SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH; + try + { + swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED, startingPose); + // Alternative method if you don't want to supply the conversion factor via JSON files. + // swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, angleConversionFactor, driveConversionFactor); + } catch (Exception e) + { + throw new RuntimeException(e); + } + swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle. + swerveDrive.setCosineCompensator(false);//!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life. + swerveDrive.setAngularVelocityCompensation(true, + true, + 0.1); //Correct for skew that gets worse as angular velocity increases. Start with a coefficient of 0.1. + swerveDrive.setModuleEncoderAutoSynchronize(false, + 1); // Enable if you want to resynchronize your absolute encoders and motor encoders periodically when they are not moving. + // swerveDrive.pushOffsetsToEncoders(); // Set the absolute encoder to be used over the internal encoder and push the offsets onto it. Throws warning if not possible + } + + /** + * Construct the swerve drive. + * + * @param driveCfg SwerveDriveConfiguration for the swerve. + * @param controllerCfg Swerve Controller. + */ + public SwerveSubsystem(SwerveDriveConfiguration driveCfg, SwerveControllerConfiguration controllerCfg) + { + swerveDrive = new SwerveDrive(driveCfg, + controllerCfg, + Constants.MAX_SPEED, + new Pose2d(new Translation2d(Meter.of(2), Meter.of(0)), + Rotation2d.fromDegrees(0))); + } + + @Override + public void periodic() + { + } + + @Override + public void simulationPeriodic() + { + } + + /** + * Command to characterize the robot drive motors using SysId + * + * @return SysId Drive Command + */ + public Command sysIdDriveMotorCommand() + { + return SwerveDriveTest.generateSysIdCommand( + SwerveDriveTest.setDriveSysIdRoutine( + new Config(), + this, swerveDrive, 12, true), + 3.0, 5.0, 3.0); + } + + /** + * Command to characterize the robot angle motors using SysId + * + * @return SysId Angle Command + */ + public Command sysIdAngleMotorCommand() + { + return SwerveDriveTest.generateSysIdCommand( + SwerveDriveTest.setAngleSysIdRoutine( + new Config(), + this, swerveDrive), + 3.0, 5.0, 3.0); + } + + /** + * Returns a Command that centers the modules of the SwerveDrive subsystem. + * + * @return a Command that centers the modules of the SwerveDrive subsystem + */ + public Command centerModulesCommand() + { + return run(() -> Arrays.asList(swerveDrive.getModules()) + .forEach(it -> it.setAngle(0.0))); + } + + /** + * Returns a Command that tells the robot to drive forward until the command ends. + * + * @return a Command that tells the robot to drive forward until the command ends + */ + public Command driveForward() + { + return run(() -> { + swerveDrive.drive(new Translation2d(1, 0), 0, false, false); + }).finallyDo(() -> swerveDrive.drive(new Translation2d(0, 0), 0, false, false)); + } + + + /** + * Replaces the swerve module feedforward with a new SimpleMotorFeedforward object. + * + * @param kS the static gain of the feedforward + * @param kV the velocity gain of the feedforward + * @param kA the acceleration gain of the feedforward + */ + public void replaceSwerveModuleFeedforward(double kS, double kV, double kA) + { + swerveDrive.replaceSwerveModuleFeedforward(new SimpleMotorFeedforward(kS, kV, kA)); + } + + /** + * Command to drive the robot using translative values and heading as angular velocity. + * + * @param translationX Translation in the X direction. Cubed for smoother controls. + * @param translationY Translation in the Y direction. Cubed for smoother controls. + * @param angularRotationX Angular velocity of the robot to set. Cubed for smoother controls. + * @return Drive command. + */ + public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier angularRotationX) + { + return run(() -> { + // Make the robot move + swerveDrive.drive(SwerveMath.scaleTranslation(new Translation2d( + translationX.getAsDouble() * swerveDrive.getMaximumChassisVelocity(), + translationY.getAsDouble() * swerveDrive.getMaximumChassisVelocity()), 0.8), + Math.pow(angularRotationX.getAsDouble(), 3) * swerveDrive.getMaximumChassisAngularVelocity(), + true, + false); + }); + } + + /** + * Command to drive the robot using translative values and heading as a setpoint. + * + * @param translationX Translation in the X direction. Cubed for smoother controls. + * @param translationY Translation in the Y direction. Cubed for smoother controls. + * @param headingX Heading X to calculate angle of the joystick. + * @param headingY Heading Y to calculate angle of the joystick. + * @return Drive command. + */ + public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier headingX, + DoubleSupplier headingY) + { + // swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control. + return run(() -> { + + Translation2d scaledInputs = SwerveMath.scaleTranslation(new Translation2d(translationX.getAsDouble(), + translationY.getAsDouble()), 0.8); + + // Make the robot move + driveFieldOriented(swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), scaledInputs.getY(), + headingX.getAsDouble(), + headingY.getAsDouble(), + swerveDrive.getOdometryHeading().getRadians(), + swerveDrive.getMaximumChassisVelocity())); + }); + } + + /** + * The primary method for controlling the drivebase. Takes a {@link Translation2d} and a rotation rate, and + * calculates and commands module states accordingly. Can use either open-loop or closed-loop velocity control for + * the wheel velocities. Also has field- and robot-relative modes, which affect how the translation vector is used. + * + * @param translation {@link Translation2d} that is the commanded linear velocity of the robot, in meters per + * second. In robot-relative mode, positive x is torwards the bow (front) and positive y is + * torwards port (left). In field-relative mode, positive x is away from the alliance wall + * (field North) and positive y is torwards the left wall when looking through the driver station + * glass (field West). + * @param rotation Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot + * relativity. + * @param fieldRelative Drive mode. True for field-relative, false for robot-relative. + */ + public void drive(Translation2d translation, double rotation, boolean fieldRelative) + { + swerveDrive.drive(translation, + rotation, + fieldRelative, + false); // Open loop is disabled since it shouldn't be used most of the time. + } + + /** + * Drive the robot given a chassis field oriented velocity. + * + * @param velocity Velocity according to the field. + */ + public void driveFieldOriented(ChassisSpeeds velocity) + { + swerveDrive.driveFieldOriented(velocity); + } + + /** + * Drive the robot given a chassis field oriented velocity. + * + * @param velocity Velocity according to the field. + */ + public Command driveFieldOriented(Supplier velocity) + { + return run(() -> { + swerveDrive.driveFieldOriented(velocity.get()); + }); + } + + /** + * Drive according to the chassis robot oriented velocity. + * + * @param velocity Robot oriented {@link ChassisSpeeds} + */ + public void drive(ChassisSpeeds velocity) + { + swerveDrive.drive(velocity); + } + + /** + * Get the swerve drive kinematics object. + * + * @return {@link SwerveDriveKinematics} of the swerve drive. + */ + public SwerveDriveKinematics getKinematics() + { + return swerveDrive.kinematics; + } + + /** + * Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this + * method. However, if either gyro angle or module position is reset, this must be called in order for odometry to + * keep working. + * + * @param initialHolonomicPose The pose to set the odometry to + */ + public void resetOdometry(Pose2d initialHolonomicPose) + { + swerveDrive.resetOdometry(initialHolonomicPose); + } + + /** + * Gets the current pose (position and rotation) of the robot, as reported by odometry. + * + * @return The robot's pose + */ + public Pose2d getPose() + { + return swerveDrive.getPose(); + } + + /** + * Set chassis speeds with closed-loop velocity control. + * + * @param chassisSpeeds Chassis Speeds to set. + */ + public void setChassisSpeeds(ChassisSpeeds chassisSpeeds) + { + swerveDrive.setChassisSpeeds(chassisSpeeds); + } + + /** + * Post the trajectory to the field. + * + * @param trajectory The trajectory to post. + */ + public void postTrajectory(Trajectory trajectory) + { + swerveDrive.postTrajectory(trajectory); + } + + /** + * Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0. + */ + public void zeroGyro() + { + swerveDrive.zeroGyro(); + } + + /** + * Checks if the alliance is red, defaults to false if alliance isn't available. + * + * @return true if the red alliance, false if blue. Defaults to false if none is available. + */ + private boolean isRedAlliance() + { + var alliance = DriverStation.getAlliance(); + return alliance.isPresent() ? alliance.get() == DriverStation.Alliance.Red : false; + } + + /** + * This will zero (calibrate) the robot to assume the current position is facing forward + *

+ * If red alliance rotate the robot 180 after the drviebase zero command + */ + public void zeroGyroWithAlliance() + { + if (isRedAlliance()) + { + zeroGyro(); + //Set the pose 180 degrees + resetOdometry(new Pose2d(getPose().getTranslation(), Rotation2d.fromDegrees(180))); + } else + { + zeroGyro(); + } + } + + /** + * Sets the drive motors to brake/coast mode. + * + * @param brake True to set motors to brake mode, false for coast. + */ + public void setMotorBrake(boolean brake) + { + swerveDrive.setMotorIdleMode(brake); + } + + /** + * Gets the current yaw angle of the robot, as reported by the swerve pose estimator in the underlying drivebase. + * Note, this is not the raw gyro reading, this may be corrected from calls to resetOdometry(). + * + * @return The yaw angle + */ + public Rotation2d getHeading() + { + return getPose().getRotation(); + } + + /** + * Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for + * the angle of the robot. + * + * @param xInput X joystick input for the robot to move in the X direction. + * @param yInput Y joystick input for the robot to move in the Y direction. + * @param headingX X joystick which controls the angle of the robot. + * @param headingY Y joystick which controls the angle of the robot. + * @return {@link ChassisSpeeds} which can be sent to the Swerve Drive. + */ + public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, double headingX, double headingY) + { + Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(xInput, yInput)); + return swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), + scaledInputs.getY(), + headingX, + headingY, + getHeading().getRadians(), + Constants.MAX_SPEED); + } + + /** + * Get the chassis speeds based on controller input of 1 joystick and one angle. Control the robot at an offset of + * 90deg. + * + * @param xInput X joystick input for the robot to move in the X direction. + * @param yInput Y joystick input for the robot to move in the Y direction. + * @param angle The angle in as a {@link Rotation2d}. + * @return {@link ChassisSpeeds} which can be sent to the Swerve Drive. + */ + public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, Rotation2d angle) + { + Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(xInput, yInput)); + + return swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), + scaledInputs.getY(), + angle.getRadians(), + getHeading().getRadians(), + Constants.MAX_SPEED); + } + + /** + * Gets the current field-relative velocity (x, y and omega) of the robot + * + * @return A ChassisSpeeds object of the current field-relative velocity + */ + public ChassisSpeeds getFieldVelocity() + { + return swerveDrive.getFieldVelocity(); + } + + /** + * Gets the current velocity (x, y and omega) of the robot + * + * @return A {@link ChassisSpeeds} object of the current velocity + */ + public ChassisSpeeds getRobotVelocity() + { + return swerveDrive.getRobotVelocity(); + } + + /** + * Get the {@link SwerveController} in the swerve drive. + * + * @return {@link SwerveController} from the {@link SwerveDrive}. + */ + public SwerveController getSwerveController() + { + return swerveDrive.swerveController; + } + + /** + * Get the {@link SwerveDriveConfiguration} object. + * + * @return The {@link SwerveDriveConfiguration} fpr the current drive. + */ + public SwerveDriveConfiguration getSwerveDriveConfiguration() + { + return swerveDrive.swerveDriveConfiguration; + } + + /** + * Lock the swerve drive to prevent it from moving. + */ + public void lock() + { + swerveDrive.lockPose(); + } + + /** + * Gets the current pitch angle of the robot, as reported by the imu. + * + * @return The heading as a {@link Rotation2d} angle + */ + public Rotation2d getPitch() + { + return swerveDrive.getPitch(); + } + + /** + * Gets the swerve drive object. + * + * @return {@link SwerveDrive} + */ + public SwerveDrive getSwerveDrive() + { + return swerveDrive; + } +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-frc2025-latest.json b/examples/drivebase_only_2026/vendordeps/Phoenix6-replay-26.0.0-beta-1.json similarity index 81% rename from examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-frc2025-latest.json rename to examples/drivebase_only_2026/vendordeps/Phoenix6-replay-26.0.0-beta-1.json index 6f40c84..5312c86 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-frc2025-latest.json +++ b/examples/drivebase_only_2026/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -1,38 +1,35 @@ { - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", "conflictsWith": [ { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.4.0" + "version": "26.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -40,21 +37,18 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -63,12 +57,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -77,12 +71,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -95,8 +89,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -109,8 +103,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,8 +117,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,21 +132,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +146,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +160,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -222,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -238,15 +218,12 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -254,24 +231,21 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPISim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -281,13 +255,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools_Sim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -297,13 +271,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", - "libName": "CTRE_SimTalonSRX", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -317,9 +291,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "libName": "CTRE_SimVictorSPX", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -333,9 +307,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -349,9 +323,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -365,9 +339,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -381,9 +355,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -398,7 +372,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -414,7 +388,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -430,7 +404,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -446,7 +420,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -462,7 +436,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_only_2026/vendordeps/REVLib.json b/examples/drivebase_only_2026/vendordeps/REVLib.json new file mode 100644 index 0000000..0f666c9 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/REVLib.json @@ -0,0 +1,133 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2026.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2026.0.0-beta-1", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2026.0.0-beta-1", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0-beta.json b/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/vendordeps/StudicaLib.json b/examples/drivebase_only_2026/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/vendordeps/ThriftyLib.json b/examples/drivebase_only_2026/vendordeps/ThriftyLib.json new file mode 100644 index 0000000..1e59797 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/ThriftyLib.json @@ -0,0 +1,20 @@ +{ + "fileName": "ThriftyLib.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026beta", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": [ + "https://docs.home.thethriftybot.com" + ], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/drivebase_only_2026/vendordeps/WPILibNewCommands.json b/examples/drivebase_only_2026/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..7ebc954 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/WPILibNewCommands.json @@ -0,0 +1,39 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026beta", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_with_PathPlanner/.wpilib/wpilib_preferences.json b/examples/drivebase_with_PathPlanner/.wpilib/wpilib_preferences.json index 83517dd..f727ea3 100644 --- a/examples/drivebase_with_PathPlanner/.wpilib/wpilib_preferences.json +++ b/examples/drivebase_with_PathPlanner/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/build.gradle b/examples/drivebase_with_PathPlanner/build.gradle index fdf6d52..4233229 100644 --- a/examples/drivebase_with_PathPlanner/build.gradle +++ b/examples/drivebase_with_PathPlanner/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/drivebase_with_PathPlanner/settings.gradle b/examples/drivebase_with_PathPlanner/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/drivebase_with_PathPlanner/settings.gradle +++ b/examples/drivebase_with_PathPlanner/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib.json b/examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib.json deleted file mode 100644 index c496379..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "PathplannerLib.json", - "name": "PathplannerLib", - "version": "2025.2.7", - "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2025", - "mavenUrls": [ - "https://3015rangerrobotics.github.io/pathplannerlib/repo" - ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", - "javaDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-java", - "version": "2025.2.7" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2025.2.7", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-frc2025-latest.json b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-frc2025-latest.json b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json similarity index 81% rename from examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-frc2025-latest.json rename to examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json index 6f40c84..5312c86 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-frc2025-latest.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -1,38 +1,35 @@ { - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", "conflictsWith": [ { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.4.0" + "version": "26.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -40,21 +37,18 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -63,12 +57,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -77,12 +71,12 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -95,8 +89,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -109,8 +103,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,8 +117,8 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,21 +132,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +146,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +160,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -222,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -238,15 +218,12 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -254,24 +231,21 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPISim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -281,13 +255,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools_Sim", + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -297,13 +271,13 @@ "linuxarm64", "osxuniversal" ], - "simMode": "swsim" + "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", - "libName": "CTRE_SimTalonSRX", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -317,9 +291,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "libName": "CTRE_SimVictorSPX", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -333,9 +307,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -349,9 +323,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -365,9 +339,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -381,9 +355,9 @@ }, { "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -398,7 +372,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -414,7 +388,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -430,7 +404,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -446,7 +420,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -462,7 +436,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.0.0-beta-1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json b/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2025.0.1.json b/examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Studica-2025.0.1.json b/examples/drivebase_with_PathPlanner/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json b/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json b/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json b/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json b/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/drivebase_with_PathPlanner/vendordeps/maple-sim.json b/examples/drivebase_with_PathPlanner/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/photonlib.json b/examples/drivebase_with_PathPlanner/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/yagsl-2025.7.2.json b/examples/drivebase_with_PathPlanner/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/.wpilib/wpilib_preferences.json b/examples/drivebase_with_PhotonVision/.wpilib/wpilib_preferences.json index 04917b5..f727ea3 100644 --- a/examples/drivebase_with_PhotonVision/.wpilib/wpilib_preferences.json +++ b/examples/drivebase_with_PhotonVision/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", - "teamNumber": 2181 + "projectYear": "2026beta", + "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/build.gradle b/examples/drivebase_with_PhotonVision/build.gradle index fdf6d52..4233229 100644 --- a/examples/drivebase_with_PhotonVision/build.gradle +++ b/examples/drivebase_with_PhotonVision/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/drivebase_with_PhotonVision/settings.gradle b/examples/drivebase_with_PhotonVision/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/drivebase_with_PhotonVision/settings.gradle +++ b/examples/drivebase_with_PhotonVision/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib.json b/examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib.json deleted file mode 100644 index c496379..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "PathplannerLib.json", - "name": "PathplannerLib", - "version": "2025.2.7", - "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2025", - "mavenUrls": [ - "https://3015rangerrobotics.github.io/pathplannerlib/repo" - ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", - "javaDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-java", - "version": "2025.2.7" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2025.2.7", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-frc2025-latest.json b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json new file mode 100644 index 0000000..5312c86 --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -0,0 +1,453 @@ +{ + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json b/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2025.0.1.json b/examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Studica-2025.0.1.json b/examples/drivebase_with_PhotonVision/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json b/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json b/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json b/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json b/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/drivebase_with_PhotonVision/vendordeps/maple-sim.json b/examples/drivebase_with_PhotonVision/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/photonlib.json b/examples/drivebase_with_PhotonVision/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/yagsl-2025.7.2.json b/examples/drivebase_with_PhotonVision/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/.wpilib/wpilib_preferences.json b/examples/field_oriented_drivebase/.wpilib/wpilib_preferences.json index 83517dd..f727ea3 100644 --- a/examples/field_oriented_drivebase/.wpilib/wpilib_preferences.json +++ b/examples/field_oriented_drivebase/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/field_oriented_drivebase/build.gradle b/examples/field_oriented_drivebase/build.gradle index fdf6d52..4233229 100644 --- a/examples/field_oriented_drivebase/build.gradle +++ b/examples/field_oriented_drivebase/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/field_oriented_drivebase/settings.gradle b/examples/field_oriented_drivebase/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/field_oriented_drivebase/settings.gradle +++ b/examples/field_oriented_drivebase/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/field_oriented_drivebase/vendordeps/Phoenix5-frc2025-latest.json b/examples/field_oriented_drivebase/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/field_oriented_drivebase/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/field_oriented_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/Phoenix6-frc2025-latest.json b/examples/field_oriented_drivebase/vendordeps/Phoenix6-frc2025-latest.json deleted file mode 100644 index 6f40c84..0000000 --- a/examples/field_oriented_drivebase/vendordeps/Phoenix6-frc2025-latest.json +++ /dev/null @@ -1,479 +0,0 @@ -{ - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "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-frc2025-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "25.4.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.4.0", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.4.0", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.4.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.4.0", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.4.0", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "25.4.0", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/field_oriented_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json new file mode 100644 index 0000000..5312c86 --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -0,0 +1,453 @@ +{ + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/REVLib.json b/examples/field_oriented_drivebase/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/field_oriented_drivebase/vendordeps/REVLib.json +++ b/examples/field_oriented_drivebase/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/ReduxLib-2025.0.1.json b/examples/field_oriented_drivebase/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/field_oriented_drivebase/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/Studica-2025.0.1.json b/examples/field_oriented_drivebase/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/field_oriented_drivebase/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0-beta.json b/examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/StudicaLib.json b/examples/field_oriented_drivebase/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/ThriftyLib.json b/examples/field_oriented_drivebase/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/field_oriented_drivebase/vendordeps/ThriftyLib.json +++ b/examples/field_oriented_drivebase/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/field_oriented_drivebase/vendordeps/WPILibNewCommands.json b/examples/field_oriented_drivebase/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/field_oriented_drivebase/vendordeps/WPILibNewCommands.json +++ b/examples/field_oriented_drivebase/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/field_oriented_drivebase/vendordeps/maple-sim.json b/examples/field_oriented_drivebase/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/field_oriented_drivebase/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/photonlib.json b/examples/field_oriented_drivebase/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/field_oriented_drivebase/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/yagsl-2025.7.2.json b/examples/field_oriented_drivebase/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/field_oriented_drivebase/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/full_example/.wpilib/wpilib_preferences.json b/examples/full_example/.wpilib/wpilib_preferences.json index 83517dd..f727ea3 100644 --- a/examples/full_example/.wpilib/wpilib_preferences.json +++ b/examples/full_example/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/full_example/build.gradle b/examples/full_example/build.gradle index fdf6d52..4233229 100644 --- a/examples/full_example/build.gradle +++ b/examples/full_example/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/full_example/settings.gradle b/examples/full_example/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/full_example/settings.gradle +++ b/examples/full_example/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/full_example/vendordeps/PathplannerLib.json b/examples/full_example/vendordeps/PathplannerLib.json deleted file mode 100644 index c496379..0000000 --- a/examples/full_example/vendordeps/PathplannerLib.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "PathplannerLib.json", - "name": "PathplannerLib", - "version": "2025.2.7", - "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2025", - "mavenUrls": [ - "https://3015rangerrobotics.github.io/pathplannerlib/repo" - ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", - "javaDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-java", - "version": "2025.2.7" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2025.2.7", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Phoenix5-frc2025-latest.json b/examples/full_example/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/full_example/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Phoenix6-frc2025-latest.json b/examples/full_example/vendordeps/Phoenix6-frc2025-latest.json deleted file mode 100644 index 6f40c84..0000000 --- a/examples/full_example/vendordeps/Phoenix6-frc2025-latest.json +++ /dev/null @@ -1,479 +0,0 @@ -{ - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "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-frc2025-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "25.4.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - 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"simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.4.0", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.4.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.4.0", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.4.0", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "25.4.0", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json new file mode 100644 index 0000000..5312c86 --- /dev/null +++ b/examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -0,0 +1,453 @@ +{ + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/full_example/vendordeps/REVLib.json b/examples/full_example/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/full_example/vendordeps/REVLib.json +++ b/examples/full_example/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/full_example/vendordeps/ReduxLib-2025.0.1.json b/examples/full_example/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/full_example/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Studica-2025.0.1.json b/examples/full_example/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/full_example/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Studica-2026.0.0-beta.json b/examples/full_example/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/full_example/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/full_example/vendordeps/StudicaLib.json b/examples/full_example/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/full_example/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/full_example/vendordeps/ThriftyLib.json b/examples/full_example/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/full_example/vendordeps/ThriftyLib.json +++ b/examples/full_example/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/full_example/vendordeps/WPILibNewCommands.json b/examples/full_example/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/full_example/vendordeps/WPILibNewCommands.json +++ b/examples/full_example/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/full_example/vendordeps/maple-sim.json b/examples/full_example/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/full_example/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/photonlib.json b/examples/full_example/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/full_example/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/yagsl-2025.7.2.json b/examples/full_example/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/full_example/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/.wpilib/wpilib_preferences.json b/examples/robot_relative_drivebase/.wpilib/wpilib_preferences.json index 83517dd..f727ea3 100644 --- a/examples/robot_relative_drivebase/.wpilib/wpilib_preferences.json +++ b/examples/robot_relative_drivebase/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/robot_relative_drivebase/build.gradle b/examples/robot_relative_drivebase/build.gradle index fdf6d52..4233229 100644 --- a/examples/robot_relative_drivebase/build.gradle +++ b/examples/robot_relative_drivebase/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.1" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } java { @@ -8,6 +8,14 @@ java { targetCompatibility = JavaVersion.VERSION_17 } +sourceSets { + main { + java { + srcDir '../../yagsl/java/' + } + } +} + def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) @@ -34,7 +42,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // longer exist in deploy directory of this project } } } @@ -43,7 +51,8 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. @@ -69,6 +78,7 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() + implementation 'org.dyn4j:dyn4j:5.0.2' testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' diff --git a/examples/robot_relative_drivebase/settings.gradle b/examples/robot_relative_drivebase/settings.gradle index 969c7b0..25f6f6e 100644 --- a/examples/robot_relative_drivebase/settings.gradle +++ b/examples/robot_relative_drivebase/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix5-frc2025-latest.json b/examples/robot_relative_drivebase/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/examples/robot_relative_drivebase/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix6-frc2025-latest.json b/examples/robot_relative_drivebase/vendordeps/Phoenix6-frc2025-latest.json deleted file mode 100644 index 6f40c84..0000000 --- a/examples/robot_relative_drivebase/vendordeps/Phoenix6-frc2025-latest.json +++ /dev/null @@ -1,479 +0,0 @@ -{ - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", - "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-frc2025-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "25.4.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": 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"simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.4.0", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": 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"swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.4.0", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.4.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.4.0", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.4.0", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "25.4.0", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json new file mode 100644 index 0000000..5312c86 --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -0,0 +1,453 @@ +{ + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/REVLib.json b/examples/robot_relative_drivebase/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/examples/robot_relative_drivebase/vendordeps/REVLib.json +++ b/examples/robot_relative_drivebase/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/ReduxLib-2025.0.1.json b/examples/robot_relative_drivebase/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/examples/robot_relative_drivebase/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Studica-2025.0.1.json b/examples/robot_relative_drivebase/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/examples/robot_relative_drivebase/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json b/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/StudicaLib.json b/examples/robot_relative_drivebase/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json b/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json +++ b/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json b/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json +++ b/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/examples/robot_relative_drivebase/vendordeps/maple-sim.json b/examples/robot_relative_drivebase/vendordeps/maple-sim.json deleted file mode 100644 index 73c812f..0000000 --- a/examples/robot_relative_drivebase/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.14", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.14" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/photonlib.json b/examples/robot_relative_drivebase/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/examples/robot_relative_drivebase/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/yagsl-2025.7.2.json b/examples/robot_relative_drivebase/vendordeps/yagsl-2025.7.2.json deleted file mode 100644 index 9fb6a48..0000000 --- a/examples/robot_relative_drivebase/vendordeps/yagsl-2025.7.2.json +++ /dev/null @@ -1,64 +0,0 @@ -{ - "fileName": "yagsl-2025.7.2.json", - "name": "YAGSL", - "version": "2025.7.2", - "frcYear": "2025", - "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", - "mavenUrls": [ - "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" - ], - "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", - "javaDependencies": [ - { - "groupId": "swervelib", - "artifactId": "YAGSL-java", - "version": "2025.7.2" - } - ], - "requires": [ - { - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" - }, - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" - }, - { - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "errorMessage": "ThriftyLib is required!", - "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/vendordep/build.gradle b/vendordep/build.gradle index 28fdf2c..ad96031 100644 --- a/vendordep/build.gradle +++ b/vendordep/build.gradle @@ -3,14 +3,14 @@ plugins { id 'java' id 'google-test' id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0' - id 'edu.wpi.first.NativeUtils' version '2025.9.0' + id 'edu.wpi.first.NativeUtils' version '2026.0.1' + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" // Version supplied here id 'edu.wpi.first.GradleJni' version '1.1.0' id 'edu.wpi.first.GradleVsCode' version '2.1.0' - id "edu.wpi.first.GradleRIO" version "2025.3.1" // Version should be defined here. id "com.diffplug.spotless" version "6.11.0" } -ext.wpilibVersion = "2025.3.1" // and again here, thanks gradle.... +ext.wpilibVersion = "2026.1.1-beta-1" // and again here, thanks gradle.... ext.releasePath = "$buildDir/maven" ext.pubVersion = System.getenv("releaseVersion") ?: System.getenv("releaseName") ?: "test" @@ -34,11 +34,11 @@ sourceSets { srcDir "$rootDir/../yagsl/java/" } } -// test { -// java { -// srcDir "src/test/java" -// } -// } + // test { + // java { + // srcDir "src/test/java" + // } + // } } var javaVersion = "17" @@ -51,6 +51,7 @@ dependencies { // implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() + implementation 'org.dyn4j:dyn4j:5.0.2' implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion" implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion" implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion" @@ -59,10 +60,10 @@ dependencies { implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion" implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpilibVersion" implementation "edu.wpi.first.hal:hal-java:$wpilibVersion" - implementation "org.ejml:ejml-simple:0.43.1" - implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2" - implementation "com.fasterxml.jackson.core:jackson-core:2.15.2" - implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2" + implementation "org.ejml:ejml-simple:0.44.0" + implementation "com.fasterxml.jackson.core:jackson-annotations:2.19.2" + implementation "com.fasterxml.jackson.core:jackson-core:2.19.2" + implementation "com.fasterxml.jackson.core:jackson-databind:2.19.2" implementation 'edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-2' } @@ -76,6 +77,7 @@ nativeUtils { } javadoc { + failOnError false title = "Yet Another Generic Swerve Library API" destinationDir = file("$releasePath/javadocs") options { @@ -84,8 +86,11 @@ javadoc { 'https://codedocs.revrobotics.com/java/', 'https://api.ctr-electronics.com/phoenix6/release/java/', 'https://api.ctr-electronics.com/phoenix/release/java/', - "https://shenzhen-robotics-alliance.github.io/maple-sim/javadocs/", "https://www.kauailabs.com/public_files/navx-mxp/apidocs/java/" + tags 'todo:X"', + 'apiNote:a:"API Note:"', + 'implSpec:a:"Implementation Requirements:"', + 'implNote:a:"Implementation Note:"' } } @@ -144,5 +149,5 @@ build.dependsOn spotlessApply apply from: 'publish.gradle' wrapper { - gradleVersion '8.11' + gradleVersion = '8.14.3' } diff --git a/vendordep/publish.gradle b/vendordep/publish.gradle index 875cabe..ed205b6 100644 --- a/vendordep/publish.gradle +++ b/vendordep/publish.gradle @@ -124,8 +124,8 @@ task vendordepJson() { from templateVendorFile into "$releasePath/" expand(version: pubVersion, - groupId: artifactGroupId, - artifactId: baseArtifactId) + groupId: artifactGroupId, + artifactId: baseArtifactId) } } diff --git a/vendordep/vendordeps/Phoenix5-frc2025-latest.json b/vendordep/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index 3cbc8f6..0000000 --- a/vendordep/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json new file mode 100644 index 0000000..4a78551 --- /dev/null +++ b/vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix6-frc2025-latest.json b/vendordep/vendordeps/Phoenix6-frc2025-latest.json deleted file mode 100644 index 765fef4..0000000 --- a/vendordep/vendordeps/Phoenix6-frc2025-latest.json +++ /dev/null @@ -1,449 +0,0 @@ -{ - "fileName": "Phoenix6-frc2025-latest.json", - "name": "CTRE-Phoenix (v6)", - "version": "25.3.2", - "frcYear": "2025", - "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-frc2025-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "25.3.2" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.3.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "25.3.2", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "25.3.2", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "25.3.2", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "25.3.2", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "25.3.2", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.3.2", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.3.2", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.3.2", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.3.2", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.3.2", - "libName": "CTRE_SimProTalonFXS", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.3.2", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.3.2", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.3.2", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.3.2", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json new file mode 100644 index 0000000..5312c86 --- /dev/null +++ b/vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json @@ -0,0 +1,453 @@ +{ + "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/REVLib.json b/vendordep/vendordeps/REVLib.json index 5546ea8..0f666c9 100644 --- a/vendordep/vendordeps/REVLib.json +++ b/vendordep/vendordeps/REVLib.json @@ -1,25 +1,55 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2025.0.3" + "version": "2026.0.0-beta-1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2025.0.3", + "version": "2026.0.0-beta-1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -66,6 +96,38 @@ "linuxarm32", "osxuniversal" ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] } ] } \ No newline at end of file diff --git a/vendordep/vendordeps/ReduxLib-2025.0.1.json b/vendordep/vendordeps/ReduxLib-2025.0.1.json deleted file mode 100644 index 007f97f..0000000 --- a/vendordep/vendordeps/ReduxLib-2025.0.1.json +++ /dev/null @@ -1,72 +0,0 @@ -{ - "fileName": "ReduxLib-2025.0.1.json", - "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2025", - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "mavenUrls": [ - "https://maven.reduxrobotics.com/" - ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", - "javaDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-java", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", - "libName": "ReduxLib", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - }, - { - "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm32", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/Studica-2025.0.1.json b/vendordep/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index e0b50d7..0000000 --- a/vendordep/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/Studica-2026.0.0-beta.json b/vendordep/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/vendordep/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/StudicaLib.json b/vendordep/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/vendordep/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/ThriftyLib.json b/vendordep/vendordeps/ThriftyLib.json index 887721f..1e59797 100644 --- a/vendordep/vendordeps/ThriftyLib.json +++ b/vendordep/vendordeps/ThriftyLib.json @@ -1,8 +1,8 @@ { "fileName": "ThriftyLib.json", "name": "ThriftyLib", - "version": "2025.1.1", - "frcYear": "2025", + "version": "2026.0.0", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" @@ -12,9 +12,9 @@ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2025.1.1" + "version": "2026.0.0" } ], "jniDependencies": [], "cppDependencies": [] -} \ No newline at end of file +} diff --git a/vendordep/vendordeps/WPILibNewCommands.json b/vendordep/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/vendordep/vendordeps/WPILibNewCommands.json +++ b/vendordep/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/vendordep/vendordeps/maple-sim.json b/vendordep/vendordeps/maple-sim.json deleted file mode 100644 index db80edc..0000000 --- a/vendordep/vendordeps/maple-sim.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "fileName": "maple-sim.json", - "name": "maplesim", - "version": "0.3.11prev", - "frcYear": "2025", - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "mavenUrls": [ - "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", - "https://repo1.maven.org/maven2" - ], - "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", - "javaDependencies": [ - { - "groupId": "org.ironmaple", - "artifactId": "maplesim-java", - "version": "0.3.11prev" - }, - { - "groupId": "org.dyn4j", - "artifactId": "dyn4j", - "version": "5.0.2" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} \ No newline at end of file diff --git a/vendordep/vendordeps/photonlib.json b/vendordep/vendordeps/photonlib.json deleted file mode 100644 index 5c6484d..0000000 --- a/vendordep/vendordeps/photonlib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2025.3.1", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2025.3.1", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2025.3.1" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2025.3.1" - } - ] -} \ No newline at end of file diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index b321d39..9433483 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -2,10 +2,11 @@ "fileName": "yagsl-${version}.json", "name": "YAGSL", "version": "${version}", - "frcYear": "2025", + "frcYear": "2026beta", "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", "mavenUrls": [ - "https://yet-another-software-suite.github.io/YAGSL/releases/" + "https://yet-another-software-suite.github.io/YAGSL/releases/", + "https://repo1.maven.org/maven2" ], "jsonUrl": "https://yet-another-software-suite.github.io/YAGSL/yagsl.json", "javaDependencies": [ @@ -13,50 +14,43 @@ "groupId": "swervelib", "artifactId": "YAGSL-java", "version": "${version}" - } + }, + { + "groupId": "org.dyn4j", + "artifactId": "dyn4j", + "version": "5.0.2" + } ], "requires": [ { "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "errorMessage": "REVLib is required!", - "offlineFileName": "REVLib-2025.0.0.json", - "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" - }, - { - "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", - "errorMessage": "ReduxLib is required!", - "offlineFileName": "ReduxLib-2025.0.0.json", - "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" + "offlineFileName": "REVLib.json", + "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json" }, { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-25.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" + "offlineFileName": "Phoenix6-replay-26.0.0-beta-1", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" }, { "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-5.35.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" + "offlineFileName": "Phoenix5-replay-5.36.0-beta-1.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json" }, { "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", "errorMessage": "Studica is required!", - "offlineFileName": "Studica-2025.0.0.json", - "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" + "offlineFileName": "StudicaLib.json", + "onlineUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json" }, { "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "errorMessage": "ThriftyLib is required!", "offlineFileName": "ThriftyLib.json", "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" - }, - { - "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", - "errorMessage": "maple-sim is required for simulation", - "offlineFileName": "maple-sim.json", - "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" } ], "jniDependencies": [], diff --git a/yagsl/java/swervelib/SwerveDrive.java b/yagsl/java/swervelib/SwerveDrive.java index ddccf84..9ccb6a5 100644 --- a/yagsl/java/swervelib/SwerveDrive.java +++ b/yagsl/java/swervelib/SwerveDrive.java @@ -51,11 +51,11 @@ import java.util.Optional; import java.util.concurrent.locks.Lock; import java.util.concurrent.locks.ReentrantLock; -import org.ironmaple.simulation.SimulatedArena; -import org.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; -import org.ironmaple.simulation.drivesims.SwerveDriveSimulation; -import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; -import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; +import swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; import swervelib.encoders.CANCoderSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.SwerveIMU; diff --git a/yagsl/java/swervelib/SwerveModule.java b/yagsl/java/swervelib/SwerveModule.java index 0eb060e..b639280 100644 --- a/yagsl/java/swervelib/SwerveModule.java +++ b/yagsl/java/swervelib/SwerveModule.java @@ -1001,14 +1001,14 @@ public SwerveModuleSimulation getSimModule() /** * Configure the {@link SwerveModule#simModule} with the MapleSim - * {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} + * {@link swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation} * - * @param swerveModuleSimulation MapleSim {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} to + * @param swerveModuleSimulation MapleSim {@link swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation} to * configure with. * @param physicalCharacteristics {@link SwerveModulePhysicalCharacteristics} that represent the swerve drive. */ public void configureModuleSimulation( - org.ironmaple.simulation.drivesims.SwerveModuleSimulation swerveModuleSimulation, + swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation swerveModuleSimulation, SwerveModulePhysicalCharacteristics physicalCharacteristics) { this.simModule.configureSimModule(swerveModuleSimulation, physicalCharacteristics); diff --git a/yagsl/java/swervelib/encoders/CanAndMagSwerve.java b/yagsl/java/swervelib/encoders/CanAndMagSwerve.java index 5ed9e90..2a25f1c 100644 --- a/yagsl/java/swervelib/encoders/CanAndMagSwerve.java +++ b/yagsl/java/swervelib/encoders/CanAndMagSwerve.java @@ -1,115 +1,115 @@ package swervelib.encoders; -import com.reduxrobotics.sensors.canandmag.Canandmag; -import com.reduxrobotics.sensors.canandmag.CanandmagSettings; - -/** - * HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus. - */ -public class CanAndMagSwerve extends SwerveAbsoluteEncoder -{ - - /** - * The {@link Canandmag} representing the CANandMag on the CAN bus. - */ - public Canandmag encoder; - /** - * The {@link Canandmag} settings object to use. - */ - public CanandmagSettings settings; - - /** - * Create the {@link Canandmag} - * - * @param canid The CAN ID whenever the CANandMag is operating on the CANBus. - */ - public CanAndMagSwerve(int canid) - { - encoder = new Canandmag(canid); - settings = new CanandmagSettings(); - } - - @Override - public void close() - { - encoder.close(); - } - - /** - * Reset the encoder to factory defaults. - *

- * This will not clear the stored zero offset. - */ - @Override - public void factoryDefault() - { - encoder.resetFactoryDefaults(false); - } - - /** - * Clear sticky faults on the encoder. - */ - @Override - public void clearStickyFaults() - { - encoder.clearStickyFaults(); - } - - /** - * Configure the CANandMag to read from [0, 360) per second. - * - * @param inverted Whether the encoder is inverted. - */ - @Override - public void configure(boolean inverted) - { - settings.setInvertDirection(inverted); - encoder.setSettings(settings); - } - - /** - * Get the absolute position of the encoder. - * - * @return Absolute position in degrees from [0, 360). - */ - @Override - public double getAbsolutePosition() - { - return encoder.getAbsPosition() * 360; - } - - /** - * Get the instantiated absolute encoder Object. - * - * @return Absolute encoder object. - */ - @Override - public Object getAbsoluteEncoder() - { - return encoder; - } - - /** - * Cannot set the offset of the CANandMag. - * - * @param offset the offset the Absolute Encoder uses as the zero point. - * @return true if setting the zero point succeeded, false otherwise - */ - @Override - public boolean setAbsoluteEncoderOffset(double offset) - { - settings.setZeroOffset(offset); - return encoder.setSettings(settings); - } - - /** - * Get the velocity in degrees/sec. - * - * @return velocity in degrees/sec. - */ - @Override - public double getVelocity() - { - return encoder.getVelocity() * 360; - } -} +//import com.reduxrobotics.sensors.canandmag.Canandmag; +//import com.reduxrobotics.sensors.canandmag.CanandmagSettings; +// +///** +// * HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus. +// */ +//public class CanAndMagSwerve extends SwerveAbsoluteEncoder +//{ +// +// /** +// * The {@link Canandmag} representing the CANandMag on the CAN bus. +// */ +// public Canandmag encoder; +// /** +// * The {@link Canandmag} settings object to use. +// */ +// public CanandmagSettings settings; +// +// /** +// * Create the {@link Canandmag} +// * +// * @param canid The CAN ID whenever the CANandMag is operating on the CANBus. +// */ +// public CanAndMagSwerve(int canid) +// { +// encoder = new Canandmag(canid); +// settings = new CanandmagSettings(); +// } +// +// @Override +// public void close() +// { +// encoder.close(); +// } +// +// /** +// * Reset the encoder to factory defaults. +// *

+// * This will not clear the stored zero offset. +// */ +// @Override +// public void factoryDefault() +// { +// encoder.resetFactoryDefaults(false); +// } +// +// /** +// * Clear sticky faults on the encoder. +// */ +// @Override +// public void clearStickyFaults() +// { +// encoder.clearStickyFaults(); +// } +// +// /** +// * Configure the CANandMag to read from [0, 360) per second. +// * +// * @param inverted Whether the encoder is inverted. +// */ +// @Override +// public void configure(boolean inverted) +// { +// settings.setInvertDirection(inverted); +// encoder.setSettings(settings); +// } +// +// /** +// * Get the absolute position of the encoder. +// * +// * @return Absolute position in degrees from [0, 360). +// */ +// @Override +// public double getAbsolutePosition() +// { +// return encoder.getAbsPosition() * 360; +// } +// +// /** +// * Get the instantiated absolute encoder Object. +// * +// * @return Absolute encoder object. +// */ +// @Override +// public Object getAbsoluteEncoder() +// { +// return encoder; +// } +// +// /** +// * Cannot set the offset of the CANandMag. +// * +// * @param offset the offset the Absolute Encoder uses as the zero point. +// * @return true if setting the zero point succeeded, false otherwise +// */ +// @Override +// public boolean setAbsoluteEncoderOffset(double offset) +// { +// settings.setZeroOffset(offset); +// return encoder.setSettings(settings); +// } +// +// /** +// * Get the velocity in degrees/sec. +// * +// * @return velocity in degrees/sec. +// */ +// @Override +// public double getVelocity() +// { +// return encoder.getVelocity() * 360; +// } +//} diff --git a/yagsl/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java b/yagsl/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java index bda6303..f43c66a 100644 --- a/yagsl/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java +++ b/yagsl/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java @@ -1,9 +1,9 @@ package swervelib.encoders; import com.revrobotics.REVLibError; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkAnalogSensor; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; diff --git a/yagsl/java/swervelib/encoders/SparkMaxEncoderSwerve.java b/yagsl/java/swervelib/encoders/SparkMaxEncoderSwerve.java index 784a067..e23a256 100644 --- a/yagsl/java/swervelib/encoders/SparkMaxEncoderSwerve.java +++ b/yagsl/java/swervelib/encoders/SparkMaxEncoderSwerve.java @@ -4,7 +4,6 @@ import com.revrobotics.REVLibError; import com.revrobotics.spark.SparkAbsoluteEncoder; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; diff --git a/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java b/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java index 5883ae3..deb0922 100644 --- a/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java +++ b/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java @@ -1,12 +1,12 @@ package swervelib.encoders; -import com.thethriftybot.Conversion; -import com.thethriftybot.Conversion.PositionUnit; -import com.thethriftybot.Conversion.VelocityUnit; -import com.thethriftybot.ThriftyNova; -import com.thethriftybot.ThriftyNova.EncoderType; -import com.thethriftybot.ThriftyNova.ExternalEncoder; +import com.thethriftybot.devices.ThriftyNova; +import com.thethriftybot.devices.ThriftyNova.EncoderType; +import com.thethriftybot.devices.ThriftyNova.ExternalEncoder; +import com.thethriftybot.util.Conversion; +import com.thethriftybot.util.Conversion.PositionUnit; +import com.thethriftybot.util.Conversion.VelocityUnit; import swervelib.motors.SwerveMotor; import swervelib.motors.ThriftyNovaSwerve; @@ -23,19 +23,19 @@ public class ThriftyNovaEncoderSwerve extends SwerveAbsoluteEncoder /** * Inversion state of the attached encoder. */ - protected boolean inverted = false; + protected boolean inverted = false; /** * Offset of the absolute encoder. */ - protected double offset = 0.0; + protected double offset = 0.0; /** * Position conversion object for the motor encoder */ - private Conversion positionConversion; + private Conversion positionConversion; /** * Velocity conversion object for the motor encoder */ - private Conversion velocityConversion; + private Conversion velocityConversion; /** * Create the {@link ThriftyNovaEncoderSwerve} object as an absolute encoder from the {@link ThriftyNovaSwerve} diff --git a/yagsl/java/swervelib/imu/CanandgyroSwerve.java b/yagsl/java/swervelib/imu/CanandgyroSwerve.java index 9991418..fc5b331 100644 --- a/yagsl/java/swervelib/imu/CanandgyroSwerve.java +++ b/yagsl/java/swervelib/imu/CanandgyroSwerve.java @@ -1,144 +1,144 @@ package swervelib.imu; import static edu.wpi.first.units.Units.RotationsPerSecond; - -import com.reduxrobotics.sensors.canandgyro.Canandgyro; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.units.measure.MutAngularVelocity; -import java.util.Optional; - -/** - * SwerveIMU interface for the Boron {@link Canandgyro} by Redux Robotics - */ -public class CanandgyroSwerve extends SwerveIMU -{ - - /** - * Wait time for status frames to show up. - */ - public static double STATUS_TIMEOUT_SECONDS = 0.04; - /** - * Boron {@link Canandgyro} by Redux Robotics. - */ - private final Canandgyro imu; - /** - * Mutable {@link MutAngularVelocity} for readings. - */ - private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, RotationsPerSecond); - /** - * Offset for the Boron {@link Canandgyro}. - */ - private Rotation3d offset = new Rotation3d(); - /** - * Inversion for the gyro - */ - private boolean invertedIMU = false; - - /** - * Generate the SwerveIMU for {@link Canandgyro}. - * - * @param canid CAN ID for the Boron {@link Canandgyro} - */ - public CanandgyroSwerve(int canid) - { - imu = new Canandgyro(canid); - } - - @Override - public void close() - { - imu.close(); - } - - /** - * Reset {@link Canandgyro} to factory default. - */ - @Override - public void factoryDefault() - { - imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS); - } - - /** - * Clear sticky faults on {@link Canandgyro}. - */ - @Override - public void clearStickyFaults() - { - imu.clearStickyFaults(); - } - - /** - * Set the gyro offset. - * - * @param offset gyro offset as a {@link Rotation3d}. - */ - public void setOffset(Rotation3d offset) - { - this.offset = offset; - } - - /** - * Set the gyro to invert its default direction - * - * @param invertIMU invert gyro direction - */ - public void setInverted(boolean invertIMU) - { - invertedIMU = invertIMU; - } - - /** - * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. - * - * @return {@link Rotation3d} from the IMU. - */ - @Override - public Rotation3d getRawRotation3d() - { - Rotation3d reading = imu.getRotation3d(); - return invertedIMU ? reading.unaryMinus() : reading; - } - - /** - * Fetch the {@link Rotation3d} from the IMU. Robot relative. - * - * @return {@link Rotation3d} from the IMU. - */ - @Override - public Rotation3d getRotation3d() - { - return getRawRotation3d().rotateBy(offset.unaryMinus()); - } - - /** - * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - * empty. - * - * @return {@link Translation3d} of the acceleration as an {@link Optional}. - */ - @Override - public Optional getAccel() - { - - return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0)); - } - - @Override - public MutAngularVelocity getYawAngularVelocity() - { - return yawVel.mut_setMagnitude(imu.getAngularVelocityYaw()); - } - - /** - * Get the instantiated {@link Canandgyro} IMU object. - * - * @return IMU object. - */ - @Override - public Object getIMU() - { - return imu; - } -} +// +//import com.reduxrobotics.sensors.canandgyro.Canandgyro; +//import edu.wpi.first.math.geometry.Rotation3d; +//import edu.wpi.first.math.geometry.Translation3d; +//import edu.wpi.first.units.measure.MutAngularVelocity; +//import java.util.Optional; +// +///** +// * SwerveIMU interface for the Boron {@link Canandgyro} by Redux Robotics +// */ +//public class CanandgyroSwerve extends SwerveIMU +//{ +// +// /** +// * Wait time for status frames to show up. +// */ +// public static double STATUS_TIMEOUT_SECONDS = 0.04; +// /** +// * Boron {@link Canandgyro} by Redux Robotics. +// */ +// private final Canandgyro imu; +// /** +// * Mutable {@link MutAngularVelocity} for readings. +// */ +// private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, RotationsPerSecond); +// /** +// * Offset for the Boron {@link Canandgyro}. +// */ +// private Rotation3d offset = new Rotation3d(); +// /** +// * Inversion for the gyro +// */ +// private boolean invertedIMU = false; +// +// /** +// * Generate the SwerveIMU for {@link Canandgyro}. +// * +// * @param canid CAN ID for the Boron {@link Canandgyro} +// */ +// public CanandgyroSwerve(int canid) +// { +// imu = new Canandgyro(canid); +// } +// +// @Override +// public void close() +// { +// imu.close(); +// } +// +// /** +// * Reset {@link Canandgyro} to factory default. +// */ +// @Override +// public void factoryDefault() +// { +// imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS); +// } +// +// /** +// * Clear sticky faults on {@link Canandgyro}. +// */ +// @Override +// public void clearStickyFaults() +// { +// imu.clearStickyFaults(); +// } +// +// /** +// * Set the gyro offset. +// * +// * @param offset gyro offset as a {@link Rotation3d}. +// */ +// public void setOffset(Rotation3d offset) +// { +// this.offset = offset; +// } +// +// /** +// * Set the gyro to invert its default direction +// * +// * @param invertIMU invert gyro direction +// */ +// public void setInverted(boolean invertIMU) +// { +// invertedIMU = invertIMU; +// } +// +// /** +// * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. +// * +// * @return {@link Rotation3d} from the IMU. +// */ +// @Override +// public Rotation3d getRawRotation3d() +// { +// Rotation3d reading = imu.getRotation3d(); +// return invertedIMU ? reading.unaryMinus() : reading; +// } +// +// /** +// * Fetch the {@link Rotation3d} from the IMU. Robot relative. +// * +// * @return {@link Rotation3d} from the IMU. +// */ +// @Override +// public Rotation3d getRotation3d() +// { +// return getRawRotation3d().rotateBy(offset.unaryMinus()); +// } +// +// /** +// * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns +// * empty. +// * +// * @return {@link Translation3d} of the acceleration as an {@link Optional}. +// */ +// @Override +// public Optional getAccel() +// { +// +// return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0)); +// } +// +// @Override +// public MutAngularVelocity getYawAngularVelocity() +// { +// return yawVel.mut_setMagnitude(imu.getAngularVelocityYaw()); +// } +// +// /** +// * Get the instantiated {@link Canandgyro} IMU object. +// * +// * @return IMU object. +// */ +// @Override +// public Object getIMU() +// { +// return imu; +// } +//} diff --git a/yagsl/java/swervelib/motors/SparkFlexSwerve.java b/yagsl/java/swervelib/motors/SparkFlexSwerve.java index 21e0bd5..d401da2 100644 --- a/yagsl/java/swervelib/motors/SparkFlexSwerve.java +++ b/yagsl/java/swervelib/motors/SparkFlexSwerve.java @@ -7,13 +7,13 @@ import com.revrobotics.REVLibError; import com.revrobotics.RelativeEncoder; import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkLowLevel.MotorType; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import edu.wpi.first.math.system.plant.DCMotor; diff --git a/yagsl/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/yagsl/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java index 7306cf4..0fdc2e3 100644 --- a/yagsl/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java +++ b/yagsl/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java @@ -6,13 +6,13 @@ import com.revrobotics.REVLibError; import com.revrobotics.RelativeEncoder; import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.system.plant.DCMotor; @@ -400,7 +400,7 @@ public void configureIntegratedEncoder(double positionConversionFactor) @Override public void configurePIDF(PIDFConfig config) { - cfg.closedLoop.pidf(config.p, config.i, config.d, config.f) + cfg.closedLoop.pid(config.p, config.i, config.d) .iZone(config.iz) .outputRange(config.output.min, config.output.max); } @@ -491,7 +491,7 @@ public void setReference(double setpoint, double feedforward) if (isDriveMotor) { configureSparkMax(() -> - pid.setReference( + pid.setSetpoint( setpoint, ControlType.kVelocity, ClosedLoopSlot.kSlot0, @@ -499,7 +499,7 @@ public void setReference(double setpoint, double feedforward) } else { configureSparkMax(() -> - pid.setReference( + pid.setSetpoint( setpoint, ControlType.kPosition, ClosedLoopSlot.kSlot0, diff --git a/yagsl/java/swervelib/motors/SparkMaxSwerve.java b/yagsl/java/swervelib/motors/SparkMaxSwerve.java index 4acd4c9..c9cee45 100644 --- a/yagsl/java/swervelib/motors/SparkMaxSwerve.java +++ b/yagsl/java/swervelib/motors/SparkMaxSwerve.java @@ -6,13 +6,13 @@ import com.revrobotics.REVLibError; import com.revrobotics.RelativeEncoder; import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.system.plant.DCMotor; diff --git a/yagsl/java/swervelib/motors/TalonFXSSwerve.java b/yagsl/java/swervelib/motors/TalonFXSSwerve.java index 7a002be..1838af4 100644 --- a/yagsl/java/swervelib/motors/TalonFXSSwerve.java +++ b/yagsl/java/swervelib/motors/TalonFXSSwerve.java @@ -9,8 +9,10 @@ import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.hardware.TalonFXS; +import com.ctre.phoenix6.signals.AdvancedHallSupportValue; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MotorArrangementValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.math.system.plant.DCMotor; import swervelib.encoders.SwerveAbsoluteEncoder; @@ -124,9 +126,32 @@ public void factoryDefaults() // motor.setSensorPhase(true); // motor.configSelectedFeedbackSensor(TalonFXSFeedbackDevice.IntegratedSensor, 0, 30); // motor.configNeutralDeadband(0.001); + if(isMotor(simMotor, DCMotor.getMinion(1))) + { + configuration.Commutation.withAdvancedHallSupport(AdvancedHallSupportValue.Enabled); + configuration.Commutation.withMotorArrangement(MotorArrangementValue.Minion_JST); + } } } + + /** + * Compare {@link DCMotor}s to identify the given motor. + * + * @param a {@link DCMotor} a + * @param b {@link DCMotor} b + * @return True if same DC motor. + */ + private boolean isMotor(DCMotor a, DCMotor b) + { + return a.stallTorqueNewtonMeters == b.stallTorqueNewtonMeters && + a.stallCurrentAmps == b.stallCurrentAmps && + a.freeCurrentAmps == b.freeCurrentAmps && + a.freeSpeedRadPerSec == b.freeSpeedRadPerSec && + a.KtNMPerAmp == b.KtNMPerAmp && + a.KvRadPerSecPerVolt == b.KvRadPerSecPerVolt && + a.nominalVoltageVolts == b.nominalVoltageVolts; + } /** * Clear the sticky faults on the motor controller. */ diff --git a/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java b/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java index bbed6c5..6f07e78 100644 --- a/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java +++ b/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java @@ -4,17 +4,17 @@ package swervelib.motors; +import com.thethriftybot.devices.ThriftyNova; +import com.thethriftybot.devices.ThriftyNova.CurrentType; +import com.thethriftybot.devices.ThriftyNova.EncoderType; +import com.thethriftybot.devices.ThriftyNova.PIDSlot; +import com.thethriftybot.util.Conversion; +import com.thethriftybot.util.Conversion.PositionUnit; +import com.thethriftybot.util.Conversion.VelocityUnit; import java.util.List; import java.util.Optional; import java.util.function.Supplier; -import com.thethriftybot.Conversion; -import com.thethriftybot.Conversion.PositionUnit; -import com.thethriftybot.Conversion.VelocityUnit; -import com.thethriftybot.ThriftyNova; -import com.thethriftybot.ThriftyNova.CurrentType; -import com.thethriftybot.ThriftyNova.EncoderType; -import com.thethriftybot.ThriftyNova.PIDSlot; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.system.plant.DCMotor; @@ -39,23 +39,23 @@ public class ThriftyNovaSwerve extends SwerveMotor /** * Closed-loop PID controller. */ - public PIDController pid; + public PIDController pid; /** * ThriftyNova Instance. */ - private ThriftyNova motor; + private ThriftyNova motor; /** * Factory default already occurred. */ - private boolean factoryDefaultOccurred = false; + private boolean factoryDefaultOccurred = false; /** * Position conversion object for the motor encoder */ - private Conversion positionConversion; + private Conversion positionConversion; /** * Velocity conversion object for the motor encoder */ - private Conversion velocityConversion; + private Conversion velocityConversion; /** * The position conversion factor for the encoder */ diff --git a/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java b/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java index 573d574..4b783d8 100644 --- a/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java +++ b/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java @@ -3,8 +3,8 @@ import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.system.plant.DCMotor; import java.util.function.Supplier; -import org.ironmaple.simulation.drivesims.COTS; -import org.ironmaple.simulation.drivesims.GyroSimulation; +import swervelib.simulation.ironmaple.simulation.drivesims.COTS; +import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation; import swervelib.SwerveModule; import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index ff519ad..3dadc69 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj.DriverStation; import swervelib.encoders.AnalogAbsoluteEncoderSwerve; import swervelib.encoders.CANCoderSwerve; -import swervelib.encoders.CanAndMagSwerve; +//import swervelib.encoders.CanAndMagSwerve; import swervelib.encoders.DIODutyCycleEncoderSwerve; import swervelib.encoders.SparkFlexEncoderSwerve; import swervelib.encoders.SparkMaxAnalogEncoderSwerve; @@ -22,7 +22,7 @@ import swervelib.imu.ADIS16470Swerve; import swervelib.imu.ADXRS450Swerve; import swervelib.imu.AnalogGyroSwerve; -import swervelib.imu.CanandgyroSwerve; +//import swervelib.imu.CanandgyroSwerve; import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.PigeonSwerve; @@ -36,6 +36,7 @@ import swervelib.motors.TalonFXSSwerve; import swervelib.motors.TalonFXSwerve; import swervelib.motors.TalonSRXSwerve; +import swervelib.motors.ThriftyNovaSwerve; import swervelib.parser.deserializer.ReflectionsManager; import swervelib.parser.deserializer.ReflectionsManager.VENDOR; @@ -90,8 +91,8 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) case "sparkflex_canandcoder": return new SparkFlexEncoderSwerve(motor, 360); case "canandcoder_can": - case "canandmag_can": - return new CanAndMagSwerve(id); +// case "canandmag_can": +// return new CanAndMagSwerve(id); case "ctre_mag": case "rev_hex": case "throughbore": @@ -152,8 +153,8 @@ public SwerveIMU createIMU() return new ADXRS450Swerve(); case "analog": return new AnalogGyroSwerve(id); - case "canandgyro": - return new CanandgyroSwerve(id); +// case "canandgyro": +// return new CanandgyroSwerve(id); case "navx": case "navx_spi": return new NavXSwerve(NavXComType.kMXP_SPI); @@ -205,7 +206,9 @@ public SwerveMotor createMotor(boolean isDriveMotor) case "talonfxs_vortex": return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeoVortex(1)); case "talonfxs_minion": - throw new UnsupportedOperationException("Cannot create minion combination yet"); //new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeoVortex(1)); + return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getMinion(1)); + case "talonfxs_pulsar": + throw new UnsupportedOperationException("Cannot create pulsar combination"); case "sparkmax_neo": case "neo": case "sparkmax": @@ -213,12 +216,13 @@ public SwerveMotor createMotor(boolean isDriveMotor) case "sparkmax_vortex": return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNeoVortex(1)); case "sparkmax_minion": - throw new UnsupportedOperationException("Cannot create minion combination yet"); + return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getMinion(1)); case "sparkmax_neo550": case "neo550": return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNeo550(1)); + case "sparkmax_pulsar": + throw new UnsupportedOperationException("Cannot create pulsar combination"); case "sparkflex_vortex": - case "vortex": case "sparkflex": return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeoVortex(1)); case "sparkflex_neo": @@ -226,12 +230,16 @@ public SwerveMotor createMotor(boolean isDriveMotor) case "sparkflex_neo550": return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeo550(1)); case "sparkflex_minion": - throw new UnsupportedOperationException("Cannot create minion combination yet"); + return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getMinion(1)); + case "sparkflex_pulsar": + throw new UnsupportedOperationException("Cannot create pulsar combination"); case "falcon500": case "falcon": return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500(1)); case "falcon500foc": return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500Foc(1)); + case "krakenx44": + return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX44(1)); case "krakenx60": case "talonfx": return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60(1)); @@ -288,7 +296,9 @@ public SwerveMotor createMotor(boolean isDriveMotor) new Object[]{id, isDriveMotor, DCMotor.getNeoVortex(1)}); case "nova_minion": - throw new UnsupportedOperationException("Cannot create minion combination");//return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getMinion(1)); + return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getMinion(1)); + case "nova_pulsar": + throw new UnsupportedOperationException("Cannot create pulsar combination"); default: throw new RuntimeException(type + " is not a recognized motor type."); } diff --git a/yagsl/java/swervelib/simulation/SwerveIMUSimulation.java b/yagsl/java/swervelib/simulation/SwerveIMUSimulation.java index aa92c7e..2857be7 100644 --- a/yagsl/java/swervelib/simulation/SwerveIMUSimulation.java +++ b/yagsl/java/swervelib/simulation/SwerveIMUSimulation.java @@ -8,7 +8,7 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import java.util.Optional; -import org.ironmaple.simulation.drivesims.GyroSimulation; +import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation; /** * Simulation for {@link swervelib.SwerveDrive} IMU. diff --git a/yagsl/java/swervelib/simulation/SwerveModuleSimulation.java b/yagsl/java/swervelib/simulation/SwerveModuleSimulation.java index 41bc138..593d1ba 100644 --- a/yagsl/java/swervelib/simulation/SwerveModuleSimulation.java +++ b/yagsl/java/swervelib/simulation/SwerveModuleSimulation.java @@ -5,12 +5,12 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; -import org.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation; +import swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation; import swervelib.SwerveDrive; import swervelib.parser.SwerveModulePhysicalCharacteristics; /** - * Class that wraps around {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} + * Class that wraps around {@link swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation} */ public class SwerveModuleSimulation { @@ -23,11 +23,11 @@ public class SwerveModuleSimulation /** * Configure the maple sim module * - * @param simModule the {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} object for + * @param simModule the {@link swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation} object for * simulation * @param physicalCharacteristics Physical characteristics of the swerve drive from the JSON or built. */ - public void configureSimModule(org.ironmaple.simulation.drivesims.SwerveModuleSimulation simModule, + public void configureSimModule(swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation simModule, SwerveModulePhysicalCharacteristics physicalCharacteristics) { this.mapleSimModule = new SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation(simModule); diff --git a/yagsl/java/swervelib/simulation/ironmaple/LICENSE-Dyn4j.md b/yagsl/java/swervelib/simulation/ironmaple/LICENSE-Dyn4j.md new file mode 100644 index 0000000..bf61eac --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/LICENSE-Dyn4j.md @@ -0,0 +1,27 @@ +Copyright (c) 2010-2024, William Bittle +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 the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 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. \ No newline at end of file diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java new file mode 100644 index 0000000..feb37f2 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java @@ -0,0 +1,297 @@ +package swervelib.simulation.ironmaple.simulation; + +import static edu.wpi.first.units.Units.Degrees; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.units.Units; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import java.util.HashSet; +import java.util.List; +import java.util.Set; +import org.dyn4j.geometry.Rectangle; +import org.dyn4j.geometry.Vector2; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; + +/** + * + * + *

A abstract class to handle scoring elements in simulation.

+ */ +public abstract class Goal implements SimulatedArena.Simulatable { + + protected Rectangle xyBox; + protected final Distance height; + protected final Distance elevation; + + protected final String gamePieceType; + + protected final Translation3d position; + protected final SimulatedArena arena; + protected final int max; + public final boolean isBlue; + protected int gamePieceCount = 0; + protected Rotation3d pieceAngle = null; + protected Angle pieceAngleTolerance = Angle.ofBaseUnits(15, Units.Degrees); + + /** + * + * + *

Reverses a rotation so that the returned rotation points directly "behind" the original rotation.

+ * + * @param toFlip The rotation to be flipped. + * @return The flipped rotation. + */ + public static Rotation3d flipRotation(Rotation3d toFlip) { + return new Rotation3d(0, -toFlip.getY(), toFlip.getZ() + Math.PI); + } + + /** + * + * + *

Creates a goal object

+ * + * @param arena The host arena of this goal + * @param xDimension The x dimension of the default box collider. + * @param yDimension The y dimension of the default box collider. + * @param height The height or z dimension of the default box collider. + * @param gamePieceType the string game piece type to be handled by this goal. + * @param position The position of this goal. + * @param isBlue Wether this is a blue goal or a red one. + * @param max How many pieces can be scored in this goal. + */ + public Goal( + SimulatedArena arena, + Distance xDimension, + Distance yDimension, + Distance height, + String gamePieceType, + Translation3d position, + boolean isBlue, + int max) { + + xyBox = new Rectangle(xDimension.in(Units.Meters), yDimension.in(Units.Meters)); + this.height = height; + this.gamePieceType = gamePieceType; + this.position = position; + this.arena = arena; + this.max = max; + this.elevation = position.getMeasureZ(); + this.isBlue = isBlue; + + xyBox.translate(new Vector2(position.getX(), position.getY())); + } + + /** + * + * + *

Creates a goal object with no scoring max.

+ * + * @param arena The host arena of this goal. + * @param xDimension The x dimension of the default box collider. + * @param yDimension The y dimension of the default box collider. + * @param height The height or z dimension of the default box collider. + * @param gamePieceType the string game piece type to be handled by this goal. + * @param position The position of this goal. + * @param isBlue Wether this is a blue goal or a red one. + */ + public Goal( + SimulatedArena arena, + Distance xDimension, + Distance yDimension, + Distance height, + String gamePieceType, + Translation3d position, + boolean isBlue) { + this(arena, xDimension, yDimension, height, gamePieceType, position, isBlue, 99999); + } + + /** + * + * + *

Handles the update triggers for the goal object.

+ */ + @Override + public void simulationSubTick(int subTickNum) { + + Set gamePieces = new HashSet(arena.getGamePiecesByType(gamePieceType)); + Set toRemove = new HashSet<>(); + + for (GamePiece gamePiece : gamePieces) { + if (gamePieceCount != max && !toRemove.contains(gamePiece) && this.checkValidity(gamePiece)) { + gamePieceCount++; + this.addPoints(); + toRemove.add(gamePiece); + } + } + + for (GamePiece gamePiece : toRemove) { + this.arena.removePiece(gamePiece); + } + } + + /** + * + * + *

Sets the angle to be used when checking game piece rotation. + * + * @param angle The angle that pieces should have when interacting with this goal + * @param angleTolerance The tolerance to be used in checking said angle. + */ + public void setNeededAngle(Rotation3d angle, Angle angleTolerance) { + pieceAngle = angle; + pieceAngleTolerance = angleTolerance; + } + + /** + * + * + *

Sets the angle to be used when checking game piece rotation. + * + * @param angle The angle that pieces should have when interacting with this goal + */ + public void setNeededAngle(Rotation3d angle) { + setNeededAngle(angle, pieceAngleTolerance); + } + + /** + * A high level call to check wether or not the provided piece is within this goals hit box and meets all + * requirements to be scored. For more information on how this function calculates see the functions: + * + *

{@link org.dyn4j.geometry.AbstractShape#contains(Vector2 point)} + * + *

{@link Goal#checkHeight(GamePiece)} + * + *

{@link Goal#checkRotation(GamePiece)} + * + *

{@link Goal#checkVel(GamePiece)} + * + *

Be aware that due to the nature of the goal class the above functions may or may not have the same + * implementation for children of the goal class. + * + * @param gamePiece The game piece to be checked. + * @return Wether or not the game piece is within this goal. + */ + protected boolean checkValidity(GamePiece gamePiece) { + return checkCollision(gamePiece) && checkRotation(gamePiece) && checkVel(gamePiece); + } + + /** + * + * + *

Checks wether or not the submitted game piece has a rotation able to be scored in this goal

+ * + * By default the rotation needed and tolerance may be set using the {@link Goal#setNeededAngle(Rotation3d, Angle)} + * function. However rotation checks may be handled differently by some children making this not apply. Additionally + * be aware that this function only supports pitch and yaw, not role. If support for roll is needed a custom + * implementation will have to be created. + * + * @param gamePiece The game piece to have its rotation checked. + * @return Wether or not the pieces rotation is consistent with rotation that are able to be scored in this goal. + */ + protected boolean checkRotation(GamePiece gamePiece) { + if (pieceAngle == null) { + System.out.println("test"); + return true; + } + + Rotation3d normalDiff = gamePiece.getPose3d().getRotation().minus(pieceAngle); + Rotation3d flippedDiff = + flipRotation(gamePiece.getPose3d().getRotation()).minus(pieceAngle); + + + + return new Rotation3d(Degrees.of(0), normalDiff.getMeasureZ(), normalDiff.getMeasureZ()) + .getMeasureAngle() + .in(Units.Degrees) + < pieceAngleTolerance.in(Units.Degrees) + || new Rotation3d(Degrees.of(0), flippedDiff.getMeasureZ(), flippedDiff.getMeasureZ()) + .getMeasureAngle() + .in(Units.Degrees) + < pieceAngleTolerance.in(Units.Degrees); + } + + /** + * + * + *

Returns wether or not the submitted game piece is within the goal.

+ * + * @param gamePiece The game piece to be checked. + * @return Wether or not the game piece is within the goal. + */ + protected boolean checkCollision(GamePiece gamePiece) { + return xyBox.contains(new Vector2( + gamePiece.getPose3d().getX(), gamePiece.getPose3d().getY())) + && gamePiece.getPose3d().getZ() >= elevation.in(Units.Meters) + && gamePiece.getPose3d().getZ() <= elevation.in(Units.Meters) + height.in(Units.Meters); + } + + /** + * + * + *

Function to check wether the velocity of potential game pieces is acceptable.

+ * + * The default implementation of this function always returns true so any velocity checks will need to be + * implemented by children classes. + * + * @param gamePiece The game piece to have its velocity checked. + * @return Wether or not the pieces velocity is consistent with velocities that are able to be scored in this goal. + */ + protected boolean checkVel(GamePiece gamePiece) { + + return true; + } + + /** + * + * + *

Removes all game pieces from this goal

+ */ + public void clear() { + this.gamePieceCount = 0; + } + + /** + * + * + *

Returns wether or not this goal is full.

+ * + * @return wether or not the goal is full. + */ + public boolean isFull() { + return this.gamePieceCount == this.max; + } + + /** + * + * + *

Adds points when a piece has been successfully scored in this goal

+ * + * Since this function is the only trigger called when a piece is scored it may handle other small things outside of + * adding points. + */ + protected abstract void addPoints(); + + /** + * + * + *

Displays game pieces to advantage scope if applicable.

+ * + * @param drawList a list of {@link Pose3d} objects used to visualize the positions of the game pieces on + * AdvantageScope + */ + public abstract void draw(List drawList); + + /** + * + * + *

Returns the number of game pieces currently scored in this goal.

+ * + * @return This goals game piece count. + */ + public int getGamePieceCount() { + return gamePieceCount; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java new file mode 100644 index 0000000..29f8334 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java @@ -0,0 +1,406 @@ +package swervelib.simulation.ironmaple.simulation; + +import static edu.wpi.first.units.Units.Meters; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.units.measure.Distance; +import java.util.ArrayDeque; +import java.util.Objects; +import java.util.Queue; +import java.util.function.Predicate; +import org.dyn4j.collision.CollisionBody; +import org.dyn4j.collision.Fixture; +import org.dyn4j.dynamics.Body; +import org.dyn4j.dynamics.BodyFixture; +import org.dyn4j.dynamics.contact.Contact; +import org.dyn4j.dynamics.contact.SolvedContact; +import org.dyn4j.geometry.Convex; +import org.dyn4j.geometry.Rectangle; +import org.dyn4j.geometry.Vector2; +import org.dyn4j.world.ContactCollisionData; +import org.dyn4j.world.listener.ContactListener; +import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack; + +/** + * + * + *

Simulates an Intake Mechanism on the Robot.

+ * + *

CheckOnline Documentation + * + *

The intake is a 2D component attached to one side of the robot's chassis. It is rectangular in shape and extends + * from the robot when activated. + * + *

The intake can be turned on through {@link #startIntake()}, which causes it to extend, expanding the collision + * space of the robot's chassis. When turned off via {@link #stopIntake()}, the intake retracts. + * + *

The intake can "collect" {@link GamePieceOnFieldSimulation} instances from the field, removing them and + * incrementing the {@link #gamePiecesInIntakeCount}. + * + *

A game piece is collected if the following conditions are met: + * + *

    + *
  • 1. The type of the game piece ({@link GamePieceOnFieldSimulation#type}) + * matches {@link #targetedGamePieceType}. + *
  • 2. The {@link GamePieceOnFieldSimulation} is in contact with the intake + * (and not other parts of the robot). + *
  • 3. The intake is turned on via {@link #startIntake()}. + *
  • 4. The number of game pieces in the intake ({@link #gamePiecesInIntakeCount}) is less than {@link #capacity}. + *
+ * + *

Note: This class simulates an idealized "touch it, get it" intake and does not model the actual + * functioning of an intake mechanism. + */ +public class IntakeSimulation extends BodyFixture { + private final int capacity; + private int gamePiecesInIntakeCount; + private boolean intakeRunning; + + private final Queue gamePiecesToRemove; + private final AbstractDriveTrainSimulation driveTrainSimulation; + private final String targetedGamePieceType; + private Predicate customIntakeCondition = gp -> true; + + public enum IntakeSide { + FRONT, + LEFT, + RIGHT, + BACK + } + + /** + * + * + *

Creates an Intake Simulation that Tightly Attaches to One Side of the Chassis.

+ * + *

This typically represents an In-The-Frame (ITF) Intake. + * + * @param targetedGamePieceType the type of game pieces that this intake can collect + * @param driveTrainSimulation the chassis to which this intake is attached + * @param width the width of the intake + * @param side the side of the chassis where the intake is attached + * @param capacity the maximum number of game pieces that the intake can hold + */ + public static IntakeSimulation InTheFrameIntake( + String targetedGamePieceType, + AbstractDriveTrainSimulation driveTrainSimulation, + Distance width, + IntakeSide side, + int capacity) { + return OverTheBumperIntake(targetedGamePieceType, driveTrainSimulation, width, Meters.of(0.02), side, capacity); + } + + /** + * + * + *

Creates an Intake Simulation that Extends Out of the Chassis Frame.

+ * + *

This typically represents an Over-The-Bumper (OTB) Intake. + * + * @param targetedGamePieceType the type of game pieces that this intake can collect + * @param driveTrainSimulation the chassis to which this intake is attached + * @param width the valid width of the intake + * @param lengthExtended the length the intake extends out from the chassis when activated + * @param side the side of the chassis where the intake is attached + * @param capacity the maximum number of game pieces that the intake can hold + * @return a new instance of {@link IntakeSimulation} that extends over the bumper + */ + public static IntakeSimulation OverTheBumperIntake( + String targetedGamePieceType, + AbstractDriveTrainSimulation driveTrainSimulation, + Distance width, + Distance lengthExtended, + IntakeSide side, + int capacity) { + return new IntakeSimulation( + targetedGamePieceType, + driveTrainSimulation, + getIntakeRectangle(driveTrainSimulation, width.in(Meters), lengthExtended.in(Meters), side), + capacity); + } + + private static Rectangle getIntakeRectangle( + AbstractDriveTrainSimulation driveTrainSimulation, double width, double lengthExtended, IntakeSide side) { + final Rectangle intakeRectangle = new Rectangle(width, lengthExtended); + intakeRectangle.rotate( + switch (side) { + case LEFT, RIGHT -> 0; + case FRONT, BACK -> Math.toRadians(90); + }); + final double distanceTransformed = lengthExtended / 2 - 0.01; + intakeRectangle.translate( + switch (side) { + case LEFT -> new Vector2( + 0, driveTrainSimulation.config.bumperWidthY.in(Meters) / 2 + distanceTransformed); + case RIGHT -> new Vector2( + 0, -driveTrainSimulation.config.bumperWidthY.in(Meters) / 2 - distanceTransformed); + case FRONT -> new Vector2( + driveTrainSimulation.config.bumperLengthX.in(Meters) / 2 + distanceTransformed, 0); + case BACK -> new Vector2( + -driveTrainSimulation.config.bumperLengthX.in(Meters) / 2 - distanceTransformed / 2, 0); + }); + + return intakeRectangle; + } + + /** + * + * + *

Creates an Intake Simulation with a Specific Shape.

+ * + *

This constructor initializes an intake with a custom shape that is used when the intake is fully extended. + * + * @param targetedGamePieceType the type of game pieces that this intake can collect + * @param driveTrainSimulation the chassis to which this intake is attached + * @param shape the shape of the intake when fully extended, represented as a {@link Convex} object + * @param capacity the maximum number of game pieces that the intake can hold + */ + public IntakeSimulation( + String targetedGamePieceType, + AbstractDriveTrainSimulation driveTrainSimulation, + Convex shape, + int capacity) { + super(shape); + super.setDensity(0); + + this.targetedGamePieceType = targetedGamePieceType; + this.gamePiecesInIntakeCount = 0; + + if (capacity > 100) throw new IllegalArgumentException("capacity too large, max is 100"); + this.capacity = capacity; + + this.gamePiecesToRemove = new ArrayDeque<>(capacity); + + this.intakeRunning = false; + this.driveTrainSimulation = driveTrainSimulation; + + register(); + } + + /** + * + * + *

Turns the Intake On.

+ * + *

Extends the intake out from the chassis, making it part of the chassis's collision space. + * + *

Once activated, the intake is considered running and will listen for contact with + * {@link GamePieceOnFieldSimulation} instances, allowing it to collect game pieces. + */ + public void startIntake() { + if (intakeRunning) return; + + driveTrainSimulation.addFixture(this); + this.intakeRunning = true; + } + + /** + * + * + *

Turns the Intake Off.

+ * + *

Retracts the intake into the chassis, removing it from the chassis's collision space. + * + *

Once turned off, the intake will no longer listen for or respond to contacts with + * {@link GamePieceOnFieldSimulation} instances. + */ + public void stopIntake() { + if (!intakeRunning) return; + + driveTrainSimulation.removeFixture(this); + this.intakeRunning = false; + } + + /** + * + * + *

Get the amount of game pieces in the intake.

+ * + * @return the amount of game pieces stored in the intake + */ + public int getGamePiecesAmount() { + return gamePiecesInIntakeCount; + } + + /** + * + * + *

Removes 1 game piece from the intake.

+ * + *

Deducts the {@link #getGamePiecesAmount()}} by 1, if there is any remaining. + * + *

This is used to obtain a game piece from the intake and move it a feeder/shooter. + * + * @return if there is game piece(s) remaining, and therefore retrieved + */ + public boolean obtainGamePieceFromIntake() { + if (gamePiecesInIntakeCount < 1) return false; + gamePiecesInIntakeCount--; + return true; + } + + /** + * + * + *

Adds 1 game piece from the intake.

+ * + *

Increases the {@link #getGamePiecesAmount()}} by 1, if there is still space. + * + * @return if there is still space in the intake to perform this action + */ + public boolean addGamePieceToIntake() { + boolean toReturn = gamePiecesInIntakeCount < capacity; + if (toReturn) gamePiecesInIntakeCount++; + + return toReturn; + } + + /** + * + * + *

Sets the amount of game pieces in the intake.

+ * + *

Sets the {@link #getGamePiecesAmount()}} to a given amount. + * + *

Will make sure that the amount is non-negative and does not exceed the capacity + * + * @return the actual (clamped) game piece count after performing this action + */ + public int setGamePiecesCount(int gamePiecesInIntakeCount) { + return this.gamePiecesInIntakeCount = MathUtil.clamp(gamePiecesInIntakeCount, 0, capacity); + } + + /** + * + * + *

The {@link ContactListener} for the Intake Simulation.

+ * + *

This class can be added to the simulation world to detect and manage contacts between the intake and + * {@link GamePieceOnFieldSimulation} instances of the type {@link #targetedGamePieceType}. + * + *

If contact is detected and the intake is running, the {@link GamePieceOnFieldSimulation} will be marked for + * removal from the field. + */ + public final class GamePieceContactListener implements ContactListener { + @Override + public void begin(ContactCollisionData collision, Contact contact) { + if (!intakeRunning) return; + if (gamePiecesInIntakeCount >= capacity) return; + + final CollisionBody collisionBody1 = collision.getBody1(), collisionBody2 = collision.getBody2(); + final Fixture fixture1 = collision.getFixture1(), fixture2 = collision.getFixture2(); + + if (collisionBody1 instanceof GamePieceOnFieldSimulation gamePiece + && Objects.equals(gamePiece.type, targetedGamePieceType) + && fixture2 == IntakeSimulation.this) flagGamePieceForRemoval(gamePiece); + else if (collisionBody2 instanceof GamePieceOnFieldSimulation gamePiece + && Objects.equals(gamePiece.type, targetedGamePieceType) + && fixture1 == IntakeSimulation.this) flagGamePieceForRemoval(gamePiece); + + boolean coralOrAlgaeIntake = "Coral".equals(IntakeSimulation.this.targetedGamePieceType) + || "Algae".equals(IntakeSimulation.this.targetedGamePieceType); + if (collisionBody1 instanceof ReefscapeCoralAlgaeStack stack + && coralOrAlgaeIntake + && fixture2 == IntakeSimulation.this) flagGamePieceForRemoval(stack); + else if (collisionBody2 instanceof ReefscapeCoralAlgaeStack stack + && coralOrAlgaeIntake + && fixture1 == IntakeSimulation.this) flagGamePieceForRemoval(stack); + } + + private void flagGamePieceForRemoval(GamePieceOnFieldSimulation gamePiece) { + if (!customIntakeCondition.test(gamePiece)) return; + gamePiecesToRemove.add(gamePiece); + gamePiecesInIntakeCount++; + } + + /* functions not used */ + @Override + public void persist(ContactCollisionData collision, Contact oldContact, Contact newContact) {} + + @Override + public void end(ContactCollisionData collision, Contact contact) {} + + @Override + public void destroyed(ContactCollisionData collision, Contact contact) {} + + @Override + public void collision(ContactCollisionData collision) {} + + @Override + public void preSolve(ContactCollisionData collision, Contact contact) {} + + @Override + public void postSolve(ContactCollisionData collision, SolvedContact contact) {} + } + + /** + * + * + *

Obtains a New Instance of the {@link GamePieceContactListener} for This Intake.

+ * + * @return a new {@link GamePieceContactListener} for this intake + */ + public GamePieceContactListener getGamePieceContactListener() { + return new GamePieceContactListener(); + } + + /** + * + * + *

Clears the game pieces that have been obtained by the intake.

+ * + *

This method is called from {@link SimulatedArena#simulationPeriodic()} to remove the + * {@link GamePieceOnFieldSimulation} instances that have been obtained by the intake from the field. + * + *

Game pieces are marked for removal if they have come into contact with the intake during the last + * {@link SimulatedArena#getSimulationSubTicksIn1Period()} sub-ticks. These game pieces should be removed from the + * field to reflect their interaction with the intake. + */ + public void removeObtainedGamePieces(SimulatedArena arena) { + while (!gamePiecesToRemove.isEmpty()) { + GamePieceOnFieldSimulation gamePiece = gamePiecesToRemove.poll(); + gamePiece.onIntake(this.targetedGamePieceType); + arena.removeGamePiece(gamePiece); + } + } + + public void register() { + register(SimulatedArena.getInstance()); + } + + public void register(SimulatedArena arena) { + arena.addIntakeSimulation(this); + } + + /** + * + * + *

Returns wether or not this intake is currently running

+ */ + public boolean isRunning() { + return intakeRunning; + } + + /** + * + * + *

Sets a Custom Intake Condition.

+ * + *

This method allows the user to define a custom condition for determining whether a game piece on the field can + * be collected by the intake. The condition is specified as a {@link Predicate} that takes a + * {@link GamePieceOnFieldSimulation} object as input and returns a boolean value. + * + *

The condition is used to determine whether a game piece should be collected by the intake. If the predicate + * returns true, the game piece will be collected by the intake. If the predicate returns false, the game piece will + * not be collected by the intake. Note how this predicate is only called if the game piece is in contact with the + * intake, and the intake is turned on, and it is the target game piece. + * + * @param customIntakeCondition a {@link Predicate} representing the custom condition for intake eligibility of game + * pieces on the field + */ + public void setCustomIntakeCondition(Predicate customIntakeCondition) { + this.customIntakeCondition = customIntakeCondition; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java new file mode 100644 index 0000000..17e7b1c --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -0,0 +1,760 @@ +package swervelib.simulation.ironmaple.simulation; + +import static edu.wpi.first.units.Units.Seconds; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.networktables.BooleanPublisher; +import edu.wpi.first.networktables.BooleanSubscriber; +import edu.wpi.first.networktables.DoublePublisher; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.units.Units; +import edu.wpi.first.units.measure.Time; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.*; +import org.dyn4j.dynamics.Body; +import org.dyn4j.dynamics.BodyFixture; +import org.dyn4j.geometry.Convex; +import org.dyn4j.geometry.Geometry; +import org.dyn4j.geometry.MassType; +import org.dyn4j.world.PhysicsWorld; +import org.dyn4j.world.World; +import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; +import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery; +import swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; +import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; + +/** + * + * + *

Abstract Simulation World

+ * + *

Check Online + * Documentation + * + *

The heart of the simulator.

+ * + *

This class cannot be instantiated directly; it must be created as a specific season's arena. + * + *

The default instance can be obtained using the {@link #getInstance()} method. + * + *

Simulates all interactions within the arena field. + * + *

The following objects can be added to the simulation world and will interact with each other:

+ * + *
    + *
  • {@link AbstractDriveTrainSimulation}: Represents abstract drivetrain simulations with collision detection. + *
  • {@link GamePieceOnFieldSimulation}: Represents abstract game pieces with collision detection. + *
  • {@link IntakeSimulation}: Represents an intake simulation that responds to contact with + * {@link GamePieceOnFieldSimulation}. + *
+ */ +public abstract class SimulatedArena { + /** Whether to allow the simulation to run a real robot This feature is HIGHLY RECOMMENDED to be turned OFF */ + public static boolean ALLOW_CREATION_ON_REAL_ROBOT = false; + + protected int redScore = 0; + protected int blueScore = 0; + protected double matchClock = 0; + + public Map redScoringBreakdown = new Hashtable(); + public Map blueScoringBreakdown = new Hashtable(); + protected Map redPublishers = new Hashtable(); + protected Map bluePublishers = new Hashtable(); + + public NetworkTable redTable = + NetworkTableInstance.getDefault().getTable("SmartDashboard/MapleSim/MatchData/Breakdown/Red Alliance"); + public NetworkTable blueTable = + NetworkTableInstance.getDefault().getTable("SmartDashboard/MapleSim/MatchData/Breakdown/blue Alliance"); + public NetworkTable genericInfoTable = + NetworkTableInstance.getDefault().getTable("SmartDashboard/MapleSim/MatchData/Breakdown"); + + public DoublePublisher matchClockPublisher = + genericInfoTable.getDoubleTopic("Match Clock").publish(); + + public static BooleanPublisher resetFieldPublisher = NetworkTableInstance.getDefault() + .getTable("SmartDashboard/MapleSim/MatchData") + .getBooleanTopic("Reset Field") + .publish(); + + public static BooleanSubscriber resetFieldSubscriber = + resetFieldPublisher.getTopic().subscribe(false); + + Boolean shouldPublishMatchBreakdown = true; + + private static SimulatedArena instance = null; + /** + * + * + *

Gets/Creates the Default Simulation World

+ * + *

Multiple instances of {@link SimulatedArena} can exist elsewhere. + * + * @return the main simulation arena instance + * @throws IllegalStateException if the method is call when running on a real robot + */ + public static SimulatedArena getInstance() { + if (RobotBase.isReal() && (!ALLOW_CREATION_ON_REAL_ROBOT)) + throw new IllegalStateException( + "MapleSim is running on a real robot! (If you would actually want that, set SimulatedArena.ALLOW_CREATION_ON_REAL_ROBOT to true)."); + + if (instance == null) instance = new Arena2025Reefscape(); + + return instance; + } + + /** + * + * + *

Overrides the Default Simulation World

+ * + *

Overrides the return value of {@link #getInstance()} + * + *

This method allows simulating an arena from a different year or a custom field. + * + *

Currently, only the 2024 arena is supported, so avoid calling this method for now. + * + * @param newInstance the new simulation arena instance to override the current one + */ + public static void overrideInstance(SimulatedArena newInstance) { + instance = newInstance; + } + + /** The number of sub-ticks the simulator will run in each robot period. */ + private static int SIMULATION_SUB_TICKS_IN_1_PERIOD = 5; + + public static int getSimulationSubTicksIn1Period() { + return SIMULATION_SUB_TICKS_IN_1_PERIOD; + } + /** The period length of each sub-tick, in seconds. */ + private static Time SIMULATION_DT = Seconds.of(TimedRobot.kDefaultPeriod / SIMULATION_SUB_TICKS_IN_1_PERIOD); + + public static Time getSimulationDt() { + return SIMULATION_DT; + } + + /** + * + * + *

Returns the score of the specified team.

+ * + * @param isBlue The team to return the score of as a bool. + * @return The score of the specified team. + */ + public int getScore(boolean isBlue) { + return isBlue ? blueScore : redScore; + } + + /** + * + * + *

Returns the score of the specified team.

+ * + * @param allianceColor The team to return the score of as a Alliance enum. + * @return The score of the specified team. + */ + public int getScore(Alliance allianceColor) { + return getScore(allianceColor == Alliance.Blue); + } + + /** + * + * + *

Adds to the score of the specified team

+ * + * @param isBlue Wether to add to the blue or red team score. + * @param toAdd How many points to add. + */ + public void addToScore(boolean isBlue, int toAdd) { + if (isBlue) blueScore += toAdd; + else redScore += toAdd; + addValueToMatchBreakdown(isBlue, DriverStation.isAutonomous() ? "Auto/AutoScore" : "TeleopScore", toAdd); + } + + /** + * + * + *

Overrides the Timing Configurations of the Simulations.

+ * + *

If Using Advantage-Kit: DO NOT CHANGE THE + * DEFAULT TIMINGS

+ * + *

Changes apply to every instance of {@link SimulatedArena}. + * + *

The new configuration will take effect the next time {@link SimulatedArena#simulationPeriodic()} is called on + * an instance. + * + *

It is recommended to call this method before the first call to {@link SimulatedArena#simulationPeriodic()} of + * any instance. + * + *

It is also recommended to keep the simulation frequency above 200 Hz for accurate simulation results. + * + * @param robotPeriod the time between two calls of {@link #simulationPeriodic()}, usually obtained from + * {@link TimedRobot#getPeriod()} + * @param simulationSubTicksPerPeriod the number of Iterations, or {@link #simulationSubTick(int)} that the + * simulation runs per each call to {@link #simulationPeriodic()} + */ + public static synchronized void overrideSimulationTimings(Time robotPeriod, int simulationSubTicksPerPeriod) { + SIMULATION_SUB_TICKS_IN_1_PERIOD = simulationSubTicksPerPeriod; + SIMULATION_DT = robotPeriod.div(SIMULATION_SUB_TICKS_IN_1_PERIOD); + } + + protected final World physicsWorld; + protected final Set driveTrainSimulations; + + protected final Set gamePieces; + protected final List customSimulations; + + private final List intakeSimulations; + + /** + * + * + *

Constructs a new simulation arena with the specified field map of obstacles.

+ * + *

This constructor initializes a physics world with zero gravity and adds the provided obstacles to the world. + * + *

It also sets up the collections for drivetrain simulations, game pieces, projectiles, and intake simulations. + * + * @param obstaclesMap the season-specific field map containing the layout of obstacles for the simulation + */ + protected SimulatedArena(FieldMap obstaclesMap) { + this.physicsWorld = new World<>(); + this.physicsWorld.setGravity(PhysicsWorld.ZERO_GRAVITY); + for (Body obstacle : obstaclesMap.obstacles) this.physicsWorld.addBody(obstacle); + this.driveTrainSimulations = new HashSet<>(); + customSimulations = new ArrayList<>(); + this.gamePieces = new HashSet<>(); + this.intakeSimulations = new ArrayList<>(); + setupValueForMatchBreakdown("TotalScore"); + setupValueForMatchBreakdown("TeleopScore"); + setupValueForMatchBreakdown("Auto/AutoScore"); + resetFieldPublisher.set(false); + } + + /** + * + * + *

Represents a custom simulation to be updated during each simulation sub-tick.

+ * + *

This allows you to register custom actions that will be executed at a high frequency during each simulation + * sub-tick. This is useful for tasks that need to be updated multiple times per simulation cycle. + * + *

Examples of how this method is used: + * + *

    + *
  • Pulling encoder values for high-frequency odometry updates. + *
  • Adding custom simulation objects or handling events in the simulated arena. + *
+ */ + public interface Simulatable { + /** + * Called in {@link #simulationSubTick(int)}. + * + * @param subTickNum the number of this sub-tick (counting from 0 in each robot period) + */ + void simulationSubTick(int subTickNum); + } + + /** + * + * + *

Registers a custom simulation.

+ * + * @param simulatable the custom simulation to register + */ + public synchronized void addCustomSimulation(Simulatable simulatable) { + this.customSimulations.add(simulatable); + } + + /** + * + * + *

Registers an {@link IntakeSimulation}.

+ * + *

NOTE: This method is automatically called in the constructor of {@link IntakeSimulation}, so + * you don't need to call it manually. + * + *

The intake simulation should be bound to an {@link AbstractDriveTrainSimulation} and becomes part of its + * collision space. + * + *

This method immediately starts the {@link IntakeSimulation.GamePieceContactListener}, + * which listens for contact between the intake and any game piece. + * + * @param intakeSimulation the intake simulation to be registered + */ + protected synchronized void addIntakeSimulation(IntakeSimulation intakeSimulation) { + this.intakeSimulations.add(intakeSimulation); + this.physicsWorld.addContactListener(intakeSimulation.getGamePieceContactListener()); + } + + /** + * + * + *

Registers an {@link AbstractDriveTrainSimulation}.

+ * + *

The collision space of the drive train is immediately added to the simulation world. + * + *

Starting from the next call to {@link #simulationPeriodic()}, the + * {@link AbstractDriveTrainSimulation#simulationSubTick()} method will be called during each sub-tick of the + * simulator. + * + * @param driveTrainSimulation the drivetrain simulation to be registered + */ + public synchronized void addDriveTrainSimulation(AbstractDriveTrainSimulation driveTrainSimulation) { + this.physicsWorld.addBody(driveTrainSimulation); + + this.driveTrainSimulations.add(driveTrainSimulation); + } + + /** + * + * + *

Registers a {@link GamePieceOnFieldSimulation} to the Simulation.

+ * + *

The collision space of the game piece is immediately added to the simulation world. + * + *

{@link IntakeSimulation}s will be able to interact with this game piece during the next call to + * {@link SimulatedArena#simulationPeriodic()}. + * + * @param gamePiece the game piece to be registered in the simulation + */ + public synchronized void addGamePiece(GamePieceOnFieldSimulation gamePiece) { + this.physicsWorld.addBody(gamePiece); + this.gamePieces.add(gamePiece); + } + + /** + * + * + *

Tells the arena to start publishing the match breakdown data to network tables

+ */ + public void enableBreakdownPublishing() { + shouldPublishMatchBreakdown = true; + } + + /** + * + * + *

Tells the arena to stop publishing the match breakdown data to network tables

+ */ + public void disableBreakdownPublishing() { + shouldPublishMatchBreakdown = false; + } + + /** + * + * + *

Publishes the match breakdown data to network tables

+ */ + protected void publishBreakdown() { + + for (String key : redScoringBreakdown.keySet()) { + if (!redPublishers.containsKey(key)) + redPublishers.put(key, redTable.getDoubleTopic(key).publish()); + + redPublishers.get(key).set(redScoringBreakdown.get(key)); + } + for (String key : blueScoringBreakdown.keySet()) { + if (!bluePublishers.containsKey(key)) + bluePublishers.put(key, blueTable.getDoubleTopic(key).publish()); + + bluePublishers.get(key).set(blueScoringBreakdown.get(key)); + } + + // genericInfoTable.getDoubleTopic("currentMatchTime").publish().set(blueScore); + } + + /** + * + * + *

replaces or adds a value to the match scoring breakdown published to network tables

+ * + * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown + * @param valueKey The name of the value to be added + * @param value The value to be added + */ + public void replaceValueInMatchBreakDown(boolean isBlueTeam, String valueKey, Double value) { + if (isBlueTeam) blueScoringBreakdown.put(valueKey, value); + else redScoringBreakdown.put(valueKey, value); + } + + /** + * + * + *

Defaults a value to 0 and creates it in the match breakdown. This is useful on startup to make sure all match + * breakdown values display before they are first updated

+ * + * @param valueKey The key to add to match breakdown + */ + public void setupValueForMatchBreakdown(String valueKey) { + replaceValueInMatchBreakDown(true, valueKey, 0); + replaceValueInMatchBreakDown(false, valueKey, 0); + } + + /** + * + * + *

replaces or adds a value to the match scoring breakdown published to network tables

+ * + * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown + * @param valueKey The name of the value to be added + * @param value The value to be added + */ + public void replaceValueInMatchBreakDown(boolean isBlueTeam, String valueKey, Integer value) { + replaceValueInMatchBreakDown(isBlueTeam, valueKey, (double) value); + } + + /** + * + * + *

Adds too a value in the scoring breakdown. If value does not already exist in the scoring breakdown it will + * be defaulted to 0 and then added too + * + * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown + * @param ValueKey The name of the value to be added too + * @param toAdd how much to be added to specified value + */ + public void addValueToMatchBreakdown(boolean isBlueTeam, String ValueKey, Double toAdd) { + if (isBlueTeam) { + if (blueScoringBreakdown.get(ValueKey) == null) blueScoringBreakdown.put(ValueKey, toAdd); + else blueScoringBreakdown.put(ValueKey, blueScoringBreakdown.get(ValueKey) + toAdd); + } else { + if (redScoringBreakdown.get(ValueKey) == null) redScoringBreakdown.put(ValueKey, toAdd); + else redScoringBreakdown.put(ValueKey, redScoringBreakdown.get(ValueKey) + toAdd); + } + } + + /** + * + * + *

Adds too a value in the scoring breakdown. If value does not already exist in the scoring breakdown it will + * be defaulted to 0 and then added too + * + * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown + * @param ValueKey The name of the value to be added too + * @param toAdd how much to be added to specified value + */ + public void addValueToMatchBreakdown(boolean isBlueTeam, String valueKey, int toAdd) { + addValueToMatchBreakdown(isBlueTeam, valueKey, (double) toAdd); + } + + /** + * + * + *

Registers a {@link GamePieceProjectile} to the Simulation and Launches It.

+ * + *

Calls to {@link GamePieceProjectile#launch()}, which will launch the game piece immediately. + * + * @param gamePieceProjectile the projectile to be registered and launched in the simulation + */ + public synchronized void addGamePieceProjectile(GamePieceProjectile gamePieceProjectile) { + this.gamePieces.add(gamePieceProjectile); + gamePieceProjectile.launch(); + } + + /** + * + * + *

Removes a {@link GamePieceOnFieldSimulation} from the Simulation.

+ * + *

Removes the game piece from the physics world and the simulation's game piece collection. + * + * @param gamePiece the game piece to be removed from the simulation + * @return true if this set contained the specified element + */ + public synchronized boolean removeGamePiece(GamePieceOnFieldSimulation gamePiece) { + this.physicsWorld.removeBody(gamePiece); + return this.gamePieces.remove(gamePiece); + } + + public synchronized boolean removePiece(GamePiece toRemove) { + if (toRemove.isGrounded()) { + return removeGamePiece((GamePieceOnFieldSimulation) toRemove); + } + return removeProjectile((GamePieceProjectile) toRemove); + } + + /** + * + * + *

Removes a {@link GamePieceProjectile} from the Simulation.

+ * + *

Removes the game piece projectile from the simulation. + * + * @param gamePieceLaunched the game piece projectile to be removed from the simulation + * @return true if this set contained the specified element + */ + public synchronized boolean removeProjectile(GamePieceProjectile gamePieceLaunched) { + return this.gamePieces.remove(gamePieceLaunched); + } + + /** + * + * + *

Removes All {@link GamePieceOnFieldSimulation} Objects from the Simulation.

+ * + *

This method clears all game pieces from the physics world and the simulation's game piece collection. + */ + public synchronized void clearGamePieces() { + for (GamePieceOnFieldSimulation gamePiece : this.gamePiecesOnField()) this.physicsWorld.removeBody(gamePiece); + + this.gamePieces.clear(); + this.blueScore = 0; + this.redScore = 0; + } + + /** + * + * + *

Shuts down the current SimulatedArena and stops all simulation so that simulatable objects may be added to a + * new arena

+ */ + public synchronized void shutDown() { + this.physicsWorld.removeAllBodies(); + } + + /** + * + * + *

Update the simulation world.

+ * + *

This method should be called ONCE in {@link TimedRobot#simulationPeriodic()} (or + * LoggedRobot.simulationPeriodic() if using Advantage-Kit) + * + *

If not configured through {@link SimulatedArena#overrideSimulationTimings(Time, int)} , the simulator will + * iterate through 5 Sub-ticks by default. + * + *

The amount of CPU Time that the Dyn4j engine uses in displayed in + * SmartDashboard/MapleArenaSimulation/Dyn4jEngineCPUTimeMS, usually performance is not a concern + */ + public synchronized void simulationPeriodic() { + /* obtain lock to the simulated arena class to block any calls to overrideTimings() */ + synchronized (SimulatedArena.class) { + final long t0 = System.nanoTime(); + // move through a few sub-periods in each update + for (int i = 0; i < SIMULATION_SUB_TICKS_IN_1_PERIOD; i++) simulationSubTick(i); + + matchClock += getSimulationDt().in(Units.Seconds); + + SmartDashboard.putNumber("MapleArenaSimulation/Dyn4jEngineCPUTimeMS", (System.nanoTime() - t0) / 1000000.0); + + if (resetFieldSubscriber.get()) { + SimulatedArena.getInstance().resetFieldForAuto(); + resetFieldPublisher.set(false); + matchClock = 0; + } + } + } + + /** + * + * + *

Processes a Single Simulation Sub-Tick.

+ * + *

This method performs the actions for each sub-tick of the simulation, including: + * + *

    + *
  • Updating all registered {@link AbstractDriveTrainSimulation} objects. + *
  • Updating all {@link GamePieceProjectile} objects in the simulation. + *
  • Stepping the physics world with the specified sub-tick duration. + *
  • Removing any game pieces as detected by the {@link IntakeSimulation} objects. + *
  • Executing any additional sub-tick actions registered via + * {@link SimulatedArena#addCustomSimulation(Simulatable)} . + *
+ */ + protected void simulationSubTick(int subTickNum) { + SimulatedBattery.simulationSubTick(); + for (AbstractDriveTrainSimulation driveTrainSimulation : driveTrainSimulations) + driveTrainSimulation.simulationSubTick(); + + GamePieceProjectile.updateGamePieceProjectiles(this, this.gamePieceLaunched()); + + this.physicsWorld.step(1, SIMULATION_DT.in(Seconds)); + + for (IntakeSimulation intakeSimulation : intakeSimulations) intakeSimulation.removeObtainedGamePieces(this); + + for (Simulatable customSimulation : customSimulations) customSimulation.simulationSubTick(subTickNum); + + replaceValueInMatchBreakDown(true, "TotalScore", blueScore); + replaceValueInMatchBreakDown(false, "TotalScore", redScore); + + if (shouldPublishMatchBreakdown) { + publishBreakdown(); + matchClockPublisher.set(matchClock); + } + } + + /** + * + * + *

Returns a list of all grounded pieces on the field

+ * + * @return all grounded (aka not projectile) pieces on the field as a set of GamePieceOnFieldSimulation objects + */ + public synchronized Set gamePiecesOnField() { + Set returnList = new HashSet(); + for (GamePiece gamePiece : this.gamePieces) { + if (gamePiece.isGrounded()) { + returnList.add((GamePieceOnFieldSimulation) gamePiece); + } + } + + return returnList; + } + + /** + * + * + *

Returns a list of all projectile pieces on the field

+ * + * @return all projectile pieces on the field as a set of GamePieceProjectile objects + */ + public synchronized Set gamePieceLaunched() { + Set returnList = new HashSet(); + for (GamePiece gamePiece : this.gamePieces) { + if (!gamePiece.isGrounded()) { + returnList.add((GamePieceProjectile) gamePiece); + } + } + + return returnList; + } + + /** + * + * + *

Obtains the 3D Poses of a Specific Type of Game Piece.

+ * + *

This method is used to visualize the positions of game pieces + * + *

Also, if you have a game-piece detection vision system (wow!), this is the how you can + * simulate it. + * + *

Both {@link GamePieceOnFieldSimulation} and {@link GamePieceProjectile} of the specified type will be + * included. + * + *

    + *
  • The type is determined in the constructor of {@link GamePieceOnFieldSimulation}. + *
  • For example, {@link CrescendoNoteOnField} has the + * type "Note". + *
+ * + * @param type the type of game piece, as determined by the constructor of {@link GamePieceOnFieldSimulation} + * @return a {@link List} of {@link Pose3d} objects representing the 3D positions of the game pieces + */ + public synchronized List getGamePiecesPosesByType(String type) { + final List gamePiecesPoses = new ArrayList<>(); + for (GamePiece gamePiece : gamePieces) + if (Objects.equals(gamePiece.getType(), type)) gamePiecesPoses.add(gamePiece.getPose3d()); + + return gamePiecesPoses; + } + + /** + * + * + *

Obtains the 3D Poses of a Specific Type of Game Piece as an array.

+ * + * @see #getGamePiecesPosesByType(String) + */ + public synchronized Pose3d[] getGamePiecesArrayByType(String type) { + return getGamePiecesPosesByType(type).toArray(Pose3d[]::new); + } + + /** + * + * + *

Returns all game pieces on the field of the specified type as a list + * + * @param type The string type to be selected. + * @return The game pieces as a list of {@link GamePiece} + */ + public synchronized List getGamePiecesByType(String type) { + final List gamePiecesPoses = new ArrayList<>(); + for (GamePiece gamePiece : gamePieces) + if (Objects.equals(gamePiece.getType(), type)) gamePiecesPoses.add(gamePiece); + + return gamePiecesPoses; + } + + /** + * + * + *

Resets the Field for Autonomous Mode.

+ * + *

This method clears all current game pieces from the field and places new game pieces in their starting + * positions for the autonomous mode. + */ + public synchronized void resetFieldForAuto() { + clearGamePieces(); + matchClock = 0; + placeGamePiecesOnField(); + } + + /** + * + * + *

Places Game Pieces on the Field for Autonomous Mode.

+ * + *

This method sets up the game pieces on the field, typically in their starting positions for autonomous mode. + * + *

It should be implemented differently for each season-specific subclass of {@link SimulatedArena} to reflect + * the unique game piece placements for that season's game. + */ + public abstract void placeGamePiecesOnField(); + + /** + * + * + *

Represents an Abstract Field Map

+ * + *

Stores the layout of obstacles and game pieces. + * + *

For each season-specific subclass of {@link SimulatedArena}, there should be a corresponding subclass of this + * class to store the field map for that specific season's game. + */ + public abstract static class FieldMap { + private final List obstacles = new ArrayList<>(); + + protected void addBorderLine(Translation2d startingPoint, Translation2d endingPoint) { + addCustomObstacle( + Geometry.createSegment( + GeometryConvertor.toDyn4jVector2(startingPoint), + GeometryConvertor.toDyn4jVector2(endingPoint)), + new Pose2d()); + } + + protected void addRectangularObstacle(double width, double height, Pose2d absolutePositionOnField) { + addCustomObstacle(Geometry.createRectangle(width, height), absolutePositionOnField); + } + + protected void addCustomObstacle(Convex shape, Pose2d absolutePositionOnField) { + final Body obstacle = createObstacle(shape); + + obstacle.getTransform().set(GeometryConvertor.toDyn4jTransform(absolutePositionOnField)); + + obstacles.add(obstacle); + } + + private static Body createObstacle(Convex shape) { + final Body obstacle = new Body(); + obstacle.setMass(MassType.INFINITE); + final BodyFixture fixture = obstacle.addFixture(shape); + fixture.setFriction(0.6); + fixture.setRestitution(0.3); + return obstacle; + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/AbstractDriveTrainSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/AbstractDriveTrainSimulation.java new file mode 100644 index 0000000..a2278cb --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/AbstractDriveTrainSimulation.java @@ -0,0 +1,170 @@ +package swervelib.simulation.ironmaple.simulation.drivesims; + +import static edu.wpi.first.units.Units.Meters; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import org.dyn4j.dynamics.Body; +import org.dyn4j.geometry.Geometry; +import org.dyn4j.geometry.MassType; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; + +/** + * + * + *

Represents an Abstract Drivetrain Simulation.

+ * + *

Simulates the Mass, Collision Space, and Friction of the Drivetrain.

+ * + *

This class models the physical properties of a drivetrain, including mass and collision space. + * + *

It also provides APIs to obtain the status (position, velocity etc.) in WPILib geometry classes. + * + *

The propelling forces generated by motors are simulated in its subclass, or {@link SwerveDriveSimulation}. + */ +public abstract class AbstractDriveTrainSimulation extends Body { + public static final double + BUMPER_COEFFICIENT_OF_FRICTION = 0.65, // https://en.wikipedia.org/wiki/Friction#Coefficient_of_friction + BUMPER_COEFFICIENT_OF_RESTITUTION = 0.08; // https://simple.wikipedia.org/wiki/Coefficient_of_restitution + + public final DriveTrainSimulationConfig config; + + /** + * + * + *

Creates a Simulation of a Drivetrain.

+ * + *

Sets Up the Collision Space and Mass of the Chassis.

+ * + *

Since this is an abstract class, the constructor must be called from a subclass. + * + *

Note that the chassis does not appear on the simulation field upon creation. Refer to + * {@link SimulatedArena} for instructions on how to add it to the simulation world. + * + * @param config a {@link DriveTrainSimulationConfig} instance containing the configurations of this drivetrain + * @param initialPoseOnField the initial pose of the drivetrain in the simulation world + */ + protected AbstractDriveTrainSimulation(DriveTrainSimulationConfig config, Pose2d initialPoseOnField) { + + this.config = config; + /* width and height in world reference is flipped */ + final double WIDTH_IN_WORLD_REFERENCE = config.bumperLengthX.in(Meters), + HEIGHT_IN_WORLD_REFERENCE = config.bumperWidthY.in(Meters); + + super.addFixture( + Geometry.createRectangle(WIDTH_IN_WORLD_REFERENCE, HEIGHT_IN_WORLD_REFERENCE), + config.getDensityKgPerSquaredMeters(), + BUMPER_COEFFICIENT_OF_FRICTION, + BUMPER_COEFFICIENT_OF_RESTITUTION); + + super.setMass(MassType.NORMAL); + super.setLinearDamping(0.1); + super.setAngularDamping(0.1); + setSimulationWorldPose(initialPoseOnField); + } + + /** + * + * + *

Sets the Robot's Current Pose in the Simulation World.

+ * + *

This method instantly teleports the robot to the specified pose in the simulation world. The robot does not + * drive to the new pose; it is moved directly. + * + * @param robotPose the desired robot pose, represented as a {@link Pose2d} + */ + public void setSimulationWorldPose(Pose2d robotPose) { + super.transform.set(GeometryConvertor.toDyn4jTransform(robotPose)); + super.linearVelocity.set(0, 0); + } + + /** + * + * + *

Sets the Robot's Speeds to the Given Chassis Speeds.

+ * + *

This method sets the robot's current velocity to the specified chassis speeds. + * + *

The robot does not accelerate smoothly to these speeds; instead, it jumps to the velocity + * Instantaneously. + * + * @param givenSpeeds the desired chassis speeds, represented as a {@link ChassisSpeeds} object + */ + public void setRobotSpeeds(ChassisSpeeds givenSpeeds) { + super.setLinearVelocity(GeometryConvertor.toDyn4jLinearVelocity(givenSpeeds)); + super.setAngularVelocity(givenSpeeds.omegaRadiansPerSecond); + } + + /** + * + * + *

Abstract Simulation Sub-Tick Method.

+ * + *

This method is called every time the simulation world is updated. + * + *

It is implemented in the sub-classes of {@link AbstractDriveTrainSimulation}. + * + *

It is responsible for applying the propelling forces to the robot during each sub-tick of the simulation. + */ + public abstract void simulationSubTick(); + + /** + * + * + *

Gets the Actual Pose of the Drivetrain in the Simulation World.

+ * + *

This method is used to display the robot on AdvantageScope Field3d or to update + * vision simulations. + * + *

Note: Do not use this method to simulate odometry! For a more realistic odometry simulation, + * use a {@link SwerveDriveSimulation} together with a + * {@link edu.wpi.first.math.estimator.SwerveDrivePoseEstimator}. + * + * @return a {@link Pose2d} object yielding the current world pose of the robot in the simulation + */ + public Pose2d getSimulatedDriveTrainPose() { + return GeometryConvertor.toWpilibPose2d(getTransform()); + } + + /** + * + * + *

Gets the Actual Robot-Relative Chassis Speeds from the Simulation.

+ * + *

This method returns the actual chassis speeds of the drivetrain in the simulation, relative to the robot. + * + *

To simulate the chassis speeds calculated by encoders, use a {@link SwerveDriveSimulation} together with + * {@link edu.wpi.first.math.kinematics.SwerveDriveKinematics#toChassisSpeeds(SwerveModuleState...)} for a more + * realistic simulation. + * + * @return the actual chassis speeds in the simulation world, Robot-Relative + */ + public ChassisSpeeds getDriveTrainSimulatedChassisSpeedsRobotRelative() { + ChassisSpeeds speeds = getDriveTrainSimulatedChassisSpeedsFieldRelative(); + speeds = ChassisSpeeds.fromFieldRelativeSpeeds( + speeds, getSimulatedDriveTrainPose().getRotation()); + return speeds; + } + + /** + * + * + *

Gets the Actual Field-Relative Chassis Speeds from the Simulation.

+ * + *

This method returns the actual chassis speeds of the drivetrain in the simulation, relative to the robot. + * + *

To simulate the chassis speeds calculated by encoders, use a {@link SwerveDriveSimulation} together with + * {@link edu.wpi.first.math.kinematics.SwerveDriveKinematics#toChassisSpeeds(SwerveModuleState...)} for a more + * realistic simulation. + * + * @return the actual chassis speeds in the simulation world, Field-Relative + */ + public ChassisSpeeds getDriveTrainSimulatedChassisSpeedsFieldRelative() { + return GeometryConvertor.toWpilibChassisSpeeds(getLinearVelocity(), getAngularVelocity()); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/COTS.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/COTS.java new file mode 100644 index 0000000..ef945ee --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/COTS.java @@ -0,0 +1,404 @@ +package swervelib.simulation.ironmaple.simulation.drivesims; + +import static edu.wpi.first.units.Units.*; +import static edu.wpi.first.units.Units.KilogramSquareMeters; + +import edu.wpi.first.math.system.plant.DCMotor; +import java.util.function.Supplier; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; + +public class COTS { + /** + * + * + *

Stores the coefficient of friction of some common used wheels.

+ * + *

Data comes from Spectrum + * 3847's Build Blog. + */ + public enum WHEELS { + /** Colsons Wheels. */ + COLSONS(0.899), + /** + * Default Neoprene Treads for Mark4 Modules + */ + DEFAULT_NEOPRENE_TREAD(1.426), + /** + * Blue Nitrile + * Tread from AndyMark. + */ + BLUE_NITRILE_TREAD(1.542), + /** Vex Grip V2 Wheel. */ + VEX_GRIP_V2(1.916), + /** + * Team 88's TPU90A Grippy Tire + */ + SLS_PRINTED_WHEELS(2.106); + + public final double cof; + + WHEELS(double cof) { + this.cof = cof; + } + } + + /** + * creates a SDS Mark4 + * Swerve Module for simulation + */ + public static SwerveModuleSimulationConfig ofMark4( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) { + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> 8.14; + case 2 -> 6.75; + case 3 -> 6.12; + case 4 -> 5.14; + default -> throw new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + }, + 12.8, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a SDS + * Mark4-i Swerve Module for simulation + */ + public static SwerveModuleSimulationConfig ofMark4i( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) { + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> 8.14; + case 2 -> 6.75; + case 3 -> 6.12; + case 4 -> 5.15; + default -> throw new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + }, + 150.0 / 7.0, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a SDS Mark4-n Swerve + * Module for simulation + */ + public static SwerveModuleSimulationConfig ofMark4n( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) { + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> 7.13; + case 2 -> 5.9; + case 3 -> 5.36; + default -> throw new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + }, + 18.75, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a WCP SwerveX Swerve Module + * for simulation + */ + public static SwerveModuleSimulationConfig ofSwerveX( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel, double firstStageRatio) { + double secondStageRatio = + switch (gearRatioLevel) { + case 1 -> 26.0 / 20.0; + case 2, 3 -> 28.0 / 18.0; + default -> throw new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + }; + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + firstStageRatio * secondStageRatio, + 11.3142, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a WCP SwerveX Flipped + * Swerve Module for simulation + * + *

X1 Ratios are gearRatioLevel 1-3
+ * X2 Ratios are gearRatioLevel 4-6
+ * X3 Ratios are gearRatioLevel 7-9 + */ + public static SwerveModuleSimulationConfig ofSwerveXFlipped( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel, int pinionSize) { + var unknownPinionErr = new IllegalStateException("Unknown pinion size: " + pinionSize); + var unknownLevelErr = new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> switch (pinionSize) { + case 10 -> 8.1; + case 11 -> 7.36; + case 12 -> 6.75; + default -> throw unknownPinionErr; + }; + case 2 -> switch (pinionSize) { + case 10 -> 6.72; + case 11 -> 6.11; + case 12 -> 5.6; + default -> throw unknownPinionErr; + }; + case 3 -> switch (pinionSize) { + case 10 -> 5.51; + case 11 -> 5.01; + case 12 -> 4.59; + default -> throw unknownPinionErr; + }; + default -> throw unknownLevelErr; + }, + 13.3714, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a WCP SwerveXS Swerve + * Module for simulation + */ + public static SwerveModuleSimulationConfig ofSwerveXS( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel, int pinionSize) { + var unknownPinionErr = new IllegalStateException("Unknown pinion size: " + pinionSize); + var unknownLevelErr = new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> switch (pinionSize) { + case 12 -> 6; + case 13 -> 5.54; + case 14 -> 5.14; + default -> throw unknownPinionErr; + }; + case 2 -> switch (pinionSize) { + case 12 -> 4.71; + case 13 -> 4.4; + case 14 -> 4.13; + default -> throw unknownPinionErr; + }; + default -> throw unknownLevelErr; + }, + 41.25, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a WCP SwerveX2 Swerve + * Module for simulation + * + *

X1 Ratios are gearRatioLevel 1-3
+ * X2 Ratios are gearRatioLevel 4-6
+ * X3 Ratios are gearRatioLevel 7-9
+ * X4 Ratios are gearRatioLevel 10-12 + */ + public static SwerveModuleSimulationConfig ofSwerveX2( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel, int pinionSize) { + var unknownPinionErr = new IllegalStateException("Unknown pinion size: " + pinionSize); + var unknownLevelErr = new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> switch (pinionSize) { + case 10 -> 7.67; + case 11 -> 6.98; + case 12 -> 6.39; + default -> throw unknownPinionErr; + }; + case 2 -> switch (pinionSize) { + case 10 -> 6.82; + case 11 -> 6.2; + case 12 -> 5.68; + default -> throw unknownPinionErr; + }; + case 3 -> switch (pinionSize) { + case 10 -> 6.48; + case 11 -> 5.89; + case 12 -> 5.4; + default -> throw unknownPinionErr; + }; + case 4 -> switch (pinionSize) { + case 10 -> 5.67; + case 11 -> 5.15; + case 12 -> 4.73; + default -> throw unknownPinionErr; + }; + default -> throw unknownLevelErr; + }, + 12.1, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * creates a WCP SwerveX2S Swerve + * Module for simulation + */ + public static SwerveModuleSimulationConfig ofSwerveX2S( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel, int pinionSize) { + var unknownPinionErr = new IllegalStateException("Unknown pinion size: " + pinionSize); + var unknownLevelErr = new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> switch (pinionSize) { + case 15 -> 6.0; + case 16 -> 5.63; + case 17 -> 5.29; + default -> throw unknownPinionErr; + }; + case 2 -> switch (pinionSize) { + case 17 -> 4.94; + case 18 -> 4.67; + case 19 -> 4.42; + default -> throw unknownPinionErr; + }; + case 3 -> switch (pinionSize) { + case 19 -> 4.11; + case 20 -> 3.9; + case 21 -> 3.71; + default -> throw unknownPinionErr; + }; + default -> throw unknownLevelErr; + }, + 25.9, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * Creates a REV MAXSwerve swerve module for simulation + * + *

Base Kit ratios are gearRatioLevel 1-3
+ * Gear Ratio Upgrade Kit ratios are gearRatioLevel 4-8 + */ + public static SwerveModuleSimulationConfig ofMAXSwerve( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) { + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> 5.5; + case 2 -> 5.08; + case 3 -> 4.71; + case 4 -> 4.50; + case 5 -> 4.29; + case 6 -> 4; + case 7 -> 3.75; + case 8 -> 3.56; + default -> throw new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + }, + 9424.0 / 203.0, + Volts.of(0.1), + Volts.of(0.1), + Inches.of(1.5), + KilogramSquareMeters.of(0.02), + wheelCOF); + } + + /** + * Creates a TTB Thrifty Swerve swerve module + * for simulation + */ + public static SwerveModuleSimulationConfig ofThriftySwerve( + DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) { + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + switch (gearRatioLevel) { + case 1 -> 6.75; + case 2 -> 6.23; + case 3 -> 5.79; + case 4 -> 6; + case 5 -> 5.54; + case 6 -> 5.14; + default -> throw new IllegalStateException("Unknown gearing level: " + gearRatioLevel); + }, + 25, + Volts.of(0.1), + Volts.of(0.2), + Inches.of(2), + KilogramSquareMeters.of(0.03), + wheelCOF); + } + + /** + * + * + *

Creates the Simulation for a CTRE Pigeon 2 IMU. + *

+ * + * @return a gyro simulation factory configured for the Pigeon 2 IMU + */ + public static Supplier ofPigeon2() { + /* + * user manual of pigeon 2: + * https://store.ctr-electronics.com/content/user-manual/Pigeon2%20User's%20Guide.pdf + * */ + return () -> new GyroSimulation(0.5, 0.02); + } + + /** + * + * + *

Creates the Simulation for a navX2-MXP IMU.

+ * + * @return a gyro simulation factory configured for the navX2-MXP IMU + */ + public static Supplier ofNav2X() { + return () -> new GyroSimulation(2, 0.04); + } + + /** + * + * + *

Creates the Simulation for a Generic, Low-Accuracy IMU.

+ * + * @return a gyro simulation factory configured for a generic low-accuracy IMU + */ + public static Supplier ofGenericGyro() { + return () -> new GyroSimulation(5, 0.06); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/GyroSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/GyroSimulation.java new file mode 100644 index 0000000..d7c06a8 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/GyroSimulation.java @@ -0,0 +1,212 @@ +package swervelib.simulation.ironmaple.simulation.drivesims; + +import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.Seconds; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Time; +import java.util.Queue; +import java.util.concurrent.ConcurrentLinkedQueue; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath; + +/** + * Simulation for a IMU module used as gyro. + * + *

The Simulation is basically an indefinite integral of the angular velocity during each simulation sub ticks. Above + * that, it also musicales the measurement inaccuracy of the gyro, drifting in no-motion and drifting due to impacts. + */ +public class GyroSimulation { + private static final double + /* The threshold of instantaneous angular acceleration at which the chassis is considered to experience an "impact." */ + ANGULAR_ACCELERATION_THRESHOLD_START_DRIFTING = 500, + /* The amount of drift, in radians, that the gyro experiences as a result of each multiple of the angular acceleration threshold. */ + DRIFT_DUE_TO_IMPACT_COEFFICIENT = Math.toRadians(1); + private final double AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG, VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT; + + private Rotation2d gyroReading; + private double measuredAngularVelocityRadPerSec, previousAngularVelocityRadPerSec; + private final Queue cachedRotations; + + /** + * + * + *

Creates a Gyro Simulation.

+ * + * @param AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG the average amount of drift, in degrees, the gyro experiences + * if it remains motionless for 30 seconds on a vibrating platform. This value can often be found in the user + * manual. + * @param VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT the standard deviation of the velocity measurement, + * typically around 0.05 + */ + public GyroSimulation( + double AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG, double VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT) { + this.AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG = AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG; + this.VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT = VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT; + + gyroReading = new Rotation2d(); + this.previousAngularVelocityRadPerSec = this.measuredAngularVelocityRadPerSec = 0; + this.cachedRotations = new ConcurrentLinkedQueue<>(); + for (int i = 0; i < SimulatedArena.getSimulationSubTicksIn1Period(); i++) cachedRotations.offer(gyroReading); + } + + /** + * + * + *

Calibrates the Gyro to a Given Rotation.

+ * + *

This method sets the current rotation of the gyro, similar to Pigeon2().setYaw() + * . + * + *

After setting the rotation, the gyro will continue to estimate the rotation by integrating the angular + * velocity, adding it to the specified rotation. + * + * @param currentRotation the current rotation of the robot, represented as a {@link Rotation2d} + */ + public void setRotation(Rotation2d currentRotation) { + this.gyroReading = currentRotation; + } + + /** + * + * + *

Obtains the Estimated Rotation of the Gyro.

+ * + *

This method returns the estimated rotation of the gyro, which includes measurement errors due to drifting and + * other factors. + * + * @return the current reading of the gyro, represented as a {@link Rotation2d} + */ + public Rotation2d getGyroReading() { + return gyroReading; + } + + /** + * + * + *

Gets the Measured Angular Velocity of the Gyro.

+ * + *

This method returns the angular velocity measured by the gyro, in radians per second. + * + *

The measurement includes random errors based on the configured settings of the gyro. + * + * @return the measured angular velocity + */ + public AngularVelocity getMeasuredAngularVelocity() { + return RadiansPerSecond.of(measuredAngularVelocityRadPerSec); + } + + /** + * gyro readings for high-frequency + * odometers. + * + * @return the readings of the gyro during the last 5 simulation sub ticks + */ + public Rotation2d[] getCachedGyroReadings() { + return cachedRotations.toArray(Rotation2d[]::new); + } + + /** + * + * + *

Updates the Gyro Simulation for Each Sub-Tick.

+ * + *

This method updates the gyro simulation and should be called during every sub-tick of the simulation. + * + *

If you are using this class outside of {@link SimulatedArena}: make sure to call it 5 + * times in each robot period (if using default timings), or refer to + * {@link SimulatedArena#overrideSimulationTimings(Time, int)}. + * + * @param actualAngularVelocityRadPerSec the actual angular velocity in radians per second, usually obtained from + * {@link AbstractDriveTrainSimulation#getAngularVelocity()} + */ + public void updateSimulationSubTick(double actualAngularVelocityRadPerSec) { + final Rotation2d driftingDueToImpact = getDriftingDueToImpact(actualAngularVelocityRadPerSec); + gyroReading = gyroReading.plus(driftingDueToImpact); + + final Rotation2d dTheta = getGyroDTheta(actualAngularVelocityRadPerSec); + gyroReading = gyroReading.plus(dTheta); + + final Rotation2d noMotionDrifting = getNoMotionDrifting(); + gyroReading = gyroReading.plus(noMotionDrifting); + + cachedRotations.poll(); + cachedRotations.offer(gyroReading); + } + + /** + * + * + *

Simulates IMU Drifting Due to Robot Impacts.

+ * + *

This method generates a random amount of drifting for the IMU if the instantaneous angular acceleration + * exceeds a threshold, simulating the effects of impacts on the robot. + * + * @param actualAngularVelocityRadPerSec the actual angular velocity in radians per second, used to determine if an + * impact is detected + * @return the amount of drifting the IMU will experience if an impact is detected, or + * Rotation2d.fromRadians(0) if no impact is detected + */ + private Rotation2d getDriftingDueToImpact(double actualAngularVelocityRadPerSec) { + final double + angularAccelerationRadPerSecSq = + (actualAngularVelocityRadPerSec - previousAngularVelocityRadPerSec) + / SimulatedArena.getSimulationDt().in(Seconds), + driftingDueToImpactDegAbsVal = + Math.abs(angularAccelerationRadPerSecSq) > ANGULAR_ACCELERATION_THRESHOLD_START_DRIFTING + ? Math.abs(angularAccelerationRadPerSecSq) + / ANGULAR_ACCELERATION_THRESHOLD_START_DRIFTING + * DRIFT_DUE_TO_IMPACT_COEFFICIENT + : 0, + driftingDueToImpactDeg = Math.copySign(driftingDueToImpactDegAbsVal, -angularAccelerationRadPerSecSq); + + previousAngularVelocityRadPerSec = actualAngularVelocityRadPerSec; + + return Rotation2d.fromRadians(driftingDueToImpactDeg); + } + + /** + * + * + *

Gets the Measured ΔTheta of the Gyro.

+ * + *

This method simulates the change in the robot's angle (ΔTheta) since the last sub-tick, as measured by the + * gyro. + * + *

The measurement includes random errors based on the configuration of the gyro. + * + * @param actualAngularVelocityRadPerSec the actual angular velocity in radians per second, used to calculate the + * ΔTheta + * @return the measured ΔTheta, including any measurement errors + */ + private Rotation2d getGyroDTheta(double actualAngularVelocityRadPerSec) { + this.measuredAngularVelocityRadPerSec = MapleCommonMath.generateRandomNormal( + actualAngularVelocityRadPerSec, + VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT * Math.abs(actualAngularVelocityRadPerSec)); + return Rotation2d.fromRadians(measuredAngularVelocityRadPerSec + * SimulatedArena.getSimulationDt().in(Seconds)); + } + + /** + * + * + *

Generates the No-Motion Gyro Drifting.

+ * + *

This method simulates the minor drifting of the gyro that occurs regardless of whether the robot is moving or + * not. + * + * @return the amount of drifting generated while the robot is not moving + */ + private Rotation2d getNoMotionDrifting() { + final double + AVERAGE_DRIFTING_1_PERIOD = + this.AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG + / 30 + * SimulatedArena.getSimulationDt().in(Seconds), + driftingInThisPeriod = MapleCommonMath.generateRandomNormal(0, AVERAGE_DRIFTING_1_PERIOD); + + return Rotation2d.fromDegrees(driftingInThisPeriod); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java new file mode 100644 index 0000000..906c96d --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java @@ -0,0 +1,580 @@ +package swervelib.simulation.ironmaple.simulation.drivesims; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.PIDController; +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.kinematics.*; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.units.measure.*; +import edu.wpi.first.wpilibj.Timer; +import java.util.Arrays; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController; +import swervelib.simulation.ironmaple.utils.mathutils.SwerveStateProjection; + +/** + * + * + *

An easier way to simulate swerve drive.

+ * + *

Check Online Documentation + * + *

This class owns and controls a {@link SwerveDriveSimulation}, running closed loops/open loops on the simulated + * motors. + * + *

It works identically to how the real swerve simulation code. + * + *

Note: The order for swerve modules is: front-left, front-right, back-left, back-right. + */ +public class SelfControlledSwerveDriveSimulation { + private final SwerveDriveSimulation swerveDriveSimulation; + private final SelfControlledModuleSimulation[] moduleSimulations; + private final SwerveDriveKinematics kinematics; + private final SwerveDrivePoseEstimator poseEstimator; + private final SwerveModuleState[] setPointsOptimized; + + /** + * + * + *

Default Constructor.

+ * + *

Constructs a simplified swerve simulation with default standard deviations for odometry & vision pose + * estimates. + * + *

Odometry is simulated as high-frequency odometry, assuming a robot period of 0.02 seconds and an odometry + * frequency of 250 Hz. + * + * @param swerveDriveSimulation the {@link SwerveDriveSimulation} to control. + */ + public SelfControlledSwerveDriveSimulation(SwerveDriveSimulation swerveDriveSimulation) { + this(swerveDriveSimulation, VecBuilder.fill(0.1, 0.1, 0.1), VecBuilder.fill(0.9, 0.9, 0.9)); + } + + /** + * + * + *

Constructs an instance with given odometry standard deviations.

+ * + *

Constructs a simplified swerve simulation with specified standard deviations for odometry & vision pose + * estimates. + * + * @param swerveDriveSimulation the {@link SwerveDriveSimulation} to control. + * @param stateStdDevs the standard deviations for odometry encoders. + * @param visionMeasurementStdDevs the standard deviations for vision pose estimates. + */ + public SelfControlledSwerveDriveSimulation( + SwerveDriveSimulation swerveDriveSimulation, + Matrix stateStdDevs, + Matrix visionMeasurementStdDevs) { + this.swerveDriveSimulation = swerveDriveSimulation; + this.moduleSimulations = Arrays.stream(swerveDriveSimulation.getModules()) + .map(SelfControlledModuleSimulation::new) + .toArray(SelfControlledModuleSimulation[]::new); + + this.kinematics = swerveDriveSimulation.kinematics; + + this.poseEstimator = new SwerveDrivePoseEstimator( + kinematics, + getRawGyroAngle(), + getLatestModulePositions(), + getActualPoseInSimulationWorld(), + stateStdDevs, + visionMeasurementStdDevs); + + this.setPointsOptimized = new SwerveModuleState[moduleSimulations.length]; + Arrays.fill(setPointsOptimized, new SwerveModuleState()); + } + + /** + * + * + *

Periodic Method for Simplified Swerve Sim.

+ * + *

Call this method in the {@link edu.wpi.first.wpilibj2.command.Subsystem#periodic()} of your swerve subsystem. + * + *

Updates the odometry by fetching cached inputs. + */ + public void periodic() { + final SwerveModulePosition[][] cachedModulePositions = getCachedModulePositions(); + for (int i = 0; i < SimulatedArena.getSimulationSubTicksIn1Period(); i++) + poseEstimator.updateWithTime( + Timer.getFPGATimestamp() + - SimulatedArena.getSimulationDt().in(Seconds) + * (SimulatedArena.getSimulationDt().in(Seconds) - i), + swerveDriveSimulation.gyroSimulation.getCachedGyroReadings()[i], + cachedModulePositions[i]); + } + + /** + * + * + *

Obtains the LATEST module positions measured by the encoders.

+ * + *

The order for swerve modules is: front-left, front-right, back-left, back-right. + * + * @return the module positions + */ + public SwerveModulePosition[] getLatestModulePositions() { + return Arrays.stream(moduleSimulations) + .map(SelfControlledModuleSimulation::getModulePosition) + .toArray(SwerveModulePosition[]::new); + } + + /** + * + * + *

Obtains the CACHED module positions measured by the encoders.

+ * + *

This simulates high-frequency odometry. + * + *

The module positions, or the value of {@link #getLatestModulePositions()} are cached in every simulation + * sub-tick. + * + *

The array is ordered in a [timeStampIndex][moduleIndex] format. + * + *

The order for swerve modules is: front-left, front-right, back-left, back-right. + * + * @return the cached module positions + */ + public SwerveModulePosition[][] getCachedModulePositions() { + final SwerveModulePosition[][] cachedModulePositions = + new SwerveModulePosition[SimulatedArena.getSimulationSubTicksIn1Period()][moduleSimulations.length]; + + for (int moduleIndex = 0; moduleIndex < moduleSimulations.length; moduleIndex++) { + final Angle[] wheelPosition = moduleSimulations[moduleIndex].instance.getCachedDriveWheelFinalPositions(); + final Rotation2d[] swerveModuleFacings = + moduleSimulations[moduleIndex].instance.getCachedSteerAbsolutePositions(); + for (int timeStamp = 0; timeStamp < SimulatedArena.getSimulationSubTicksIn1Period(); timeStamp++) + cachedModulePositions[timeStamp][moduleIndex] = new SwerveModulePosition( + wheelPosition[timeStamp].in(Radians) + * moduleSimulations[0].instance.config.WHEEL_RADIUS.in(Meters), + swerveModuleFacings[timeStamp]); + } + + return cachedModulePositions; + } + + /** + * + * + *

Obtains the raw angle of the gyro.

+ * + *

Note that the simulated gyro also drifts/skids like real gyros, especially if the robot collides. + * + *

To obtain the facing of the robot retrieved from the odometry, use {@link #getOdometryEstimatedPose()}; to + * obtain the actual facing of the robot, use {@link #getActualPoseInSimulationWorld()}. + * + * @deprecated This rotation is NOT the actual facing of the robot; it is uncalibrated and is only + * used for features like rotation lock. + * @return the raw (uncalibrated) angle of the simulated gyro. + */ + @Deprecated + public Rotation2d getRawGyroAngle() { + return swerveDriveSimulation.gyroSimulation.getGyroReading(); + } + + /** + * + * + *

Obtains the robot pose measured by the odometry.

+ * + *

Retrieves the pose estimated by the odometry system (and vision, if applicable). + * + *

This method wraps around {@link SwerveDrivePoseEstimator#getEstimatedPosition()}. + * + *

This represents the estimated position of the robot. + * + *

Note that this estimation includes realistic simulations of measurement errors due to skidding and odometry + * drift. + * + *

To obtain the ACTUAL pose of the robot, with no measurement errors, use + * {@link #getActualPoseInSimulationWorld()}. + */ + public Pose2d getOdometryEstimatedPose() { + return poseEstimator.getEstimatedPosition(); + } + + /** + * + * + *

Resets the odometry to a specified position.

+ * + *

This method wraps around {@link SwerveDrivePoseEstimator#resetPosition(Rotation2d, SwerveModulePosition[], + * Pose2d)}. + * + *

It resets the position of the pose estimator to the given pose. + * + * @param pose The position on the field where the robot is located. + */ + public void resetOdometry(Pose2d pose) { + this.poseEstimator.resetPosition(getRawGyroAngle(), getLatestModulePositions(), pose); + } + + /** + * + * + *

Adds a vision estimation to the pose estimator.

+ * + *

This method wraps around {@link SwerveDrivePoseEstimator#addVisionMeasurement(Pose2d, double)}. + * + *

Adds a vision measurement to the Kalman Filter, correcting the odometry pose estimate while accounting for + * measurement noise. + * + * @param robotPoseMeters The pose of the robot as measured by the vision camera. + * @param timeStampSeconds The timestamp of the vision measurement, in seconds. + */ + public void addVisionEstimation(Pose2d robotPoseMeters, double timeStampSeconds) { + this.poseEstimator.addVisionMeasurement(robotPoseMeters, timeStampSeconds); + } + + /** + * + * + *

Adds a vision estimation to the pose estimator.

+ * + *

This method wraps around {@link SwerveDrivePoseEstimator#addVisionMeasurement(Pose2d, double, Matrix)}. + * + *

Adds a vision measurement to the Kalman Filter, correcting the odometry pose estimate while accounting for + * measurement noise. + * + * @param robotPoseMeters The pose of the robot as measured by the vision camera. + * @param timeStampSeconds The timestamp of the vision measurement, in seconds. + * @param measurementStdDevs Standard deviations of the vision pose measurement (x position in meters, y position in + * meters, and heading in radians). Increase these values to reduce the trust in the vision pose measurement. + */ + public void addVisionEstimation( + Pose2d robotPoseMeters, double timeStampSeconds, Matrix measurementStdDevs) { + this.poseEstimator.addVisionMeasurement(robotPoseMeters, timeStampSeconds, measurementStdDevs); + } + + /** + * + * + *

Runs chassis speeds on the simulated swerve drive.

+ * + *

Runs the specified chassis speeds, either robot-centric or field-centric. + * + * @param chassisSpeeds The speeds to run, in either robot-centric or field-centric coordinates. + * @param centerOfRotationMeters The center of rotation. For example, if you set the center of rotation at one + * corner of the robot and provide a chassis speed that has only a dtheta component, the robot will rotate + * around that corner. + * @param fieldCentricDrive Whether to execute field-centric drive with the provided speed. + * @param discretizeSpeeds Whether to apply {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} to the provided + * speed. + */ + public void runChassisSpeeds( + ChassisSpeeds chassisSpeeds, + Translation2d centerOfRotationMeters, + boolean fieldCentricDrive, + boolean discretizeSpeeds) { + if (fieldCentricDrive) { + chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds( + chassisSpeeds, getOdometryEstimatedPose().getRotation()); + } + if (discretizeSpeeds) { + chassisSpeeds = ChassisSpeeds.discretize( + chassisSpeeds, + SimulatedArena.getSimulationDt().in(Seconds) * SimulatedArena.getSimulationSubTicksIn1Period()); + } + final SwerveModuleState[] setPoints = kinematics.toSwerveModuleStates(chassisSpeeds, centerOfRotationMeters); + runSwerveStates(setPoints); + } + + /** + * + * + *

Runs a raw module states on the chassis.

+ * + *

Runs the specified module states on the modules. + * + * @param setPoints an array of {@link SwerveModuleState} yielding the requested states + */ + public void runSwerveStates(SwerveModuleState[] setPoints) { + for (int i = 0; i < moduleSimulations.length; i++) + setPointsOptimized[i] = moduleSimulations[i].optimizeAndRunModuleState(setPoints[i]); + } + + /** + * + * + *

Obtain the MEASURED swerve states.

+ * + *

The order of the swerve modules is: front-left, front-right, back-left, back-right. + * + * @return The actual measured swerve states of the simulated swerve. + */ + public SwerveModuleState[] getMeasuredStates() { + return Arrays.stream(moduleSimulations) + .map(SelfControlledModuleSimulation::getMeasuredState) + .toArray(SwerveModuleState[]::new); + } + + /** + * + * + *

Obtain the optimized SETPOINTS of the swerve.

+ * + *

The setpoints are calculated using {@link SwerveDriveKinematics#toSwerveModuleStates(ChassisSpeeds)} in the + * most recent call to {@link #runChassisSpeeds(ChassisSpeeds, Translation2d, boolean, boolean)}. + * + *

The setpoints are optimized using {@link SwerveModuleState#optimize(SwerveModuleState, Rotation2d)}. + * + *

The order of the swerve modules is: front-left, front-right, back-left, back-right. + * + * @return The optimized setpoints of the swerve, calculated during the last chassis speed run. + */ + public SwerveModuleState[] getSetPointsOptimized() { + return setPointsOptimized; + } + + /** + * + * + *

Obtain the field-relative chassis speeds measured from the encoders.

+ * + *

The speeds are measured from the simulated swerve modules. + * + * @param useGyroForAngularVelocity Whether to use the gyro for a more accurate angular velocity measurement. + * @return The measured chassis speeds, field-relative. + */ + public ChassisSpeeds getMeasuredSpeedsFieldRelative(boolean useGyroForAngularVelocity) { + ChassisSpeeds speeds = getMeasuredSpeedsRobotRelative(useGyroForAngularVelocity); + speeds = ChassisSpeeds.fromRobotRelativeSpeeds( + speeds, getOdometryEstimatedPose().getRotation()); + return speeds; + } + + /** + * + * + *

Obtain the robot-relative chassis speeds measured from the encoders.

+ * + *

The speeds are measured from the simulated swerve modules. + * + * @param useGyroForAngularVelocity Whether to use the gyro for a more accurate angular velocity measurement. + * @return The measured chassis speeds, robot-relative. + */ + public ChassisSpeeds getMeasuredSpeedsRobotRelative(boolean useGyroForAngularVelocity) { + final ChassisSpeeds swerveSpeeds = kinematics.toChassisSpeeds(getMeasuredStates()); + return new ChassisSpeeds( + swerveSpeeds.vxMetersPerSecond, + swerveSpeeds.vyMetersPerSecond, + useGyroForAngularVelocity + ? swerveDriveSimulation + .gyroSimulation + .getMeasuredAngularVelocity() + .in(RadiansPerSecond) + : swerveSpeeds.omegaRadiansPerSecond); + } + + /** + * + * + *

Obtain the {@link SwerveDriveSimulation} object controlled by this simplified swerve simulation.

+ * + * @return The swerve drive simulation. + */ + public SwerveDriveSimulation getDriveTrainSimulation() { + return this.swerveDriveSimulation; + } + + /** + * + * + *

Obtain the ACTUAL robot pose.

+ * + *

Obtains the ACTUAL robot pose with zero measurement error. + * + *

To obtain the pose calculated by odometry (where the robot thinks it is), use + * {@link #getOdometryEstimatedPose()}. + */ + public Pose2d getActualPoseInSimulationWorld() { + return swerveDriveSimulation.getSimulatedDriveTrainPose(); + } + + /** + * + * + *

Get the ACTUAL field-relative chassis speeds of the robot.

+ * + *

Wraps around {@link SwerveDriveSimulation#getDriveTrainSimulatedChassisSpeedsFieldRelative()}. + * + * @return the actual chassis speeds in the simulation world, field-relative + */ + public ChassisSpeeds getActualSpeedsFieldRelative() { + return this.swerveDriveSimulation.getDriveTrainSimulatedChassisSpeedsFieldRelative(); + } + + /** + * + * + *

Get the ACTUAL robot-relative chassis speeds of the robot.

+ * + *

Wraps around {@link SwerveDriveSimulation#getDriveTrainSimulatedChassisSpeedsRobotRelative()}. + * + * @return the actual chassis speeds in the simulation world, robot-relative + */ + public ChassisSpeeds getActualSpeedsRobotRelative() { + return this.swerveDriveSimulation.getDriveTrainSimulatedChassisSpeedsRobotRelative(); + } + + /** + * + * + *

Teleport the robot to a specified location on the simulated field.

+ * + *

This method moves the drivetrain instantly to the specified location on the field, bypassing any obstacles in + * its path. + * + *

Wraps around {@link SwerveDriveSimulation#setSimulationWorldPose(Pose2d)}. + * + * @param robotPose the pose of the robot to teleport to + */ + public void setSimulationWorldPose(Pose2d robotPose) { + this.swerveDriveSimulation.setSimulationWorldPose(robotPose); + } + + public SelfControlledSwerveDriveSimulation withSteerPID(PIDController steerController) { + for (SelfControlledModuleSimulation moduleSimulation : moduleSimulations) + moduleSimulation.withSteerPID( + new PIDController(steerController.getP(), steerController.getI(), steerController.getD())); + return this; + } + + public SelfControlledSwerveDriveSimulation withCurrentLimits(Current driveCurrentLimit, Current steerCurrentLimit) { + for (SelfControlledModuleSimulation moduleSimulation : moduleSimulations) + moduleSimulation.withCurrentLimits(driveCurrentLimit, steerCurrentLimit); + + return this; + } + + public static class SelfControlledModuleSimulation { + public final SwerveModuleSimulation instance; + private Current driveCurrentLimit; + + private PIDController steerController; + + private final SimulatedMotorController.GenericMotorController driveMotor; + private final SimulatedMotorController.GenericMotorController steerMotor; + + public SelfControlledModuleSimulation(SwerveModuleSimulation moduleSimulation) { + this.instance = moduleSimulation; + steerController = new PIDController(5.0, 0, 0); + + this.driveMotor = this.instance.useGenericMotorControllerForDrive(); + this.driveMotor.withCurrentLimit(this.driveCurrentLimit = Amps.of(60)); + this.steerMotor = this.instance.useGenericControllerForSteer(); + } + + public SelfControlledModuleSimulation withSteerPID(PIDController steerController) { + this.steerController = steerController; + steerController.enableContinuousInput(-Math.PI, Math.PI); + return this; + } + + public SelfControlledModuleSimulation withCurrentLimits(Current driveCurrentLimit, Current steerCurrentLimit) { + this.driveMotor.withCurrentLimit(this.driveCurrentLimit = driveCurrentLimit); + this.steerMotor.withCurrentLimit(steerCurrentLimit); + steerController.enableContinuousInput(-Math.PI, Math.PI); + return this; + } + + /** + * + * + *

Runs the control loops for swerve states on a simulated module.

+ * + *

Optimizes the set-point using {@link SwerveModuleState#optimize(SwerveModuleState, Rotation2d)}. + * + *

Executes a closed-loop control on the swerve module. + * + * @param setPoint the desired state to optimize and apply + * @return the optimized swerve module state after control execution + */ + public SwerveModuleState optimizeAndRunModuleState(SwerveModuleState setPoint) { + setPoint.optimize(instance.getSteerAbsoluteFacing()); + runModuleState(setPoint); + return setPoint; + } + + public void runModuleState(SwerveModuleState setPoint) { + final double + cosProjectedSpeedMPS = SwerveStateProjection.project(setPoint, instance.getSteerAbsoluteFacing()), + driveWheelVelocitySetPointRadPerSec = + cosProjectedSpeedMPS / instance.config.WHEEL_RADIUS.in(Meters); + + driveMotor.requestVoltage(instance.config.driveMotorConfigs.calculateVoltage( + Amps.of(0), RadiansPerSecond.of(driveWheelVelocitySetPointRadPerSec))); + + steerMotor.requestVoltage(Volts.of(steerController.calculate( + instance.getSteerAbsoluteFacing().getRadians(), setPoint.angle.getRadians()))); + } + + public void runDriveMotorCharacterization(Rotation2d desiredModuleFacing, double volts) { + driveMotor.requestVoltage(Volts.of(volts)); + + steerMotor.requestVoltage(Volts.of(steerController.calculate( + instance.getSteerAbsoluteFacing().getRadians(), desiredModuleFacing.getRadians()))); + } + + public void runSteerMotorCharacterization(double volts) { + driveMotor.requestVoltage(Volts.zero()); + + steerMotor.requestVoltage(Volts.of(volts)); + } + + public SwerveModuleState getMeasuredState() { + return instance.getCurrentState(); + } + + public SwerveModulePosition getModulePosition() { + return new SwerveModulePosition( + instance.getDriveWheelFinalPosition().in(Radians) * instance.config.WHEEL_RADIUS.in(Meters), + instance.getSteerAbsoluteFacing()); + } + } + + /** @see SwerveDriveSimulation#maxLinearVelocity() */ + public LinearVelocity maxLinearVelocity() { + return swerveDriveSimulation.maxLinearVelocity(); + } + + /** @see SwerveDriveSimulation#maxLinearAcceleration(Current) */ + public LinearAcceleration maxLinearAcceleration() { + return swerveDriveSimulation.maxLinearAcceleration(moduleSimulations[0].driveCurrentLimit); + } + + /** @see DriveTrainSimulationConfig#trackWidthY() */ + public Distance trackWidthY() { + return swerveDriveSimulation.config.trackWidthY(); + } + + /** @see DriveTrainSimulationConfig#trackLengthX() */ + public Distance trackLengthX() { + return swerveDriveSimulation.config.trackLengthX(); + } + + /** @see SwerveDriveSimulation#driveBaseRadius() */ + public Distance driveBaseRadius() { + return swerveDriveSimulation.config.driveBaseRadius(); + } + + /** @see SwerveDriveSimulation#maxAngularVelocity() */ + public AngularVelocity maxAngularVelocity() { + return RadiansPerSecond.of( + maxLinearVelocity().in(MetersPerSecond) / driveBaseRadius().in(Meters)); + } + + /** @see SwerveDriveSimulation#maxAngularAcceleration(Current) */ + public AngularAcceleration maxAngularAcceleration() { + return swerveDriveSimulation.maxAngularAcceleration(moduleSimulations[0].driveCurrentLimit); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java new file mode 100644 index 0000000..6af5bc6 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java @@ -0,0 +1,368 @@ +package swervelib.simulation.ironmaple.simulation.drivesims; + +import static edu.wpi.first.units.Units.*; + +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.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.*; +import java.util.Arrays; +import java.util.function.Supplier; +import org.dyn4j.geometry.Vector2; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; +import swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; + +/** + * + * + *

Simulates a Swerve Drivetrain.

+ * + *

Check Online + * Documentation + * + *

1. Purpose

+ * + *

This class simulates a swerve drivetrain composed of more than two {@link SwerveModuleSimulation} modules. + * + *

It provides a realistic modeling of drivetrain physics, replicating wheel grip and motor propulsion for an actual + * swerve drive. + * + *

2. Simulation Dynamics

+ * + *
    + *
  • 1. Propelling forces generated by the drive motors, computed by + * {@link SwerveModuleSimulation#updateSimulationSubTickGetModuleForce(Vector2, Rotation2d, double)}. + *
  • 2. Friction forces generated by the wheels that "pull" the robot from its current ground velocity to the module + * velocities, both translational and rotational. + *
  • 3. Centripetal forces generated by the steering when the drivetrain makes a turn. + *
+ * + *

3. Odometry Simulation

+ * + *

To simulate odometry, follow these steps: + * + *

    + *
  • Obtain the {@link SwerveModuleSimulation} instances through {@link #getModules()}. + *
  • Create an IO + * Implementation that wraps around {@link SwerveModuleSimulation} to retrieve encoder readings. + *
  • Update a {@link edu.wpi.first.math.estimator.SwerveDrivePoseEstimator} using the encoder readings, similar to + * how you would on a real robot. + *
+ * + *

Refer to the ModuleIOSim.java + * example project for more details. + * + *

Vision Simulation

+ * + *

You can obtain the real robot pose from {@link #getSimulatedDriveTrainPose()} and feed it to the PhotonVision + * simulation to simulate vision. + */ +public class SwerveDriveSimulation extends AbstractDriveTrainSimulation { + private final SwerveModuleSimulation[] moduleSimulations; + protected final GyroSimulation gyroSimulation; + protected final Translation2d[] moduleTranslations; + protected final SwerveDriveKinematics kinematics; + private final double gravityForceOnEachModule; + + /** + * + * + *

Creates a Swerve Drive Simulation.

+ * + *

This constructor initializes a swerve drive simulation with the given robot mass, bumper dimensions, module + * simulations, module translations, gyro simulation, and initial pose on the field. + * + * @param config a {@link DriveTrainSimulationConfig} instance containing the configurations of * this drivetrain + * @param initialPoseOnField the initial pose of the drivetrain in the simulation world, represented as a + * {@link Pose2d} + */ + public SwerveDriveSimulation(DriveTrainSimulationConfig config, Pose2d initialPoseOnField) { + super(config, initialPoseOnField); + this.moduleTranslations = config.moduleTranslations; + this.moduleSimulations = Arrays.stream(config.swerveModuleSimulationFactories) + .map(Supplier::get) + .toArray(SwerveModuleSimulation[]::new); + this.gyroSimulation = config.gyroSimulationFactory.get(); + + super.setLinearDamping(1.4); + super.setAngularDamping(1.4); + this.kinematics = new SwerveDriveKinematics(moduleTranslations); + + this.gravityForceOnEachModule = config.robotMass.in(Kilograms) * 9.8 / moduleSimulations.length; + } + + /** + * + * + *

Updates the Swerve Drive Simulation.

+ * + *

This method performs the following actions during each sub-tick of the simulation: + * + *

    + *
  • Applies the translational friction force to the physics engine. + *
  • Applies the rotational friction torque to the physics engine. + *
  • Updates the simulation of each swerve module. + *
  • Applies the propelling forces of the modules to the physics engine. + *
  • Updates the gyro simulation of the drivetrain. + *
+ */ + @Override + public void simulationSubTick() { + simulateChassisFrictionForce(); + + simulateChassisFrictionTorque(); + + simulateModulePropellingForces(); + + gyroSimulation.updateSimulationSubTick(super.getAngularVelocity()); + } + + private Translation2d previousModuleSpeedsFieldRelative = new Translation2d(); + + /** + * + * + *

Simulates the Translational Friction Force and Applies It to the Physics Engine.

+ * + *

This method simulates the translational friction forces acting on the robot and applies them to the physics + * engine. There are two components of the friction forces: + * + *

    + *
  • A portion of the friction force pushes the robot from its current ground speeds + * ({@link #getDriveTrainSimulatedChassisSpeedsRobotRelative()}) toward its current module speeds + * ({@link #getModuleSpeeds()}). + *
  • Another portion of the friction force is the centripetal force, which occurs when the chassis changes its + * direction of movement. + *
+ * + *

The total friction force should not exceed the tire's grip limit. + */ + private void simulateChassisFrictionForce() { + final ChassisSpeeds moduleSpeeds = getModuleSpeeds(); + + /* The friction force that tries to bring the chassis from floor speeds to module speeds */ + final ChassisSpeeds differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative = + moduleSpeeds.minus(getDriveTrainSimulatedChassisSpeedsRobotRelative()); + final Translation2d floorAndModuleSpeedsDiffFieldRelative = new Translation2d( + differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative.vxMetersPerSecond, + differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative.vyMetersPerSecond) + .rotateBy(getSimulatedDriveTrainPose().getRotation()); + final double FRICTION_FORCE_GAIN = 3.0, + totalGrippingForce = + moduleSimulations[0].config.getGrippingForceNewtons(gravityForceOnEachModule) + * moduleSimulations.length; + final Vector2 speedsDifferenceFrictionForce = Vector2.create( + Math.min( + FRICTION_FORCE_GAIN * totalGrippingForce * floorAndModuleSpeedsDiffFieldRelative.getNorm(), + totalGrippingForce), + MapleCommonMath.getAngle(floorAndModuleSpeedsDiffFieldRelative).getRadians()); + + /* the centripetal friction force during turning */ + final ChassisSpeeds moduleSpeedsFieldRelative = ChassisSpeeds.fromRobotRelativeSpeeds( + moduleSpeeds, getSimulatedDriveTrainPose().getRotation()); + final Rotation2d dTheta = MapleCommonMath.getAngle( + GeometryConvertor.getChassisSpeedsTranslationalComponent(moduleSpeedsFieldRelative)) + .minus(MapleCommonMath.getAngle(previousModuleSpeedsFieldRelative)); + + final double orbitalAngularVelocity = + dTheta.getRadians() / SimulatedArena.getSimulationDt().in(Seconds); + final Rotation2d centripetalForceDirection = + MapleCommonMath.getAngle(previousModuleSpeedsFieldRelative).plus(Rotation2d.fromDegrees(90)); + final Vector2 centripetalFrictionForce = Vector2.create( + previousModuleSpeedsFieldRelative.getNorm() * orbitalAngularVelocity * config.robotMass.in(Kilograms), + centripetalForceDirection.getRadians()); + previousModuleSpeedsFieldRelative = + GeometryConvertor.getChassisSpeedsTranslationalComponent(moduleSpeedsFieldRelative); + + /* apply force to physics engine */ + final Vector2 + totalFrictionForceUnlimited = centripetalFrictionForce.copy().add(speedsDifferenceFrictionForce), + totalFrictionForce = + Vector2.create( + Math.min(totalGrippingForce, totalFrictionForceUnlimited.getMagnitude()), + totalFrictionForceUnlimited.getDirection()); + super.applyForce(totalFrictionForce); + } + + /** + * + * + *

Simulates the Rotational Friction Torque and Applies It to the Physics Engine.

+ * + *

This method simulates the rotational friction torque acting on the robot and applies them to the physics + * engine. + * + *

The friction torque pushes the robot from its current ground angular velocity + * ({@link #getDriveTrainSimulatedChassisSpeedsRobotRelative()}) toward its current modules' angular velocity + * ({@link #getModuleSpeeds()}). + */ + private void simulateChassisFrictionTorque() { + final double + desiredRotationalMotionPercent = + Math.abs(getDesiredSpeed().omegaRadiansPerSecond + / maxAngularVelocity().in(RadiansPerSecond)), + actualRotationalMotionPercent = + Math.abs(getAngularVelocity() / maxAngularVelocity().in(RadiansPerSecond)), + differenceBetweenFloorSpeedAndModuleSpeed = + getModuleSpeeds().omegaRadiansPerSecond - getAngularVelocity(), + grippingTorqueMagnitude = + moduleSimulations[0].config.getGrippingForceNewtons(gravityForceOnEachModule) + * moduleTranslations[0].getNorm() + * moduleSimulations.length, + FRICTION_TORQUE_GAIN = 1; + + if (actualRotationalMotionPercent < 0.01 && desiredRotationalMotionPercent < 0.02) super.setAngularVelocity(0); + else + super.applyTorque(Math.copySign( + Math.min( + FRICTION_TORQUE_GAIN + * grippingTorqueMagnitude + * Math.abs(differenceBetweenFloorSpeedAndModuleSpeed), + grippingTorqueMagnitude), + differenceBetweenFloorSpeedAndModuleSpeed)); + } + + /** + * + * + *

Simulates the Translational Friction Force and Applies It to the Physics Engine.

+ * + *

This method simulates the translational friction forces acting on the robot and applies them to the physics + * engine. There are two components of the friction forces: + * + *

    + *
  • A portion of the friction force pushes the robot from its current ground speeds + * ({@link #getDriveTrainSimulatedChassisSpeedsRobotRelative()}) toward its current module speeds + * ({@link #getModuleSpeeds()}). + *
  • Another portion of the friction force is the centripetal force, which occurs when the chassis changes its + * direction of movement. + *
+ * + *

The total friction force should not exceed the tire's grip limit. + */ + private void simulateModulePropellingForces() { + for (int i = 0; i < moduleSimulations.length; i++) { + final Vector2 moduleWorldPosition = getWorldPoint(GeometryConvertor.toDyn4jVector2(moduleTranslations[i])); + final Vector2 moduleForce = moduleSimulations[i].updateSimulationSubTickGetModuleForce( + super.getLinearVelocity(moduleWorldPosition), + getSimulatedDriveTrainPose().getRotation(), + gravityForceOnEachModule); + super.applyForce(moduleForce, moduleWorldPosition); + } + } + + /** + * + * + *

Obtains the Chassis Speeds the Modules Are Attempting to Achieve.

+ * + *

This method returns the desired chassis speeds that the modules are trying to reach. If the robot maintains + * the current driving voltage and steering position for a long enough period, it will achieve these speeds. + * + * @return the desired chassis speeds, robot-relative + */ + private ChassisSpeeds getDesiredSpeed() { + return kinematics.toChassisSpeeds(Arrays.stream(moduleSimulations) + .map((SwerveModuleSimulation::getFreeSpinState)) + .toArray(SwerveModuleState[]::new)); + } + + /** + * + * + *

Obtains the Current Chassis Speeds of the Modules.

+ * + *

This method estimates the chassis speeds of the robot based on the swerve states of the modules. + * + *

Note: These speeds might not represent the actual floor speeds due to potential skidding. + * + * @return the module speeds, robot-relative + */ + private ChassisSpeeds getModuleSpeeds() { + return kinematics.toChassisSpeeds(Arrays.stream(moduleSimulations) + .map((SwerveModuleSimulation::getCurrentState)) + .toArray(SwerveModuleState[]::new)); + } + + /** + * + * + *

Obtains the maximum achievable linear velocity of the chassis.

+ * + * @return the maximum linear velocity + * @see SwerveModuleSimulationConfig#maximumGroundSpeed() + */ + public LinearVelocity maxLinearVelocity() { + return moduleSimulations[0].config.maximumGroundSpeed(); + } + + /** + * + * + *

Obtains the maximum achievable linear acceleration of the chassis.

+ * + * @return the maximum linear acceleration + * @see SwerveModuleSimulationConfig#maxAcceleration(Mass, int, Current) + */ + public LinearAcceleration maxLinearAcceleration(Current statorCurrentLimit) { + return moduleSimulations[0].config.maxAcceleration( + config.robotMass, moduleSimulations.length, statorCurrentLimit); + } + + /** + * + * + *

Obtains the drive base radius of the swerve drive.

+ * + * @return the drive base radius. + */ + public Distance driveBaseRadius() { + return config.driveBaseRadius(); + } + + /** + * + * + *

Obtains the maximum achievable angular velocity of the chassis.

+ * + * @return the maximum angular velocity + */ + public AngularVelocity maxAngularVelocity() { + return RadiansPerSecond.of(maxLinearVelocity().in(MetersPerSecond) + / config.driveBaseRadius().in(Meters)); + } + + /** + * + * + *

Obtains the maximum achievable angular acceleration of the chassis.

+ * + * @return the maximum angular acceleration + */ + public AngularAcceleration maxAngularAcceleration(Current statorCurrentLimit) { + return RadiansPerSecondPerSecond.of(moduleSimulations[0] + .config + .getTheoreticalPropellingForcePerModule( + config.robotMass, moduleSimulations.length, statorCurrentLimit) + .in(Newtons) + * moduleTranslations[0].getNorm() + * moduleSimulations.length + / super.getMass().getInertia()); + } + + public SwerveModuleSimulation[] getModules() { + return moduleSimulations; + } + + public GyroSimulation getGyroSimulation() { + return this.gyroSimulation; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java new file mode 100644 index 0000000..a8d1d46 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java @@ -0,0 +1,541 @@ +package swervelib.simulation.ironmaple.simulation.drivesims; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.*; +import java.util.Queue; +import java.util.concurrent.ConcurrentLinkedQueue; +import org.dyn4j.geometry.Vector2; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; +import swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim; +import swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs; +import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery; +import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController; + +/** + * + * + *

Simulation for a Single Swerve Module.

+ * + *

Check Online + * Documentation + * + *

This class provides a simulation for a single swerve module in the {@link SwerveDriveSimulation}. + * + *

1. Purpose

+ * + *

This class serves as the bridge between your code and the physics engine. + * + *

You will apply voltage outputs to the drive/steer motor of the module and obtain their encoder readings in your + * code, just as how you deal with your physical motors. + * + *

2. Perspectives

+ * + *
    + *
  • Simulates the steering mechanism using a custom brushless motor simulator. + *
  • Simulates the propelling force generated by the driving motor, with a current limit. + *
  • Simulates encoder readings, which can be used to simulate a {@link SwerveDriveOdometry}. + *
+ * + *

3. Simulating Odometry

+ * + *
    + *
  • Retrieve the encoder readings from {@link #getDriveEncoderUnGearedPosition()}} and + * {@link #getSteerAbsoluteFacing()}. + *
  • Use {@link SwerveDriveOdometry} to estimate the pose of your robot. + *
  • 250Hz + * Odometry is supported. You can retrive cached encoder readings from every sub-tick through + * {@link #getCachedDriveEncoderUnGearedPositions()} and {@link #getCachedSteerAbsolutePositions()}. + *
+ * + *

An example of how to simulate odometry using this class is the ModuleIOSim.java + * from the Advanced Swerve Drive with maple-sim example. + */ +public class SwerveModuleSimulation { + public final SwerveModuleSimulationConfig config; + + private final MapleMotorSim steerMotorSim; + + private Voltage driveMotorAppliedVoltage = Volts.zero(); + private Current driveMotorStatorCurrent = Amps.zero(); + private Angle driveWheelFinalPosition = Radians.zero(); + private AngularVelocity driveWheelFinalSpeed = RadiansPerSecond.zero(); + + private SimulatedMotorController driveMotorController; + + private final Angle steerRelativeEncoderOffSet = Radians.of((Math.random() - 0.5) * 30); + private final Queue driveWheelFinalPositionCache; + private final Queue steerAbsolutePositionCache; + + /** + * + * + *

Constructs a Swerve Module Simulation.

+ * + *

If you are using {@link SimulatedArena#overrideSimulationTimings(Time, int)} to use custom timings, you must + * call the method before constructing any swerve module simulations using this constructor. + * + * @param config the configuration + */ + public SwerveModuleSimulation(SwerveModuleSimulationConfig config) { + this.config = config; + + SimulatedBattery.addElectricalAppliances(this::getDriveMotorSupplyCurrent); + this.steerMotorSim = new MapleMotorSim(config.steerMotorConfigs); + + this.driveWheelFinalPositionCache = new ConcurrentLinkedQueue<>(); + for (int i = 0; i < SimulatedArena.getSimulationSubTicksIn1Period(); i++) + driveWheelFinalPositionCache.offer(driveWheelFinalPosition); + this.steerAbsolutePositionCache = new ConcurrentLinkedQueue<>(); + for (int i = 0; i < SimulatedArena.getSimulationSubTicksIn1Period(); i++) + steerAbsolutePositionCache.offer(getSteerAbsoluteFacing()); + + this.driveMotorController = new SimulatedMotorController.GenericMotorController(config.driveMotorConfigs.motor); + this.steerMotorSim.useSimpleDCMotorController(); + } + + public SimMotorConfigs getDriveMotorConfigs() { + return config.driveMotorConfigs; + } + + public SimMotorConfigs getSteerMotorConfigs() { + return steerMotorSim.getConfigs(); + } + + /** + * + * + *

Sets the motor controller for the drive motor.

+ * + *

The configured controller runs control loop on the motor. + * + * @param driveMotorController the motor controller to control the drive motor + */ + public T useDriveMotorController(T driveMotorController) { + this.driveMotorController = driveMotorController; + return driveMotorController; + } + + public SimulatedMotorController.GenericMotorController useGenericMotorControllerForDrive() { + return useDriveMotorController( + new SimulatedMotorController.GenericMotorController(config.driveMotorConfigs.motor)); + } + + /** + * + * + *

Requests the Steering Motor to Run at a Specified Output.

+ * + *

Think of it as the requestOutput() of your physical steering motor. + * + * @param steerMotorController the motor controller to control the steer motor + */ + public T useSteerMotorController(T steerMotorController) { + return this.steerMotorSim.useMotorController(steerMotorController); + } + + public SimulatedMotorController.GenericMotorController useGenericControllerForSteer() { + return this.steerMotorSim.useSimpleDCMotorController(); + } + + /** + * + * + *

Updates the Simulation for This Module.

+ * + *

Note: Friction forces are not simulated in this method. + * + * @param moduleCurrentGroundVelocityWorldRelative the current ground velocity of the module, relative to the world + * @param robotFacing the absolute facing of the robot, relative to the world + * @param gravityForceOnModuleNewtons the gravitational force acting on this module, in newtons + * @return the propelling force generated by the module, as a {@link Vector2} object + */ + public Vector2 updateSimulationSubTickGetModuleForce( + Vector2 moduleCurrentGroundVelocityWorldRelative, + Rotation2d robotFacing, + double gravityForceOnModuleNewtons) { + /* Step1: Update the steer mechanism simulation */ + steerMotorSim.update(SimulatedArena.getSimulationDt()); + + /* Step2: Simulate the amount of propelling force generated by the module. */ + final double grippingForceNewtons = config.getGrippingForceNewtons(gravityForceOnModuleNewtons); + final Rotation2d moduleWorldFacing = this.getSteerAbsoluteFacing().plus(robotFacing); + final Vector2 propellingForce = + getPropellingForce(grippingForceNewtons, moduleWorldFacing, moduleCurrentGroundVelocityWorldRelative); + + /* Step3: Updates and caches the encoder readings for odometry simulation. */ + updateEncoderCaches(); + + return propellingForce; + } + + /** + * + * + *

Calculates the amount of propelling force that the module generates.

+ * + *

For most of the time, that propelling force is directly applied to the drivetrain. And the drive wheel runs as + * fast as the ground velocity + * + *

However, if the propelling force exceeds the gripping, only the max gripping force is applied. The rest of the + * propelling force will cause the wheel to start skidding and make the odometry inaccurate. + * + * @param grippingForceNewtons the amount of gripping force that wheel can generate, in newtons + * @param moduleWorldFacing the current world facing of the module + * @param moduleCurrentGroundVelocity the current ground velocity of the module, world-reference + * @return a vector representing the propelling force that the module generates, world-reference + */ + private Vector2 getPropellingForce( + double grippingForceNewtons, Rotation2d moduleWorldFacing, Vector2 moduleCurrentGroundVelocity) { + final double driveWheelTorque = getDriveWheelTorque(); + double propellingForceNewtons = driveWheelTorque / config.WHEEL_RADIUS.in(Meters); + final boolean skidding = Math.abs(propellingForceNewtons) > grippingForceNewtons; + if (skidding) propellingForceNewtons = Math.copySign(grippingForceNewtons, propellingForceNewtons); + + final double floorVelocityProjectionOnWheelDirectionMPS = moduleCurrentGroundVelocity.getMagnitude() + * Math.cos(moduleCurrentGroundVelocity.getAngleBetween(new Vector2(moduleWorldFacing.getRadians()))); + + // if the chassis is tightly gripped on floor, the floor velocity is projected to the wheel + this.driveWheelFinalSpeed = + RadiansPerSecond.of(floorVelocityProjectionOnWheelDirectionMPS / config.WHEEL_RADIUS.in(Meters)); + + // if the module is skidding + if (skidding) { + final AngularVelocity skiddingEquilibriumWheelSpeed = config.driveMotorConfigs.calculateMechanismVelocity( + config.driveMotorConfigs.calculateCurrent( + NewtonMeters.of(propellingForceNewtons * config.WHEEL_RADIUS.in(Meters))), + driveMotorAppliedVoltage); + this.driveWheelFinalSpeed = driveWheelFinalSpeed.times(0.5).plus(skiddingEquilibriumWheelSpeed.times(0.5)); + } + + return Vector2.create(propellingForceNewtons, moduleWorldFacing.getRadians()); + } + + /** + * + * + *

Calculates the amount of torque that the drive motor can generate on the wheel.

+ * + * @return the amount of torque on the wheel by the drive motor, in Newton * Meters + */ + private double getDriveWheelTorque() { + driveMotorAppliedVoltage = driveMotorController.updateControlSignal( + driveWheelFinalPosition, + driveWheelFinalSpeed, + getDriveEncoderUnGearedPosition(), + getDriveEncoderUnGearedSpeed()); + + driveMotorAppliedVoltage = SimulatedBattery.clamp(driveMotorAppliedVoltage); + + /* calculate the stator current */ + driveMotorStatorCurrent = + config.driveMotorConfigs.calculateCurrent(driveWheelFinalSpeed, driveMotorAppliedVoltage); + + /* calculate the torque generated */ + Torque driveWheelTorque = config.driveMotorConfigs.calculateTorque(driveMotorStatorCurrent); + + /* calculates the torque if you included losses from friction */ + Torque driveWheelTorqueWithFriction = NewtonMeters.of(MathUtil.applyDeadband( + driveWheelTorque.in(NewtonMeters), + config.driveMotorConfigs.friction.in(NewtonMeters), + Double.POSITIVE_INFINITY)); + return driveWheelTorqueWithFriction.in(NewtonMeters); + } + + /** @return the current module state of this simulation module */ + public SwerveModuleState getCurrentState() { + return new SwerveModuleState( + MetersPerSecond.of(getDriveWheelFinalSpeed().in(RadiansPerSecond) * config.WHEEL_RADIUS.in(Meters)), + getSteerAbsoluteFacing()); + } + + /** + * + * + *

Obtains the "free spin" state of the module

+ * + *

The "free spin" state of a simulated module refers to its state after spinning freely for a long time under + * the current input voltage + * + * @return the free spinning module state + */ + protected SwerveModuleState getFreeSpinState() { + return new SwerveModuleState( + config.driveMotorConfigs + .calculateMechanismVelocity( + config.driveMotorConfigs.calculateCurrent(config.driveMotorConfigs.friction), + driveMotorAppliedVoltage) + .in(RadiansPerSecond) + * config.WHEEL_RADIUS.in(Meters), + getSteerAbsoluteFacing()); + } + + /** + * + * + *

Cache the encoder values for high-frequency odometry.

+ * + *

An internal method to cache the encoder values to their queues. + */ + private void updateEncoderCaches() { + /* Increment of drive wheel position */ + this.driveWheelFinalPosition = + this.driveWheelFinalPosition.plus(this.driveWheelFinalSpeed.times(SimulatedArena.getSimulationDt())); + + /* cache sensor readings to queue for high-frequency odometry */ + this.steerAbsolutePositionCache.poll(); + this.steerAbsolutePositionCache.offer(getSteerAbsoluteFacing()); + + this.driveWheelFinalPositionCache.poll(); + this.driveWheelFinalPositionCache.offer(driveWheelFinalPosition); + } + + /** + * + * + *

Obtains the Actual Output Voltage of the Drive Motor.

+ * + * @return the actual output voltage of the drive motor + */ + public Voltage getDriveMotorAppliedVoltage() { + return driveMotorAppliedVoltage; + } + + /** + * + * + *

Obtains the Actual Output Voltage of the Steering Motor.

+ * + * @return the actual output voltage of the steering motor + * @see MapleMotorSim#getAppliedVoltage() + */ + public Voltage getSteerMotorAppliedVoltage() { + return steerMotorSim.getAppliedVoltage(); + } + + /** + * + * + *

Obtains the Amount of Current Supplied to the Drive Motor.

+ * + * @return the current supplied to the drive motor + */ + public Current getDriveMotorSupplyCurrent() { + return getDriveMotorStatorCurrent().times(driveMotorAppliedVoltage.div(SimulatedBattery.getBatteryVoltage())); + } + + /** + * + * + *

Obtains the Stator current the Drive Motor.

+ * + * @return the stator current of the drive motor + */ + public Current getDriveMotorStatorCurrent() { + return driveMotorStatorCurrent; + } + + /** + * + * + *

Obtains the Amount of Current Supplied to the Steer Motor.

+ * + * @return the current supplied to the steer motor + * @see MapleMotorSim#getSupplyCurrent() + */ + public Current getSteerMotorSupplyCurrent() { + return steerMotorSim.getSupplyCurrent(); + } + + /** + * + * + *

Obtains the Stator current the Steer Motor.

+ * + * @return the stator current of the drive motor + * @see MapleMotorSim#getSupplyCurrent() + */ + public Current getSteerMotorStatorCurrent() { + return steerMotorSim.getStatorCurrent(); + } + + /** + * + * + *

Obtains the Position of the Drive Encoder.

+ * + *

This value represents the un-geared position of the encoder, i.e., the amount of radians the drive motor's + * encoder has rotated. + * + * @return the position of the drive motor's encoder (un-geared) + */ + public Angle getDriveEncoderUnGearedPosition() { + return getDriveWheelFinalPosition().times(config.DRIVE_GEAR_RATIO); + } + + /** + * + * + *

Obtains the Final Position of the Wheel.

+ * + *

This method provides the final position of the drive encoder in terms of wheel angle. + * + * @return the final position of the drive encoder (wheel rotations) + */ + public Angle getDriveWheelFinalPosition() { + return driveWheelFinalPosition; + } + + /** + * + * + *

Obtains the Speed of the Drive Encoder.

+ * + * @return the un-geared speed of the drive encoder + */ + public AngularVelocity getDriveEncoderUnGearedSpeed() { + return getDriveWheelFinalSpeed().times(config.DRIVE_GEAR_RATIO); + } + + /** + * + * + *

Obtains the Final Speed of the Wheel.

+ * + * @return the final speed of the drive wheel + */ + public AngularVelocity getDriveWheelFinalSpeed() { + return driveWheelFinalSpeed; + } + + /** + * + * + *

Obtains the Relative Position of the Steer Encoder.

+ * + * @return the relative encoder position of the steer motor + * @see MapleMotorSim#getEncoderPosition() + */ + public Angle getSteerRelativeEncoderPosition() { + return getSteerAbsoluteFacing() + .getMeasure() + .times(config.STEER_GEAR_RATIO) + .plus(steerRelativeEncoderOffSet); + } + + /** + * + * + *

Obtains the Speed of the Steer Relative Encoder (Geared).

+ * + * @return the speed of the steer relative encoder + * @see MapleMotorSim#getEncoderVelocity() + */ + public AngularVelocity getSteerRelativeEncoderVelocity() { + return getSteerAbsoluteEncoderSpeed().times(config.STEER_GEAR_RATIO); + } + + /** + * + * + *

Obtains the Absolute Facing of the Steer Mechanism.

+ * + * @return the absolute facing of the steer mechanism, as a {@link Rotation2d} + */ + public Rotation2d getSteerAbsoluteFacing() { + return new Rotation2d(getSteerAbsoluteAngle()); + } + + /** + * + * + *

Obtains the Absolute Angle of the Steer Mechanism.

+ * + * @return the (continuous) final angle of the steer mechanism, as a {@link Angle} + * @see MapleMotorSim#getAngularPosition() + */ + public Angle getSteerAbsoluteAngle() { + return steerMotorSim.getAngularPosition(); + } + + /** + * + * + *

Obtains the Absolute Rotational Velocity of the Steer Mechanism.

+ * + * @return the absolute angular velocity of the steer mechanism + */ + public AngularVelocity getSteerAbsoluteEncoderSpeed() { + return steerMotorSim.getVelocity(); + } + + /** + * + * + *

Obtains the Cached Readings of the Drive Encoder's Un-Geared Position.

+ * + *

The values of {@link #getDriveEncoderUnGearedPosition()} are cached at each sub-tick and can be retrieved + * using this method. + * + * @return an array of cached drive encoder un-geared positions + */ + public Angle[] getCachedDriveEncoderUnGearedPositions() { + return driveWheelFinalPositionCache.stream() + .map(value -> value.times(config.DRIVE_GEAR_RATIO)) + .toArray(Angle[]::new); + } + + /** + * + * + *

Obtains the Cached Readings of the Drive Encoder's Final Position (Wheel Rotations).

+ * + *

The values of {@link #getDriveWheelFinalPosition()} are cached at each sub-tick and are divided by the gear + * ratio to obtain the final wheel rotations. + * + * @return an array of cached drive encoder final positions (wheel rotations) + */ + public Angle[] getCachedDriveWheelFinalPositions() { + return driveWheelFinalPositionCache.toArray(Angle[]::new); + } + + /** + * + * + *

Obtains the Cached Readings of the Steer Relative Encoder's Position.

+ * + *

The values of {@link #getSteerRelativeEncoderPosition()} are cached at each sub-tick and can be retrieved + * using this method. + * + * @return an array of cached steer relative encoder positions + */ + public Angle[] getCachedSteerRelativeEncoderPositions() { + return steerAbsolutePositionCache.stream() + .map(absoluteFacing -> absoluteFacing + .getMeasure() + .times(config.STEER_GEAR_RATIO) + .plus(steerRelativeEncoderOffSet)) + .toArray(Angle[]::new); + } + + /** + * + * + *

Obtains the Cached Readings of the Steer Absolute Positions.

+ * + *

The values of {@link #getSteerAbsoluteFacing()} are cached at each sub-tick and can be retrieved using this + * method. + * + * @return an array of cached absolute steer positions, as {@link Rotation2d} objects + */ + public Rotation2d[] getCachedSteerAbsolutePositions() { + return steerAbsolutePositionCache.toArray(Rotation2d[]::new); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/BoundingCheck.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/BoundingCheck.java new file mode 100644 index 0000000..fe0b13b --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/BoundingCheck.java @@ -0,0 +1,12 @@ +package swervelib.simulation.ironmaple.simulation.drivesims.configs; + +import edu.wpi.first.wpilibj.DriverStation; + +public class BoundingCheck { + public static void check(double value, double lowerBound, double upperBound, String variableName, String unit) { + if (lowerBound <= value && value <= upperBound) return; + final String errorMessage = "The provided \"" + variableName + "\" is " + value + unit + + ", which seems abnormal, please check its correctness"; + DriverStation.reportError(errorMessage, true); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java new file mode 100644 index 0000000..5bf369c --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java @@ -0,0 +1,323 @@ +package swervelib.simulation.ironmaple.simulation.drivesims.configs; + +import static edu.wpi.first.units.Units.Kilograms; +import static edu.wpi.first.units.Units.Meters; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.Mass; +import java.util.Arrays; +import java.util.OptionalDouble; +import java.util.function.Supplier; +import swervelib.simulation.ironmaple.simulation.drivesims.COTS; +import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation; +import swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation; + +/** + * + * + *

Stores the configurations for a swerve drive simulation.

+ * + *

This class is used to hold all the parameters necessary for simulating a swerve drivetrain, allowing for realistic + * performance testing and evaluation. + */ +public class DriveTrainSimulationConfig { + public Mass robotMass; + public Distance bumperLengthX, bumperWidthY; + public Supplier[] swerveModuleSimulationFactories; + public Supplier gyroSimulationFactory; + public Translation2d[] moduleTranslations; + + /** + * + * + *

Ordinary Constructor

+ * + *

Creates an instance of {@link DriveTrainSimulationConfig} with specified parameters. + * + * @param robotMass the mass of the robot, including bumpers. + * @param bumperLengthX the length of the bumper (distance from front to back). + * @param bumperWidthY the width of the bumper (distance from left to right). + * @param trackLengthX the distance between the front and rear wheels. + * @param trackWidthY the distance between the left and right wheels. + * @param swerveModuleSimulationFactory the factory that creates appropriate swerve module simulation for the + * drivetrain. You can specify one factory to apply the same configuration over all modules or specify four + * factories in the order (FL, FR, BL, BR). + * @param gyroSimulationFactory the factory that creates appropriate gyro simulation for the drivetrain. + */ + public DriveTrainSimulationConfig( + Mass robotMass, + Distance bumperLengthX, + Distance bumperWidthY, + Distance trackLengthX, + Distance trackWidthY, + Supplier gyroSimulationFactory, + Supplier... swerveModuleSimulationFactory) { + this.robotMass = robotMass; + this.bumperLengthX = bumperLengthX; + this.bumperWidthY = bumperWidthY; + this.withTrackLengthTrackWidth(trackLengthX, trackWidthY); + + if (swerveModuleSimulationFactory.length == 1) this.withSwerveModule(swerveModuleSimulationFactory[0]); + else if (swerveModuleSimulationFactory.length == 4) this.withSwerveModules(swerveModuleSimulationFactory); + else + throw new IllegalArgumentException("Module simulation factories length must be 1 or 4, provided " + + swerveModuleSimulationFactory.length); + this.gyroSimulationFactory = gyroSimulationFactory; + + checkRobotMass(); + checkBumperSize(); + } + + /** + * + * + *

Default Constructor.

+ * + *

Creates a {@link DriveTrainSimulationConfig} with all the data set to default values. + * + *

Though the config starts with default values, any configuration can be modified after creation. + * + *

The default configurations are: + * + *

    + *
  • Robot Mass of 45 kilograms. + *
  • Bumper Length of 0.76 meters. + *
  • Bumper Width of 0.76 meters. + *
  • Track Length of 0.52 meters. + *
  • Track Width of 0.52 meters. + *
  • Default swerve module simulations based on Falcon 500 motors. + *
  • Default gyro simulation using the Pigeon2 gyro. + *
+ * + * @return a new instance of {@link DriveTrainSimulationConfig} with all configs set to default values. + */ + public static DriveTrainSimulationConfig Default() { + return new DriveTrainSimulationConfig( + Kilograms.of(45), + Meters.of(0.76), + Meters.of(.76), + Meters.of(0.52), + Meters.of(0.52), + COTS.ofPigeon2(), + COTS.ofMark4(DCMotor.getFalcon500(1), DCMotor.getFalcon500(1), COTS.WHEELS.COLSONS.cof, 2)); + } + + /** + * + * + *

Sets the robot mass.

+ * + *

Updates the mass of the robot in kilograms. + * + * @param robotMass the new mass of the robot. + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withRobotMass(Mass robotMass) { + this.robotMass = robotMass; + checkRobotMass(); + return this; + } + + /** + * + * + *

Sets the bumper size.

+ * + *

Updates the dimensions of the bumper. + * + * @param bumperLengthX the length of the bumper. + * @param bumperWidthY the width of the bumper. + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withBumperSize(Distance bumperLengthX, Distance bumperWidthY) { + this.bumperLengthX = bumperLengthX; + this.bumperWidthY = bumperWidthY; + + checkBumperSize(); + return this; + } + + /** + * + * + *

Sets the track length and width.

+ * + *

Updates the translations for the swerve modules based on the specified track length and track width. + * + *

For non-rectangular chassis configuration, use {@link #withCustomModuleTranslations(Translation2d[])} instead. + * + * @param trackLengthX the distance between the front and rear wheels. + * @param trackWidthY the distance between the left and right wheels. + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withTrackLengthTrackWidth(Distance trackLengthX, Distance trackWidthY) { + BoundingCheck.check(trackLengthX.in(Meters), 0.5, 1.5, "track length", "meters"); + BoundingCheck.check(trackWidthY.in(Meters), 0.5, 1.5, "track width", "meters"); + + this.moduleTranslations = new Translation2d[] { + new Translation2d(trackLengthX.in(Meters) / 2, trackWidthY.in(Meters) / 2), + new Translation2d(trackLengthX.in(Meters) / 2, -trackWidthY.in(Meters) / 2), + new Translation2d(-trackLengthX.in(Meters) / 2, trackWidthY.in(Meters) / 2), + new Translation2d(-trackLengthX.in(Meters) / 2, -trackWidthY.in(Meters) / 2) + }; + return this; + } + + /** + * + * + *

Sets custom module translations.

+ * + *

Updates the translations of the swerve modules with user-defined values. + * + *

For ordinary rectangular modules configuration, use {@link #withTrackLengthTrackWidth(Distance, Distance)} + * instead. + * + * @param moduleTranslations the custom translations for the swerve modules. + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withCustomModuleTranslations(Translation2d[] moduleTranslations) { + checkModuleTranslations(); + this.moduleTranslations = moduleTranslations; + return this; + } + + /** + * + * + *

Sets the swerve module simulation factory.

+ * + *

Updates the factory used to create swerve module simulations. + * + * @param swerveModuleSimulationFactory the new factory (or factories) for swerve module simulations. You can + * specify one factory to apply the same configuration over all modules, or specify four factories in the order + * (FL, FR, BL, BR) + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withSwerveModules( + Supplier... swerveModuleSimulationFactory) { + if (swerveModuleSimulationFactory.length == 1) return withSwerveModule(swerveModuleSimulationFactory[0]); + + if (swerveModuleSimulationFactory.length != moduleTranslations.length) + throw new IllegalArgumentException("Module simulation factories length must be 1 or 4, provided " + + swerveModuleSimulationFactory.length); + + this.swerveModuleSimulationFactories = swerveModuleSimulationFactory; + return this; + } + + /** + * + * + *

Sets the swerve module simulation factory.

+ * + *

Updates the factory used to create swerve module simulations. + * + *

Uses the same configuration over all the modules + * + * @param swerveModuleSimulationFactory the new factory for swerve module simulations. + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withSwerveModule(Supplier swerveModuleSimulationFactory) { + this.swerveModuleSimulationFactories = new Supplier[moduleTranslations.length]; + Arrays.fill(this.swerveModuleSimulationFactories, swerveModuleSimulationFactory); + return this; + } + + /** + * + * + *

Sets the gyro simulation factory.

+ * + *

Updates the factory used to create gyro simulations. + * + * @param gyroSimulationFactory the new factory for gyro simulations. + * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. + */ + public DriveTrainSimulationConfig withGyro(Supplier gyroSimulationFactory) { + this.gyroSimulationFactory = gyroSimulationFactory; + return this; + } + + /** + * + * + *

Calculates the density of the robot.

+ * + *

Returns the density of the robot based on its mass and bumper dimensions. + * + * @return the density in kilograms per square meter. + */ + public double getDensityKgPerSquaredMeters() { + return robotMass.in(Kilograms) / (bumperLengthX.in(Meters) * bumperWidthY.in(Meters)); + } + + /** + * + * + *

Calculates the track length in the X direction.

+ * + *

Returns the total distance between the frontmost and rearmost module translations in the X direction. + * + * @return the track length. + * @throws IllegalStateException if the module translations are empty. + */ + public Distance trackLengthX() { + final OptionalDouble maxModuleX = Arrays.stream(moduleTranslations) + .mapToDouble(Translation2d::getX) + .max(); + final OptionalDouble minModuleX = Arrays.stream(moduleTranslations) + .mapToDouble(Translation2d::getX) + .min(); + if (maxModuleX.isEmpty() || minModuleX.isEmpty()) + throw new IllegalStateException("Modules translations are empty"); + return Meters.of(maxModuleX.getAsDouble() - minModuleX.getAsDouble()); + } + + /** + * + * + *

Calculates the track width in the Y direction.

+ * + *

Returns the total distance between the leftmost and rightmost module translations in the Y direction. + * + * @return the track width. + * @throws IllegalStateException if the module translations are empty. + */ + public Distance trackWidthY() { + final OptionalDouble maxModuleY = Arrays.stream(moduleTranslations) + .mapToDouble(Translation2d::getY) + .max(); + final OptionalDouble minModuleY = Arrays.stream(moduleTranslations) + .mapToDouble(Translation2d::getY) + .min(); + if (maxModuleY.isEmpty() || minModuleY.isEmpty()) + throw new IllegalStateException("Modules translations are empty"); + return Meters.of(maxModuleY.getAsDouble() - minModuleY.getAsDouble()); + } + + public Distance driveBaseRadius() { + return Meters.of(Math.hypot(trackLengthX().in(Meters), trackWidthY().in(Meters))); + } + + private void checkRobotMass() { + BoundingCheck.check(robotMass.in(Kilograms), 10, 80, "robot mass", "kg"); + } + + private void checkBumperSize() { + BoundingCheck.check(bumperLengthX.in(Meters), 0.5, 1.5, "bumper length", "meters"); + BoundingCheck.check(bumperWidthY.in(Meters), 0.5, 1.5, "bumper width", "meters"); + } + + private void checkModuleTranslations() { + for (int i = 0; i < moduleTranslations.length; i++) + BoundingCheck.check( + moduleTranslations[i].getNorm(), + 0.2, + 1.2, + "module number " + i + " translation magnitude", + "meters"); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java new file mode 100644 index 0000000..bd898a6 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java @@ -0,0 +1,128 @@ +package swervelib.simulation.ironmaple.simulation.drivesims.configs; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.*; +import java.util.function.Supplier; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation; +import swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs; + +public class SwerveModuleSimulationConfig implements Supplier { + public final SimMotorConfigs driveMotorConfigs, steerMotorConfigs; + public final double DRIVE_GEAR_RATIO, STEER_GEAR_RATIO, WHEELS_COEFFICIENT_OF_FRICTION; + public final Voltage DRIVE_FRICTION_VOLTAGE; + public final Distance WHEEL_RADIUS; + + /** + * + * + *

Constructs a Configuration for Swerve Module Simulation.

+ * + *

If you are using {@link SimulatedArena#overrideSimulationTimings(Time, int)} to use custom timings, you must + * call the method before constructing any swerve module simulations using this constructor. + * + * @param driveMotorModel the model of the driving motor + * @param steerMotorModel; the model of the steering motor + * @param driveGearRatio the gear ratio for the driving motor, >1 is reduction + * @param steerGearRatio the gear ratio for the steering motor, >1 is reduction + * @param driveFrictionVoltage the measured minimum amount of voltage that can turn the driving rotter + * @param steerFrictionVoltage the measured minimum amount of voltage that can turn the steering rotter + * @param wheelRadius the radius of the wheels. + * @param steerRotationalInertia the rotational inertia of the entire steering mechanism + * @param wheelsCoefficientOfFriction the coefficient + * of friction of the tires, normally around 1.2 {@link Units#inchesToMeters(double)}. + */ + public SwerveModuleSimulationConfig( + DCMotor driveMotorModel, + DCMotor steerMotorModel, + double driveGearRatio, + double steerGearRatio, + Voltage driveFrictionVoltage, + Voltage steerFrictionVoltage, + Distance wheelRadius, + MomentOfInertia steerRotationalInertia, + double wheelsCoefficientOfFriction) { + BoundingCheck.check(driveGearRatio, 4, 24, "drive gear ratio", "times reduction"); + BoundingCheck.check(steerGearRatio, 6, 50, "steer gear ratio", "times reduction"); + BoundingCheck.check(driveFrictionVoltage.in(Volts), 0.01, 0.35, "drive friction voltage", "volts"); + BoundingCheck.check(steerFrictionVoltage.in(Volts), 0.01, 0.6, "steer friction voltage", "volts"); + BoundingCheck.check(wheelRadius.in(Inches), 1, 3.2, "drive wheel radius", "inches"); + BoundingCheck.check( + steerRotationalInertia.in(KilogramSquareMeters), 0.005, 0.06, "steer rotation inertia", "kg * m^2"); + BoundingCheck.check(wheelsCoefficientOfFriction, 0.6, 1.9, "tire coefficient of friction", ""); + + this.driveMotorConfigs = + new SimMotorConfigs(driveMotorModel, driveGearRatio, KilogramSquareMeters.zero(), driveFrictionVoltage); + this.steerMotorConfigs = + new SimMotorConfigs(steerMotorModel, steerGearRatio, steerRotationalInertia, steerFrictionVoltage); + DRIVE_GEAR_RATIO = driveGearRatio; + STEER_GEAR_RATIO = steerGearRatio; + WHEELS_COEFFICIENT_OF_FRICTION = wheelsCoefficientOfFriction; + DRIVE_FRICTION_VOLTAGE = driveFrictionVoltage; + WHEEL_RADIUS = wheelRadius; + } + + @Override + public SwerveModuleSimulation get() { + return new SwerveModuleSimulation(this); + } + + public double getGrippingForceNewtons(double gravityForceOnModuleNewtons) { + return gravityForceOnModuleNewtons * WHEELS_COEFFICIENT_OF_FRICTION; + } + + /** + * + * + *

Obtains the theoretical speed that the module can achieve.

+ * + * @return the theoretical maximum ground speed that the module can achieve, in m/s + */ + public LinearVelocity maximumGroundSpeed() { + return MetersPerSecond.of( + driveMotorConfigs.freeSpinMechanismVelocity().in(RadiansPerSecond) * WHEEL_RADIUS.in(Meters)); + } + + /** + * + * + *

Obtains the theoretical maximum propelling force of ONE module.

+ * + *

Calculates the maximum propelling force with respect to the gripping force and the drive motor's torque under + * its current limit. + * + * @param robotMass the mass of the robot + * @param modulesCount the amount of modules on the robot, assumed to be sharing the gravity force equally + * @return the maximum propelling force of EACH module + */ + public Force getTheoreticalPropellingForcePerModule(Mass robotMass, int modulesCount, Current statorCurrentLimit) { + final double + maxThrustNewtons = + driveMotorConfigs.calculateTorque(statorCurrentLimit).in(NewtonMeters) + / WHEEL_RADIUS.in(Meters), + maxGrippingNewtons = 9.8 * robotMass.in(Kilograms) / modulesCount * WHEELS_COEFFICIENT_OF_FRICTION; + + return Newtons.of(Math.min(maxThrustNewtons, maxGrippingNewtons)); + } + + /** + * + * + *

Obtains the theatrical linear acceleration that the robot can achieve.

+ * + *

Calculates the maximum linear acceleration of a robot, with respect to its mass and + * {@link #getTheoreticalPropellingForcePerModule(Mass, int, Current)}. + * + * @param robotMass the mass of the robot + * @param modulesCount the amount of modules on the robot, assumed to be sharing the gravity force equally + */ + public LinearAcceleration maxAcceleration(Mass robotMass, int modulesCount, Current statorCurrentLimit) { + return getTheoreticalPropellingForcePerModule(robotMass, modulesCount, statorCurrentLimit) + .times(modulesCount) + .div(robotMass); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java new file mode 100644 index 0000000..ea9e69c --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java @@ -0,0 +1,56 @@ +package swervelib.simulation.ironmaple.simulation.gamepieces; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Translation3d; + +/** + * + * + *

Interface for all Game pieces.

+ * + *

This class contains basic functions all game pieces will have so that game pieces of different types can be used + * interchangeably in collision detection. + */ +public interface GamePiece { + + /** + * + * + *

Gives the pose3d of a game piece.

+ * + * @return The pose of this piece as a Pose3d. + */ + Pose3d getPose3d(); + + /** + * + * + *

Gives the string type of the current game piece.

+ * + * @return The game piece string type (ex "Coral", "Algae", "Note"). + */ + String getType(); + + /** + * + * + *

Gives the velocity of the game piece.

+ * + * For grounded game pieces the z access velocity does not exist and so will be set to 0 automatically. + * + * @return The velocity of the game piece as a Translation3d. + */ + Translation3d getVelocity3dMPS(); + + /** + * + * + *

Gives wether or not the piece is "grounded".

+ * + * A grounded piece is likely a child of {@link GamePieceOnFieldSimulation} while a non grounded piece is likely a + * child of{@link GamePieceProjectile}. + * + * @return wether or not the piece is grounded. + */ + boolean isGrounded(); +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java new file mode 100644 index 0000000..58f0104 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java @@ -0,0 +1,183 @@ +package swervelib.simulation.ironmaple.simulation.gamepieces; + +import static edu.wpi.first.units.Units.Kilogram; +import static edu.wpi.first.units.Units.Meters; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.Mass; +import java.util.function.DoubleSupplier; +import org.dyn4j.dynamics.Body; +import org.dyn4j.dynamics.BodyFixture; +import org.dyn4j.geometry.Convex; +import org.dyn4j.geometry.MassType; +import swervelib.simulation.ironmaple.simulation.IntakeSimulation; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; + +/** + * + * + *

Simulates a Game Piece on the Field.

+ * + *

This class simulates a game piece on the field, which has a collision space and interacts with other objects. + * + *

Game pieces can be "grabbed" by an {@link IntakeSimulation}. + * + *

For the simulation to actually run, every instance must be added to a + * {@link SimulatedArena} through + * {@link SimulatedArena#addGamePiece(GamePieceOnFieldSimulation)}. + */ +public class GamePieceOnFieldSimulation extends Body implements GamePiece { + public static final double COEFFICIENT_OF_FRICTION = 0.8, MINIMUM_BOUNCING_VELOCITY = 0.2; + + /** + * + * + *

Supplier of the Current Z-Pose (Height) of the Game Piece.

+ * + *

Normally, the height is fixed at half the thickness of the game piece to simulate it being "on the ground." + * + *

If the game piece is flying at a low height, the height is calculated using the law of free-fall. + */ + private final DoubleSupplier zPositionSupplier; + /** + * + * + *

The Type of the Game Piece.

+ * + *

Affects the result of {@link SimulatedArena#getGamePiecesPosesByType(String)}. + */ + public final String type; + + /** + * + * + *

Creates a Game Piece on the Field with Fixed Height.

+ * + * @param info info about the game piece type + * @param initialPose the initial position of the game piece on the field + */ + public GamePieceOnFieldSimulation(GamePieceInfo info, Pose2d initialPose) { + this(info, () -> info.gamePieceHeight.in(Meters) / 2, initialPose, new Translation2d()); + } + + /** + * + * + *

Creates a Game Piece on the Field with Custom Height Supplier and Initial Velocity.

+ * + * @param info info about the game piece type + * @param zPositionSupplier a supplier that provides the current Z-height of the game piece + * @param initialPose the initial position of the game piece on the field + * @param initialVelocityMPS the initial velocity of the game piece, in meters per second + */ + public GamePieceOnFieldSimulation( + GamePieceInfo info, + DoubleSupplier zPositionSupplier, + Pose2d initialPose, + Translation2d initialVelocityMPS) { + super(); + this.type = info.type; + this.zPositionSupplier = zPositionSupplier; + + BodyFixture bodyFixture = super.addFixture(info.shape); + + bodyFixture.setFriction(COEFFICIENT_OF_FRICTION); + bodyFixture.setRestitution(info.coefficientOfRestitution); + bodyFixture.setRestitutionVelocity(MINIMUM_BOUNCING_VELOCITY); + + bodyFixture.setDensity(info.gamePieceMass.in(Kilogram) / info.shape.getArea()); + super.setMass(MassType.NORMAL); + + super.setLinearDamping(info.linearDamping); + super.setAngularDamping(info.angularDamping); + super.setBullet(true); + + super.setTransform(GeometryConvertor.toDyn4jTransform(initialPose)); + super.setLinearVelocity(GeometryConvertor.toDyn4jVector2(initialVelocityMPS)); + } + + /** + * + * + *

Sets the world velocity of this game piece.

+ * + * @param chassisSpeedsWorldFrame the speeds of the game piece + */ + public void setVelocity(ChassisSpeeds chassisSpeedsWorldFrame) { + super.setLinearVelocity(GeometryConvertor.toDyn4jLinearVelocity(chassisSpeedsWorldFrame)); + super.setAngularVelocity(chassisSpeedsWorldFrame.omegaRadiansPerSecond); + } + + /** + * + * + *

Obtains the 2d position of the game piece

+ * + * @return the 2d position of the game piece + */ + public Pose2d getPoseOnField() { + return GeometryConvertor.toWpilibPose2d(super.getTransform()); + } + + /** + * + * + *

Obtains a 3d pose of the game piece.

+ * + *

The 3d position is calculated from both the {@link #getPoseOnField()} and {@link #zPositionSupplier} + * + * @return the 3d position of the game piece + */ + @Override + public Pose3d getPose3d() { + final Pose2d pose2d = getPoseOnField(); + return new Pose3d( + pose2d.getX(), + pose2d.getY(), + zPositionSupplier.getAsDouble(), + new Rotation3d(0, 0, pose2d.getRotation().getRadians())); + } + + /** + * + * + *

Stores the info of a type of game piece

+ * + * @param type the type of the game piece, affecting categorization within the arena + * @param shape the shape of the collision space for the game piece + * @param gamePieceHeight the height (thickness) of the game piece, in meters + * @param gamePieceMass the mass of the game piece, in kilograms + */ + public record GamePieceInfo( + String type, + Convex shape, + Distance gamePieceHeight, + Mass gamePieceMass, + double linearDamping, + double angularDamping, + double coefficientOfRestitution) {} + + public void onIntake(String intakeTargetGamePieceType) {} + + @Override + public String getType() { + return this.type; + } + + @Override + public Translation3d getVelocity3dMPS() { + return new Translation3d(GeometryConvertor.toWpilibTranslation2d(this.getLinearVelocity())); + } + + @Override + public boolean isGrounded() { + return true; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java new file mode 100644 index 0000000..a7aa182 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java @@ -0,0 +1,639 @@ +package swervelib.simulation.ironmaple.simulation.gamepieces; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.wpilibj.Timer; +import java.util.ArrayList; +import java.util.List; +import java.util.Queue; +import java.util.Set; +import java.util.concurrent.ArrayBlockingQueue; +import java.util.function.Consumer; +import java.util.function.Supplier; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024; + +/** + * + * + *

Simulates a Game Piece Launched into the Air

+ * + *

CheckOnline + * Documentation + * + *

The movement is modeled by simple projectile motion. + * + *

If the projectile flies off the field, touches the ground, or hits its target, it will be automatically removed. + * + *

Additional Features:

+ * + *
    + *
  • Optionally, it can be configured to become a {@link GamePieceOnFieldSimulation} upon touching the ground. + *
  • Optionally, it can be configured to have a "desired target." Upon hitting the target, it can be configured to + * run a callback. + *
+ * + *

Limitations:

+ * + *
    + *
  • Air drag is ignored. + *
  • DOES NOT have collision space when flying. + *
+ */ +public class GamePieceProjectile implements GamePiece { + /** + * This value may seem unusual compared to the standard 9.8 m/s² for gravity. However, through experimentation, it + * appears more realistic in our simulation, possibly due to the ignoring of air drag. + */ + public static final double GRAVITY = 11; + + // Properties of the game piece projectile: + protected final GamePieceOnFieldSimulation.GamePieceInfo info; + public final String gamePieceType; + protected final Translation2d initialPosition; + protected final Translation2d initialLaunchingVelocityMPS; + protected final double initialHeight, initialVerticalSpeedMPS; + protected final Rotation3d gamePieceRotation; + protected final Timer launchedTimer; + + /** + * + * + *

Visualizes the Projectile Flight Trajectory.

+ * + *

Optionally, this callback will be used to visualize the projectile flight trajectory in a telemetry system, + * such as Advantage Scope. + */ + private Consumer> projectileTrajectoryDisplayCallBackHitTarget = projectileTrajectory -> {}; + + private Consumer> projectileTrajectoryDisplayCallBackMiss = projectileTrajectory -> {}; + + // Optional properties of the game piece, used if we want it to become a + // GamePieceOnFieldSimulation upon touching ground: + protected boolean becomesGamePieceOnGroundAfterTouchGround = false; + + // Optional properties of the game piece, used if we want it to have a target: + private Translation3d tolerance = new Translation3d(0.2, 0.2, 0.2); + private Supplier targetPositionSupplier = () -> new Translation3d(0, 0, -100); + private Runnable hitTargetCallBack = () -> {}; + private double heightAsTouchGround = 0.5; + + /** + * + * + *

Time to Hit the Desired Target.

+ * + *

This value represents the amount of time it takes for the projectile to hit the desired target, calculated + * when the {@link #launch()} method is called. + * + *

Determines the results of {@link #hasHitTarget()} and {@link #willHitTarget()} + * + *

If the projectile never hits the target, or if there is no target, this value remains + * -1. + */ + private double calculatedHitTargetTime = -1; + + private boolean hitTargetCallBackCalled = false; + + /** + * + * + *

Creates a Game Piece Projectile Ejected from a Shooter.

+ * + * @param info the info of the game piece + * @param robotPosition the position of the robot (not the shooter) at the time of launching the game piece + * @param shooterPositionOnRobot the translation from the shooter's position to the robot's center, in the robot's + * frame of reference + * @param chassisSpeedsFieldRelative the field-relative velocity of the robot chassis when launching the game piece, + * influencing the initial velocity of the game piece + * @param shooterFacing the direction in which the shooter is facing at launch + * @param initialHeight the initial height of the game piece when launched, i.e., the height of the shooter from the + * ground + * @param launchingSpeed the speed at which the game piece is launch + * @param shooterAngle the pitch angle of the shooter when launching + */ + public GamePieceProjectile( + GamePieceOnFieldSimulation.GamePieceInfo info, + Translation2d robotPosition, + Translation2d shooterPositionOnRobot, + ChassisSpeeds chassisSpeedsFieldRelative, + Rotation2d shooterFacing, + Distance initialHeight, + LinearVelocity launchingSpeed, + Angle shooterAngle) { + this( + info, + robotPosition.plus(shooterPositionOnRobot.rotateBy(shooterFacing)), + calculateInitialProjectileVelocityMPS( + shooterPositionOnRobot, + chassisSpeedsFieldRelative, + shooterFacing, + launchingSpeed.in(MetersPerSecond) * Math.cos(shooterAngle.in(Radians))), + initialHeight.in(Meters), + launchingSpeed.in(MetersPerSecond) * Math.sin(shooterAngle.in(Radians)), + new Rotation3d(0, -shooterAngle.in(Radians), shooterFacing.getRadians())); + } + + /** + * + * + *

Calculates the Initial Velocity of the Game Piece Projectile in the X-Y Plane.

+ * + *

This method calculates the initial velocity of the game piece projectile, accounting for the chassis's + * translational and rotational motion as well as the shooter's ground speed. + * + * @param shooterPositionOnRobot the translation of the shooter on the robot, in the robot's frame of reference + * @param chassisSpeeds the speeds of the chassis when the game piece is launched, including translational and + * rotational velocities + * @param chassisFacing the direction the chassis is facing at the time of the launch + * @param groundSpeedMPS the ground component of the projectile's initial velocity, provided as a scalar in meters + * per second (m/s) + * @return the calculated initial velocity of the projectile as a {@link Translation2d} in meters per second + */ + private static Translation2d calculateInitialProjectileVelocityMPS( + Translation2d shooterPositionOnRobot, + ChassisSpeeds chassisSpeeds, + Rotation2d chassisFacing, + double groundSpeedMPS) { + final Translation2d + chassisTranslationalVelocity = + new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond), + shooterGroundVelocityDueToChassisRotation = + shooterPositionOnRobot + .rotateBy(chassisFacing) + .rotateBy(Rotation2d.fromDegrees(90)) + .times(chassisSpeeds.omegaRadiansPerSecond), + shooterGroundVelocity = chassisTranslationalVelocity.plus(shooterGroundVelocityDueToChassisRotation); + + return shooterGroundVelocity.plus(new Translation2d(groundSpeedMPS, chassisFacing)); + } + + /** + * + * + *

Creates a Game Piece Projectile Ejected from a Shooter.

+ * + * @param info the info of the game piece + * @param initialPosition the position of the game piece at the moment it is launched into the air + * @param initialLaunchingVelocityMPS the horizontal component of the initial velocity in the X-Y plane, in meters + * per second (m/s) + * @param initialHeight the initial height of the game piece when launched (the height of the shooter from the + * ground) + * @param initialVerticalSpeedMPS the vertical component of the initial velocity, in meters per second (m/s) + * @param gamePieceRotation the 3D rotation of the game piece during flight (only affects visualization of the game + * piece) + */ + public GamePieceProjectile( + GamePieceOnFieldSimulation.GamePieceInfo info, + Translation2d initialPosition, + Translation2d initialLaunchingVelocityMPS, + double initialHeight, + double initialVerticalSpeedMPS, + Rotation3d gamePieceRotation) { + this.info = info; + this.gamePieceType = info.type(); + this.initialPosition = initialPosition; + this.initialLaunchingVelocityMPS = initialLaunchingVelocityMPS; + this.initialHeight = initialHeight; + this.initialVerticalSpeedMPS = initialVerticalSpeedMPS; + this.gamePieceRotation = gamePieceRotation; + this.launchedTimer = new Timer(); + } + + /** + * + * + *

Starts the Game Piece Projectile Simulation.

+ * + *

This method initiates the projectile motion of the game piece with the following actions: + * + *

    + *
  • Initiates the projectile motion of the game piece. The current pose can be obtained with + * {@link #getPose3d()}. + *
  • Calculates whether the projectile will hit the target during its flight. The result can be obtained using + * {@link #willHitTarget()}. + *
  • Calculates a preview trajectory by simulating the projectile's motion for up to 100 steps, with each step + * lasting 0.02 seconds. + *
  • If specified, displays the trajectory using + * {@link GamePieceProjectile#projectileTrajectoryDisplayCallBackHitTarget}, which can be set via + * {@link GamePieceProjectile#withProjectileTrajectoryDisplayCallBack(Consumer)}. + *
  • Starts the {@link #launchedTimer}, which stores the amount of time elapsed after the game piece is launched + *
+ */ + public void launch() { + final int maxIterations = 100; + final double stepSeconds = 0.02; + List trajectoryPoints = new ArrayList<>(); + + for (int i = 0; i < maxIterations; i++) { + final double t = i * stepSeconds; + final Translation3d currentPosition = getPositionAtTime(t); + trajectoryPoints.add(new Pose3d(currentPosition, gamePieceRotation)); + + if (currentPosition.getZ() < heightAsTouchGround && t * GRAVITY > initialVerticalSpeedMPS) break; + if (isOutOfField(t)) break; + final Translation3d displacementToTarget = + targetPositionSupplier.get().minus(currentPosition); + if (Math.abs(displacementToTarget.getX()) < tolerance.getX() + && Math.abs(displacementToTarget.getY()) < tolerance.getY() + && Math.abs(displacementToTarget.getZ()) < tolerance.getZ()) { + this.calculatedHitTargetTime = t; + break; + } + } + if (willHitTarget()) projectileTrajectoryDisplayCallBackHitTarget.accept(trajectoryPoints); + else projectileTrajectoryDisplayCallBackMiss.accept(trajectoryPoints); + this.hitTargetCallBackCalled = false; + + launchedTimer.start(); + } + + /** + * + * + *

Checks if the Game Piece Has Touched the Ground.

+ * + *

This method determines whether the game piece has touched the ground at the current time. + * + *

    + *
  • The result is calculated during the {@link #launch()} method. + *
  • Before calling {@link #launch()}, this method will always return false. + *
+ * + * @return true if the game piece has touched the ground, otherwise false + * + */ + public boolean hasHitGround() { + return getPositionAtTime(launchedTimer.get()).getZ() <= heightAsTouchGround + && launchedTimer.get() * GRAVITY > initialVerticalSpeedMPS; + } + + /** + * + * + *

Checks if the Game Piece Has Flown Out of the Field's Boundaries.

+ * + *

This method determines whether the game piece has flown out of the field's boundaries (outside the fence). + * + *

    + *
  • The result is calculated during the {@link #launch()} method. + *
  • Before calling {@link #launch()}, this method will always return false. + *
+ * + * @return true if the game piece has flown out of the field's boundaries, otherwise false + */ + public boolean hasGoneOutOfField() { + return isOutOfField(launchedTimer.get()); + } + + private boolean isOutOfField(double time) { + final Translation3d position = getPositionAtTime(time); + final double EDGE_TOLERANCE = 2; + return position.getX() < -EDGE_TOLERANCE + || position.getX() > LegacyFieldMirroringUtils2024.FIELD_WIDTH + EDGE_TOLERANCE + || position.getY() < -EDGE_TOLERANCE + || position.getY() > LegacyFieldMirroringUtils2024.FIELD_HEIGHT + EDGE_TOLERANCE; + } + + /** + * + * + *

Checks if the projectile will hit the target AT SOME MOMENT during its flight

+ * + *
    + *
  • The result is calculated during the {@link #launch()} method. + *
  • Before calling {@link #launch()}, this method will always return false. + *
+ * + *

This is different from {@link #hasHitTarget()} + */ + public boolean willHitTarget() { + return calculatedHitTargetTime != -1; + } + + /** + * + * + *

Checks if the Projectile Has Already Hit the Target At the Moment.

+ * + *

This method checks whether the projectile has hit the target at the current time. + * + *

    + *
  • Before calling {@link #launch()}, this method will always return false. + *
  • This is different from {@link #willHitTarget()}, which predicts whether the projectile will eventually hit + * the target. + *
+ * + * @return true if the projectile has hit the target at the current time, otherwise false + */ + public boolean hasHitTarget() { + return willHitTarget() && launchedTimer.get() >= calculatedHitTargetTime; + } + + /** + * + * + *

Clean up the trajectory through {@link #projectileTrajectoryDisplayCallBackHitTarget}

+ * + * @return this instance + */ + public GamePieceProjectile cleanUp() { + this.projectileTrajectoryDisplayCallBackHitTarget.accept(new ArrayList<>()); + this.projectileTrajectoryDisplayCallBackMiss.accept(new ArrayList<>()); + return this; + } + + /** + * + * + *

Calculates the Projectile's Position at a Given Time.

+ * + *

This method calculates the position of the projectile using the physics formula for projectile motion. + * + * @param t the time elapsed after the launch of the projectile, in seconds + * @return the calculated position of the projectile at time t as a {@link Translation3d} object + */ + protected Translation3d getPositionAtTime(double t) { + final double height = initialHeight + initialVerticalSpeedMPS * t - 1.0 / 2.0 * GRAVITY * t * t; + + final Translation2d current2dPosition = initialPosition.plus(initialLaunchingVelocityMPS.times(t)); + return new Translation3d(current2dPosition.getX(), current2dPosition.getY(), height); + } + + /** + * + * + *

Calculates the Projectile's Velocity at a Given Time.

+ * + *

This method calculates the 3d velocity of the projectile using the physics formula for projectile motion. + * + * @param t the time elapsed after the launch of the projectile, in seconds + * @return a {@link Translation3d} object representing the calculated 3d velocity of the projectile at time t + * , in meters per second + */ + private Translation3d getVelocityMPSAtTime(double t) { + final double verticalVelocityMPS = initialVerticalSpeedMPS - GRAVITY * t; + + return new Translation3d( + initialLaunchingVelocityMPS.getX(), initialLaunchingVelocityMPS.getY(), verticalVelocityMPS); + } + + /** + * + * + *

Calculates the Projectile's Current Position.

+ * + *

The position is calculated using {@link #getPositionAtTime(double)} while the rotation is pre-stored. + * + * @return a {@link Pose3d} object representing the current pose of the game piece + */ + @Override + public Pose3d getPose3d() { + return new Pose3d(getPositionAtTime(launchedTimer.get()), gamePieceRotation); + } + + /** + * + * + *

Calculates the Projectile's Velocity at a Given Time.

+ * + * @see #getVelocityMPSAtTime(double) + * @return a {@link Translation3d} object representing the calculated 3d velocity of the projectile at time t + * , in meters per second + */ + @Override + public Translation3d getVelocity3dMPS() { + return getVelocityMPSAtTime(launchedTimer.get()); + } + + /** + * + * + *

Adds a {@link GamePieceOnFieldSimulation} to a {@link SimulatedArena} to Simulate the Game Piece After + * Touch-Ground.

+ * + *

The added {@link GamePieceOnFieldSimulation} will have the initial velocity of the game piece projectile. + * + *

The game piece will start falling from mid-air until it touches the ground. + * + *

The added {@link GamePieceOnFieldSimulation} will always have collision space on the field, even before + * touching the ground. + * + * @param simulatedArena the arena simulation to which the game piece will be added, usually obtained from + * {@link SimulatedArena#getInstance()} + */ + public void addGamePieceAfterTouchGround(SimulatedArena simulatedArena) { + if (!becomesGamePieceOnGroundAfterTouchGround) return; + simulatedArena.addGamePiece(new GamePieceOnFieldSimulation( + info, + () -> Math.max( + info.gamePieceHeight().in(Meters) / 2, + getPositionAtTime(launchedTimer.get()).getZ()), + new Pose2d(getPositionAtTime(launchedTimer.get()).toTranslation2d(), new Rotation2d()), + initialLaunchingVelocityMPS)); + } + + /** + * + * + *

Check every {@link GamePieceProjectile} instance for available actions.

+ * + *

1. If a game piece {@link #hasHitTarget()}, remove it and run {@link #hitTargetCallBack} specified by + * {@link #withHitTargetCallBack(Runnable)} + * + *

2. If a game piece {@link #hasHitGround()}, remove it and create a corresponding + * {@link GamePieceOnFieldSimulation} using {@link #addGamePieceAfterTouchGround(SimulatedArena)} + * + *

3. If a game piece {@link #hasGoneOutOfField()}, remove it. + */ + public static void updateGamePieceProjectiles( + SimulatedArena simulatedArena, Set gamePieceProjectiles) { + final Queue toRemoves = new ArrayBlockingQueue<>(5); + for (GamePieceProjectile gamePieceProjectile : gamePieceProjectiles) { + if (gamePieceProjectile.hasHitTarget() + || gamePieceProjectile.hasHitGround() + || gamePieceProjectile.hasGoneOutOfField()) toRemoves.offer(gamePieceProjectile); + if (gamePieceProjectile.hasHitTarget() && !gamePieceProjectile.hitTargetCallBackCalled) { + gamePieceProjectile.hitTargetCallBack.run(); + gamePieceProjectile.hitTargetCallBackCalled = true; + } + if (gamePieceProjectile.hasHitGround()) gamePieceProjectile.addGamePieceAfterTouchGround(simulatedArena); + } + + while (!toRemoves.isEmpty()) simulatedArena.removePiece(toRemoves.poll().cleanUp()); + } + + // The rest are methods to configure a game piece projectile simulation + /** + * + * + *

Configures the Game Piece Projectile to Automatically Become a {@link GamePieceOnFieldSimulation} Upon + * Touching Ground.

+ * + *

This method configures the game piece projectile to transform into a {@link GamePieceOnFieldSimulation} when + * it touches the ground. + * + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile enableBecomesGamePieceOnFieldAfterTouchGround() { + this.becomesGamePieceOnGroundAfterTouchGround = true; + return this; + } + + /** + * + * + *

Configures the Game Piece Projectile to Disappear Upon Touching Ground.

+ * + *

Reverts the effect of {@link #enableBecomesGamePieceOnFieldAfterTouchGround()}. + */ + public GamePieceProjectile disableBecomesGamePieceOnFieldAfterTouchGround() { + this.becomesGamePieceOnGroundAfterTouchGround = false; + return this; + } + + /** + * + * + *

Sets a Target for the Game Projectile.

+ * + *

Configures the {@link #targetPositionSupplier} of this game piece projectile. + * + *

The method {@link #launch()} will estimate whether or not the game piece will hit the target. + * + *

After calling {@link #launch()}, {@link #hasHitTarget()} will indicate whether the game piece has already hit + * the target. + * + *

Before calling this method, the target position is 0, 0, -100 (x,y,z), which the projectile will + * never hit. + * + * @param targetPositionSupplier the position of the target, represented as a {@link Translation3d} + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile withTargetPosition(Supplier targetPositionSupplier) { + this.targetPositionSupplier = targetPositionSupplier; + return this; + } + + /** + * + * + *

Sets the Target Tolerance for the Game Projectile.

+ * + *

Configures the {@link #tolerance} for determining whether the game piece has hit the target. The tolerance + * defines how close the projectile needs to be to the target for it to be considered a hit. + * + *

If this method is not called, the default tolerance is 0.2, 0.2, 0.2 (x,y,z) + * + * @param tolerance the tolerance for the target, represented as a {@link Translation3d} + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile withTargetTolerance(Translation3d tolerance) { + this.tolerance = tolerance; + return this; + } + + /** + * + * + *

Configures a callback to be executed when the game piece hits the target.

+ * + *

Sets the {@link #hitTargetCallBack} to Execute When the Game Piece Hits the Target. + * + *

The callback will be triggered when {@link #hasHitTarget()} becomes true. + * + * @param hitTargetCallBack the callback to run when the game piece hits the target + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile withHitTargetCallBack(Runnable hitTargetCallBack) { + this.hitTargetCallBack = hitTargetCallBack; + return this; + } + + /** + * + * + *

Configures a Callback to Display the Trajectory of the Projectile When Launched.

+ * + *

Sets the {@link #projectileTrajectoryDisplayCallBackHitTarget} to be fed with data during the + * {@link #launch()} method. + * + *

A {@link List} containing up to 50 {@link Pose3d} objects will be passed to the callback, representing the + * future trajectory of the projectile. + * + *

This is usually for visualizing the trajectory of the projectile on a telemetry, like Advantage Scope + * + * @param projectileTrajectoryDisplayCallBack the callback that will receive the list of {@link Pose3d} objects + * representing the projectile's trajectory + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile withProjectileTrajectoryDisplayCallBack( + Consumer> projectileTrajectoryDisplayCallBack) { + this.projectileTrajectoryDisplayCallBackMiss = + this.projectileTrajectoryDisplayCallBackHitTarget = projectileTrajectoryDisplayCallBack; + return this; + } + + /** + * + * + *

Configures a Callback to Display the Trajectory of the Projectile When Launched.

+ * + *

Sets the {@link #projectileTrajectoryDisplayCallBackHitTarget} to be fed with data during the + * {@link #launch()} method. + * + *

A {@link List} containing up to 50 {@link Pose3d} objects will be passed to the callback, representing the + * future trajectory of the projectile. + * + *

This is usually for visualizing the trajectory of the projectile on a telemetry, like Advantage Scope + * + * @param projectileTrajectoryDisplayCallBackHitTarget the callback that will receive the list of {@link Pose3d} + * objects representing the projectile's trajectory, called if the projectile will hit the target on its path + * @param projectileTrajectoryDisplayCallBackHitTargetMiss the callback that will receive the list of {@link Pose3d} + * objects representing the projectile's trajectory, called if the projectile will be off the target + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile withProjectileTrajectoryDisplayCallBack( + Consumer> projectileTrajectoryDisplayCallBackHitTarget, + Consumer> projectileTrajectoryDisplayCallBackHitTargetMiss) { + this.projectileTrajectoryDisplayCallBackHitTarget = projectileTrajectoryDisplayCallBackHitTarget; + this.projectileTrajectoryDisplayCallBackMiss = projectileTrajectoryDisplayCallBackHitTargetMiss; + return this; + } + + /** + * + * + *

Configures the Height at Which the Projectile Is Considered to Be Touching Ground.

+ * + *

Sets the {@link #heightAsTouchGround}, defining the height at which the projectile is considered to have + * landed. + * + *

When the game piece is below this height, it will either be deleted or, if configured, transformed into a + * {@link GamePieceOnFieldSimulation} using {@link #enableBecomesGamePieceOnFieldAfterTouchGround()}. + * + * @param heightAsTouchGround the height (in meters) at which the projectile is considered to touch the ground + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile withTouchGroundHeight(double heightAsTouchGround) { + this.heightAsTouchGround = heightAsTouchGround; + return this; + } + + @Override + public String getType() { + return this.gamePieceType; + } + + @Override + public boolean isGrounded() { + return false; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java new file mode 100644 index 0000000..d8da554 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java @@ -0,0 +1,194 @@ +package swervelib.simulation.ironmaple.simulation.motorsims; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.units.measure.*; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; + +/** + * + * + *

{@link edu.wpi.first.wpilibj.simulation.DCMotorSim} with a bit of extra spice.

+ * + *

This class extends the functionality of the original {@link edu.wpi.first.wpilibj.simulation.DCMotorSim} and + * models the following aspects in addition: + * + *

    + *
  • Motor Controller Closed Loops. + *
  • Smart current limiting. + *
  • Friction force on the rotor. + *
+ */ +public class MapleMotorSim { + private final SimMotorConfigs configs; + + private SimMotorState state; + private SimulatedMotorController controller; + private Voltage appliedVoltage; + private Current statorCurrent; + + /** + * + * + *

Constructs a Brushless Motor Simulation Instance.

+ * + * @param configs the configuration for this motor + */ + public MapleMotorSim(SimMotorConfigs configs) { + this.configs = configs; + this.state = new SimMotorState(Radians.zero(), RadiansPerSecond.zero()); + this.controller = (mechanismAngle, mechanismVelocity, encoderAngle, encoderVelocity) -> Volts.of(0); + this.appliedVoltage = Volts.zero(); + this.statorCurrent = Amps.zero(); + + SimulatedBattery.addMotor(this); + } + + /** + * + * + *

Updates the simulation.

+ * + *

This is equivalent to{@link edu.wpi.first.wpilibj.simulation.DCMotorSim#update(double)}. + */ + public void update(Time dt) { + this.appliedVoltage = controller.updateControlSignal( + state.mechanismAngularPosition, + state.mechanismAngularVelocity, + state.mechanismAngularPosition.times(configs.gearing), + state.mechanismAngularVelocity.times(configs.gearing)); + this.appliedVoltage = SimulatedBattery.clamp(appliedVoltage); + this.statorCurrent = configs.calculateCurrent(state.mechanismAngularVelocity, appliedVoltage); + this.state.step(configs.calculateTorque(statorCurrent), configs.friction, configs.loadMOI, dt); + + if (state.mechanismAngularPosition.lte(configs.reverseHardwareLimit)) + state = new SimMotorState(configs.reverseHardwareLimit, RadiansPerSecond.zero()); + else if (state.mechanismAngularPosition.gte(configs.forwardHardwareLimit)) + state = new SimMotorState(configs.forwardHardwareLimit, RadiansPerSecond.zero()); + } + + public T useMotorController(T motorController) { + this.controller = motorController; + return motorController; + } + + public SimulatedMotorController.GenericMotorController useSimpleDCMotorController() { + return useMotorController(new SimulatedMotorController.GenericMotorController(configs.motor)); + } + + /** + * + * + *

Obtains the final position of the mechanism.

+ * + *

This is equivalent to {@link edu.wpi.first.wpilibj.simulation.DCMotorSim#getAngularPosition()}. + * + * @return the angular position of the mechanism, continuous + */ + public Angle getAngularPosition() { + return state.mechanismAngularPosition; + } + + /** + * + * + *

Obtains the angular position measured by the relative encoder of the motor.

+ * + * @return the angular position measured by the encoder, continuous + */ + public Angle getEncoderPosition() { + return getAngularPosition().times(configs.gearing); + } + + /** + * + * + *

Obtains the final velocity of the mechanism.

+ * + *

This is equivalent to {@link edu.wpi.first.wpilibj.simulation.DCMotorSim#getAngularVelocity()}. + * + * @return the final angular velocity of the mechanism + */ + public AngularVelocity getVelocity() { + return state.mechanismAngularVelocity; + } + + /** + * + * + *

Obtains the angular velocity measured by the relative encoder of the motor.

+ * + * @return the angular velocity measured by the encoder + */ + public AngularVelocity getEncoderVelocity() { + return getVelocity().times(configs.gearing); + } + + /** + * + * + *

Obtains the applied voltage by the motor controller.

+ * + *

The applied voltage is calculated by the motor controller in the previous call to {@link #update(Time)} + * + *

The motor controller specified by {@link #useMotorController(SimulatedMotorController)} is used to calculate + * the applied voltage. + * + *

The applied voltage is also restricted for current limit and battery voltage. + * + * @return the applied voltage + */ + public Voltage getAppliedVoltage() { + return appliedVoltage; + } + + /** + * + * + *

Obtains the stator current.

+ * + *

This is equivalent to {@link DCMotorSim#getCurrentDrawAmps()} + * + * @return the stator current of the motor + */ + public Current getStatorCurrent() { + return statorCurrent; + } + + /** + * + * + *

Obtains the supply current.

+ * + *

The supply current is different from the stator current, as described here. + * + * @return the supply current of the motor + */ + public Current getSupplyCurrent() { + // Supply Power = Stator Power (Conservation of Energy) + // Hence, + // Battery Voltage x Supply Current = Applied Voltage x Stator Current + // Supply Current = Stator Current * Applied Voltage / Battery Voltage + return getStatorCurrent().times(appliedVoltage.div(SimulatedBattery.getBatteryVoltage())); + } + + /** + * + * + *

Obtains the configuration of the motor.

+ * + *

You can modify the configuration of this motor by: + * + * 


+     *     mapleMotorSim.getConfigs()
+     *          .with...(...)
+     *          .with...(...);
+     *
+ * + * @return the configuration of the motor + */ + public SimMotorConfigs getConfigs() { + return this.configs; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java new file mode 100644 index 0000000..b9cfb65 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java @@ -0,0 +1,203 @@ +package swervelib.simulation.ironmaple.simulation.motorsims; + +import static edu.wpi.first.units.Units.*; +import static edu.wpi.first.units.Units.Volts; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.units.measure.*; + +/** + * + * + *

Stores the configurations of the motor.

+ * + *

This class encapsulates the various configuration parameters required to simulate and control a motor in a system. + * The configurations include: + * + *

    + *
  • motor: The motor model used in the simulation (e.g., Falcon 500, NEO). + *
  • gearing: The gear ratio between the motor and the load, affecting the output torque and speed. + *
  • loadMOI: The moment of inertia (MOI) of the load connected to the motor, which determines the + * resistance to changes in rotational speed. + *
  • friction: The torque friction characteristics applied to the motor's simulation, representing + * real-world losses. + *
  • positionVoltageController: PID controller for controlling the motor's position via voltage. + *
  • velocityVoltageController: PID controller for controlling the motor's velocity via voltage. + *
  • positionCurrentController: PID controller for controlling the motor's position via current. + *
  • velocityCurrentController: PID controller for controlling the motor's velocity via current. + *
  • feedforward: A feedforward controller used to compensate for the desired motor behavior based + * on input speeds. + *
  • forwardHardwareLimit: The forward limit for motor rotation, specified in angle units. + *
  • reverseHardwareLimit: The reverse limit for motor rotation, specified in angle units. + *
  • currentLimit: The current limit applied to the motor to protect it from overcurrent + * conditions. + *
+ */ +public final class SimMotorConfigs { + public final DCMotor motor; + public final double gearing; + public final MomentOfInertia loadMOI; + public final Torque friction; + + protected Angle forwardHardwareLimit, reverseHardwareLimit; + + /** + * + * + *

Constructs a simulated motor configuration.

+ * + *

This constructor initializes a {@link SimMotorConfigs} object with the necessary parameters for motor + * simulation, including the motor model, gearing ratio, load moment of inertia, and friction characteristics. + * + * @param motor the motor model to be used in the simulation (e.g., Falcon 500, NEO). + * @param gearing the gear ratio between the motor and the load, affecting torque and speed output. + * @param loadMOI the moment of inertia of the load connected to the motor, representing rotational resistance. + * @param frictionVoltage the voltage applied to simulate frictional torque losses in the motor. + */ + public SimMotorConfigs(DCMotor motor, double gearing, MomentOfInertia loadMOI, Voltage frictionVoltage) { + this.motor = motor; + this.gearing = gearing; + this.loadMOI = loadMOI; + this.friction = NewtonMeters.of(motor.getTorque(motor.getCurrent(0, frictionVoltage.in(Volts)))); + + forwardHardwareLimit = Radians.of(Double.POSITIVE_INFINITY); + reverseHardwareLimit = Radians.of(-Double.POSITIVE_INFINITY); + } + + /** + * + * + *

Calculates the voltage of the motor.

+ * + *

This method uses the {@link DCMotor} model to find the voltage for a given current and angular velocity. + * + * @see DCMotor#getVoltage(double, double) for the underlying implementation. + * @param current the current flowing through the motor + * @param mechanismVelocity the final angular velocity of the mechanism + * @return the voltage required for the motor to achieve the specified current and angular velocity + */ + public Voltage calculateVoltage(Current current, AngularVelocity mechanismVelocity) { + return Volts.of(motor.getVoltage(current.in(Amps), mechanismVelocity.in(RadiansPerSecond) * gearing)); + } + + /** + * + * + *

Calculates the velocity of the motor.

+ * + *

This method uses the {@link DCMotor} model to find the angular velocity for a given current and voltage. + * + * @see DCMotor#getSpeed(double, double) for the underlying implementation. + * @param current the current flowing through the motor. + * @param voltage the voltage applied to the motor. + * @return the final angular velocity of the mechanism. + */ + public AngularVelocity calculateMechanismVelocity(Current current, Voltage voltage) { + return RadiansPerSecond.of(motor.getSpeed(motor.getTorque(current.in(Amps)), voltage.in(Volts))) + .div(gearing); + } + + /** + * + * + *

Calculates the current of the motor.

+ * + *

This method uses the {@link DCMotor} model to find the current for a given angular velocity and voltage. + * + * @see DCMotor#getCurrent(double, double) for the underlying implementation. + * @param mechanismVelocity the final angular velocity of the mechanism. + * @param voltage the voltage applied to the moto. + * @return the current drawn by the motor. + */ + public Current calculateCurrent(AngularVelocity mechanismVelocity, Voltage voltage) { + return Amps.of(motor.getCurrent(mechanismVelocity.in(RadiansPerSecond) * gearing, voltage.in(Volts))); + } + + /** + * + * + *

Calculates the current based on the motor's torque.

+ * + *

This method uses the {@link DCMotor} model to find the current required for a given torque. + * + * @see DCMotor#getCurrent(double) for the underlying implementation. + * @param torque the final torque generated by the motor on the mechanism. + * @return the current required to produce the specified torque. + */ + public Current calculateCurrent(Torque torque) { + return Amps.of(motor.getCurrent(torque.in(NewtonMeters) / gearing)); + } + + /** + * + * + *

Calculates the torque based on the motor's current.

+ * + *

This method uses the {@link DCMotor} model to find the torque generated by a given current. + * + * @see DCMotor#getTorque(double) for the underlying implementation. + * @param current the current flowing through the motor. + * @return the torque generated by the motor. + */ + public Torque calculateTorque(Current current) { + return NewtonMeters.of(motor.getTorque(current.in(Amps)) * gearing); + } + + /** + * + * + *

Configures the hard limits for the motor.

+ * + *

This method sets the hardware limits for the motor's movement. When either the forward or reverse limit is + * reached, the motor will be physically restricted from moving beyond that point, based on the motor's hardware + * constraints. + * + * @param forwardLimit the forward hardware limit angle, beyond which the motor cannot move + * @param reverseLimit the reverse hardware limit angle, beyond which the motor cannot move + * @return this instance for method chaining + */ + public SimMotorConfigs withHardLimits(Angle forwardLimit, Angle reverseLimit) { + this.forwardHardwareLimit = forwardLimit; + this.reverseHardwareLimit = reverseLimit; + return this; + } + + public AngularVelocity freeSpinMechanismVelocity() { + return RadiansPerSecond.of(motor.freeSpeedRadPerSec / gearing); + } + + public Current freeSpinCurrent() { + return Amps.of(motor.freeCurrentAmps); + } + + public Current stallCurrent() { + return Amps.of(motor.stallCurrentAmps); + } + + public Torque stallTorque() { + return NewtonMeters.of(motor.stallTorqueNewtonMeters); + } + + public Voltage nominalVoltage() { + return Volts.of(motor.nominalVoltageVolts); + } + + @Override + protected SimMotorConfigs clone() { + SimMotorConfigs cfg = new SimMotorConfigs( + motor, gearing, loadMOI, Volts.of(motor.getVoltage(friction.in(NewtonMeter), 0.0))) + .withHardLimits(forwardHardwareLimit, reverseHardwareLimit); + + return cfg; + } + + @Override + public String toString() { + return "SimMotorConfigs {" + + "\n motor = " + motor // Relies on DCMotor.toString() for details + + "\n gearing = " + gearing + + "\n loadMOI (kg·m^2) = " + loadMOI.in(KilogramSquareMeters) + + "\n friction (N·m) = " + friction.in(NewtonMeters) + + "\n}"; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java new file mode 100644 index 0000000..86fc9a4 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java @@ -0,0 +1,95 @@ +package swervelib.simulation.ironmaple.simulation.motorsims; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.units.measure.*; + +/** + * + * + *

Represents the state of a simulated motor at a given point in time.

+ * + *

This record holds the final angular position and velocity of the motor. It is used to track the motor's state + * during each simulation step. + */ +public class SimMotorState { + public Angle mechanismAngularPosition; + public AngularVelocity mechanismAngularVelocity; + + /** + * + * + *

Constructs a new sim motor state with initial angle and velocity

+ * + * @param mechanismAngularPosition the final angular position of the motor, in radians + * @param mechanismAngularVelocity the final angular velocity of the motor, in radians per second + */ + public SimMotorState(Angle mechanismAngularPosition, AngularVelocity mechanismAngularVelocity) { + this.mechanismAngularPosition = mechanismAngularPosition; + this.mechanismAngularVelocity = mechanismAngularVelocity; + } + + /** + * + * + *

Simulates a step in the motor's motion based on the applied forces.

+ * + *

This method calculates the new angular position and velocity of the motor after applying electric and + * frictional torques over a time step. + * + *

The method follows these steps: + * + *

    + *
  • Convert all units to SI units for calculation. + *
  • Apply the electric torque to the current angular velocity. + *
  • Compute the change in angular velocity due to friction. + *
  • If friction reverses the direction of angular velocity, the velocity is set to zero. + *
  • Integrate the angular velocity to find the new position. + *
+ * + * @param finalElectricTorque the final applied electric torque, in Newton-meters + * @param finalFrictionTorque the final frictional torque, in Newton-meters + * @param loadMOI the moment of inertia of the load, in kilogram square meters + * @param dt the time step for the simulation, in seconds + */ + public void step(Torque finalElectricTorque, Torque finalFrictionTorque, MomentOfInertia loadMOI, Time dt) { + // Step 0: Convert all units to SI units (radians, radians per second, Newton-meters, seconds, kg*m²) + double currentAngularPositionRadians = mechanismAngularPosition.in(Radians); + double currentAngularVelocityRadiansPerSecond = mechanismAngularVelocity.in(RadiansPerSecond); + final double electricTorqueNewtonsMeters = finalElectricTorque.in(NewtonMeters); + final double frictionTorqueNewtonsMeters = finalFrictionTorque.in(NewtonMeters); + final double loadMOIKgMetersSquared = loadMOI.in(KilogramSquareMeters); + final double dtSeconds = dt.in(Seconds); + + // Step 1: Apply electric torque to the angular velocity. + // The torque causes a change in the angular velocity, according to the moment of inertia. + currentAngularVelocityRadiansPerSecond += electricTorqueNewtonsMeters / loadMOIKgMetersSquared * dtSeconds; + + // Step 2: Calculate the change in angular velocity due to friction. + // Friction opposes the motion and reduces the angular velocity over time. + final double deltaAngularVelocityDueToFrictionRadPerSec = + Math.copySign(frictionTorqueNewtonsMeters, -currentAngularVelocityRadiansPerSecond) + / loadMOIKgMetersSquared + * dtSeconds; + + // Step 3: Check if the angular velocity changes direction due to friction, or if it reaches zero. + // If friction causes the motor to reverse direction, or if the velocity reaches zero, set the angular velocity + // to zero. + if ((currentAngularVelocityRadiansPerSecond + deltaAngularVelocityDueToFrictionRadPerSec) + * currentAngularVelocityRadiansPerSecond + <= 0) + // The velocity has reversed direction or reached zero, so stop the motor + currentAngularVelocityRadiansPerSecond = 0; + else + // Otherwise, apply the change due to friction + currentAngularVelocityRadiansPerSecond += deltaAngularVelocityDueToFrictionRadPerSec; + + // Step 4: Integrate angular velocity to find the new position. + // The new angular position is the current position plus the change in position over the time step. + currentAngularPositionRadians += currentAngularVelocityRadiansPerSecond * dtSeconds; + + // Return a new instance with the updated angular position and velocity + this.mechanismAngularPosition = Radians.of(currentAngularPositionRadians); + this.mechanismAngularVelocity = RadiansPerSecond.of(currentAngularVelocityRadiansPerSecond); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java new file mode 100644 index 0000000..08cdfb6 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java @@ -0,0 +1,138 @@ +package swervelib.simulation.ironmaple.simulation.motorsims; + +import static edu.wpi.first.units.Units.Amps; +import static edu.wpi.first.units.Units.Volts; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.filter.LinearFilter; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.simulation.BatterySim; +import edu.wpi.first.wpilibj.simulation.RoboRioSim; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.ArrayList; +import java.util.List; +import java.util.function.Supplier; + +/** + * + * + *

Simulates the main battery of the robot.

+ * + *

This class simulates the behavior of a robot's battery. Electrical appliances can be added to the battery to draw + * current. The battery voltage is affected by the current drawn from various appliances. + */ +public class SimulatedBattery { + // Nominal voltage for a fully charged battery (13.5 volts). + private static final double BATTERY_NOMINAL_VOLTAGE = 13.5; + + // Filter to smooth the current readings. + private static final LinearFilter currentFilter = LinearFilter.movingAverage(50); + + private static final List> electricalAppliances = new ArrayList<>(); + + // The current battery voltage in volts. + private static double batteryVoltageVolts = BATTERY_NOMINAL_VOLTAGE; + + /** + * + * + *

Adds a custom electrical appliance.

+ * + *

Connects the electrical appliance to the battery, allowing it to draw current from the battery. + * + * @param customElectricalAppliances The supplier for the current drawn by the appliance. + */ + public static void addElectricalAppliances(Supplier customElectricalAppliances) { + electricalAppliances.add(customElectricalAppliances); + } + + /** + * + * + *

Adds a motor to the list of electrical appliances.

+ * + *

The motor will draw current from the battery. + * + * @param mapleMotorSim The motor simulation object. + */ + public static void addMotor(MapleMotorSim mapleMotorSim) { + electricalAppliances.add(mapleMotorSim::getSupplyCurrent); + } + + /** + * + * + *

Updates the battery simulation.

+ * + *

Calculates the battery voltage based on the current drawn by all appliances. + * + *

The battery voltage is clamped to avoid going below the brownout voltage. + */ + public static void simulationSubTick() { + double totalCurrentAmps = getTotalCurrentDrawn().in(Amps); + totalCurrentAmps = currentFilter.calculate(totalCurrentAmps); + + batteryVoltageVolts = BatterySim.calculateLoadedBatteryVoltage(BATTERY_NOMINAL_VOLTAGE, 0.02, totalCurrentAmps); + + if (Double.isNaN(batteryVoltageVolts)) { + batteryVoltageVolts = 12.0; + DriverStation.reportError( + "[MapleSim] Internal Library Error: Calculated battery voltage is invalid" + + ", reverting to normal operation voltage...", + false); + } + if (batteryVoltageVolts < RoboRioSim.getBrownoutVoltage()) { + batteryVoltageVolts = RoboRioSim.getBrownoutVoltage(); + DriverStation.reportError("[MapleSim] BrownOut Detected, protecting battery voltage...", false); + } + + RoboRioSim.setVInVoltage(batteryVoltageVolts); + + SmartDashboard.putNumber("BatterySim/TotalCurrent (Amps)", totalCurrentAmps); + SmartDashboard.putNumber("BatterySim/BatteryVoltage (Volts)", batteryVoltageVolts); + } + + /** + * + * + *

Obtains the voltage of the battery.

+ * + * @return The battery voltage as a {@link Voltage} object. + */ + public static Voltage getBatteryVoltage() { + return Volts.of(batteryVoltageVolts); + } + + /** + * + * + *

Obtains the total current drawn from the battery.

+ * + *

Iterates through all the appliances to obtain the total current used. + * + * @return The total current as a {@link Current} object. + */ + public static Current getTotalCurrentDrawn() { + double totalCurrentAmps = electricalAppliances.stream() + .mapToDouble(currentSupplier -> currentSupplier.get().in(Amps)) + .sum(); + return Amps.of(totalCurrentAmps); + } + + /** + * + * + *

Clamps the voltage according to the supplied voltage and the battery's capabilities.

+ * + *

If the supplied voltage exceeds the battery's maximum voltage, it will be reduced to match the battery's + * voltage. + * + * @param voltage The voltage to be clamped. + * @return The clamped voltage as a {@link Voltage} object. + */ + public static Voltage clamp(Voltage voltage) { + return Volts.of(MathUtil.clamp(voltage.in(Volts), -batteryVoltageVolts, batteryVoltageVolts)); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java new file mode 100644 index 0000000..4eeddd1 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java @@ -0,0 +1,108 @@ +package swervelib.simulation.ironmaple.simulation.motorsims; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Voltage; + +public interface SimulatedMotorController { + Voltage updateControlSignal( + Angle mechanismAngle, + AngularVelocity mechanismVelocity, + Angle encoderAngle, + AngularVelocity encoderVelocity); + + final class GenericMotorController implements SimulatedMotorController { + private final DCMotor model; + private Current currentLimit = Amps.of(150); + private Angle forwardSoftwareLimit = Radians.of(Double.POSITIVE_INFINITY), + reverseSoftwareLimit = Radians.of(-Double.POSITIVE_INFINITY); + + private Voltage requestedVoltage = Volts.zero(); + private Voltage appliedVoltage = Volts.zero(); + + public GenericMotorController(DCMotor model) { + this.model = model; + } + + public GenericMotorController withCurrentLimit(Current currentLimit) { + this.currentLimit = currentLimit; + return this; + } + + public GenericMotorController withSoftwareLimits(Angle forwardSoftwareLimit, Angle reverseSoftwareLimit) { + this.forwardSoftwareLimit = forwardSoftwareLimit; + this.reverseSoftwareLimit = reverseSoftwareLimit; + return this; + } + + public void requestVoltage(Voltage voltage) { + this.requestedVoltage = voltage; + } + + /** + * + * + *

(Utility Function) Constrains the Output Voltage of a Motor.

+ * + *

Constrains the output voltage of a motor such that the stator current does not exceed the + * current limit + * + *

Prevents motor from exceeding software limits + * + * @param encoderAngle the angle of the encoder + * @param encoderVelocity the velocity of the encoder + * @param requestedVoltage the requested voltage + * @return the constrained voltage that satisfied the limits + */ + public Voltage constrainOutputVoltage( + Angle encoderAngle, AngularVelocity encoderVelocity, Voltage requestedVoltage) { + final double kCurrentThreshold = 1.2; + + // don't use WpiLib Units for calculations + final double motorCurrentVelocityRadPerSec = encoderVelocity.in(RadiansPerSecond); + final double currentLimitAmps = currentLimit.in(Amps); + final double requestedOutputVoltageVolts = requestedVoltage.in(Volts); + final double currentAtRequestedVoltageAmps = + model.getCurrent(motorCurrentVelocityRadPerSec, requestedOutputVoltageVolts); + + // Resource for current limiting: + // https://file.tavsys.net/control/controls-engineering-in-frc.pdf (sec 12.1.3) + double limitedVoltage = requestedOutputVoltageVolts; + final boolean currentTooHigh = + Math.abs(currentAtRequestedVoltageAmps) > (kCurrentThreshold * currentLimitAmps); + if (currentTooHigh) { + final double limitedCurrent = Math.copySign(currentLimitAmps, currentAtRequestedVoltageAmps); + limitedVoltage = model.getVoltage(model.getTorque(limitedCurrent), motorCurrentVelocityRadPerSec); + } + + // ensure the current limit doesn't cause an increase to output voltage + if (Math.abs(limitedVoltage) > Math.abs(requestedOutputVoltageVolts)) + limitedVoltage = requestedOutputVoltageVolts; + + // apply software limits + if (encoderAngle.gte(forwardSoftwareLimit) && limitedVoltage > 0) limitedVoltage = 0; + if (encoderAngle.lte(reverseSoftwareLimit) && limitedVoltage < 0) limitedVoltage = 0; + + // constrain the output voltage to the battery voltage + return Volts.of(limitedVoltage); + } + + @Override + public Voltage updateControlSignal( + Angle mechanismAngle, + AngularVelocity mechanismVelocity, + Angle encoderAngle, + AngularVelocity encoderVelocity) { + appliedVoltage = constrainOutputVoltage(encoderAngle, encoderVelocity, requestedVoltage); + return appliedVoltage; + } + + public Voltage getAppliedVoltage() { + return appliedVoltage; + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java new file mode 100644 index 0000000..e8ce671 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java @@ -0,0 +1,210 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; + +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.networktables.BooleanPublisher; +import edu.wpi.first.units.Units; +import edu.wpi.first.wpilibj.DriverStation; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; + +public class Arena2024Crescendo extends SimulatedArena { + + protected double blueAmpClock = 0; + protected int blueAmpCount = 0; + + protected double redAmpClock = 0; + protected int redAmpCount = 0; + + BooleanPublisher redAmpPublisher = redTable.getBooleanTopic("redIsAmped").publish(); + BooleanPublisher blueAmpPublisher = blueTable.getBooleanTopic("blueIsAmped").publish(); + + protected final CrescendoSpeaker redSpeaker; + protected final CrescendoSpeaker blueSpeaker; + + protected final CrescendoAmp redAmp; + protected final CrescendoAmp blueAmp; + + /** the obstacles on the 2024 competition field */ + public static final class CrescendoFieldObstaclesMap extends FieldMap { + private static final double FIELD_WIDTH = 16.54; + + public CrescendoFieldObstaclesMap() { + super(); + + // left wall + super.addBorderLine(new Translation2d(0, 1), new Translation2d(0, 4.51)); + super.addBorderLine(new Translation2d(0, 4.51), new Translation2d(0.9, 5)); + + super.addBorderLine(new Translation2d(0.9, 5), new Translation2d(0.9, 6.05)); + + super.addBorderLine(new Translation2d(0.9, 6.05), new Translation2d(0, 6.5)); + super.addBorderLine(new Translation2d(0, 6.5), new Translation2d(0, 8.2)); + + // upper wall + super.addBorderLine(new Translation2d(0, 8.12), new Translation2d(FIELD_WIDTH, 8.12)); + + // righter wall + super.addBorderLine(new Translation2d(FIELD_WIDTH, 1), new Translation2d(FIELD_WIDTH, 4.51)); + super.addBorderLine(new Translation2d(FIELD_WIDTH, 4.51), new Translation2d(FIELD_WIDTH - 0.9, 5)); + super.addBorderLine(new Translation2d(FIELD_WIDTH - 0.9, 5), new Translation2d(FIELD_WIDTH - 0.9, 6.05)); + super.addBorderLine(new Translation2d(FIELD_WIDTH - 0.9, 6.05), new Translation2d(FIELD_WIDTH, 6.5)); + super.addBorderLine(new Translation2d(FIELD_WIDTH, 6.5), new Translation2d(FIELD_WIDTH, 8.2)); + + // lower wall + super.addBorderLine(new Translation2d(1.92, 0), new Translation2d(FIELD_WIDTH - 1.92, 0)); + + // red source wall + super.addBorderLine(new Translation2d(1.92, 0), new Translation2d(0, 1)); + + // blue source wall + super.addBorderLine(new Translation2d(FIELD_WIDTH - 1.92, 0), new Translation2d(FIELD_WIDTH, 1)); + + // blue state + super.addRectangularObstacle(0.35, 0.35, new Pose2d(3.4, 4.1, new Rotation2d())); + super.addRectangularObstacle(0.35, 0.35, new Pose2d(5.62, 4.1 - 1.28, Rotation2d.fromDegrees(30))); + super.addRectangularObstacle(0.35, 0.35, new Pose2d(5.62, 4.1 + 1.28, Rotation2d.fromDegrees(60))); + + // red stage + super.addRectangularObstacle(0.35, 0.35, new Pose2d(FIELD_WIDTH - 3.4, 4.1, new Rotation2d())); + super.addRectangularObstacle( + 0.35, 0.35, new Pose2d(FIELD_WIDTH - 5.62, 4.1 - 1.28, Rotation2d.fromDegrees(60))); + super.addRectangularObstacle( + 0.35, 0.35, new Pose2d(FIELD_WIDTH - 5.62, 4.1 + 1.28, Rotation2d.fromDegrees(30))); + } + } + + private static final Translation2d[] NOTE_INITIAL_POSITIONS = new Translation2d[] { + new Translation2d(2.9, 4.1), + new Translation2d(2.9, 5.55), + new Translation2d(2.9, 7), + new Translation2d(8.27, 0.75), + new Translation2d(8.27, 2.43), + new Translation2d(8.27, 4.1), + new Translation2d(8.27, 5.78), + new Translation2d(8.27, 7.46), + new Translation2d(13.64, 4.1), + new Translation2d(13.64, 5.55), + new Translation2d(13.64, 7), + }; + + public Arena2024Crescendo() { + super(new CrescendoFieldObstaclesMap()); + + redSpeaker = new CrescendoSpeaker(this, false); + super.addCustomSimulation(redSpeaker); + + blueSpeaker = new CrescendoSpeaker(this, true); + super.addCustomSimulation(blueSpeaker); + + blueAmp = new CrescendoAmp(this, true); + super.addCustomSimulation(blueAmp); + + redAmp = new CrescendoAmp(this, false); + super.addCustomSimulation(redAmp); + } + + @Override + public void placeGamePiecesOnField() { + for (Translation2d notePosition : NOTE_INITIAL_POSITIONS) + super.addGamePiece(new CrescendoNoteOnField(notePosition)); + + super.addCustomSimulation(new CrescendoHumanPlayerSimulation(this)); + setupValueForMatchBreakdown("TotalNotesInAmp"); + setupValueForMatchBreakdown("TotalNotesInSpeaker"); + setupValueForMatchBreakdown("TotalAmplifiedScore"); + setupValueForMatchBreakdown("TotalTimeAmped"); + setupValueForMatchBreakdown("AmpClock"); + setupValueForMatchBreakdown("AmpCharge"); + } + + @Override + public void simulationSubTick(int tickNum) { + addValueToMatchBreakdown( + false, "totalTimeAmped", redAmpClock > 0 ? getSimulationDt().in(Units.Seconds) : 0); + addValueToMatchBreakdown( + true, "totalTimeAmped", blueAmpClock > 0 ? getSimulationDt().in(Units.Seconds) : 0); + + redAmpClock -= getSimulationDt().in(Units.Seconds); + blueAmpClock -= getSimulationDt().in(Units.Seconds); + + super.simulationSubTick(tickNum); + + replaceValueInMatchBreakDown(true, "AmpCharge", blueAmpCount); + replaceValueInMatchBreakDown(false, "AmpCharge", redAmpCount); + replaceValueInMatchBreakDown(true, "AmpClock", blueAmpClock > 0 ? blueAmpClock : 0); + replaceValueInMatchBreakDown(false, "AmpClock", redAmpClock > 0 ? redAmpClock : 0); + // SmartDashboard.putNumber("blue Amp Charge", blueAmpCount); + // SmartDashboard.putNumber("red Amp Charge", redAmpCount); + // SmartDashboard.putNumber("blue Amp Clock", blueAmpClock); + // SmartDashboard.putNumber("red Amp Clock", redAmpClock); + } + + /** + * + * + *

Returns wether the specified team currently has an amped speaker

+ * + * This function returns true during autonomous since the autonomous mode behaves exactly like amplified game play. + * + * @param isBlue Wether to check the blue or red alliance. + * @return Wether the specified alliance is currently amplified. + */ + public boolean isAmped(boolean isBlue) { + if (isBlue) { + return blueAmpClock > 0 || DriverStation.isAutonomous(); + } else { + return redAmpClock > 0 || DriverStation.isAutonomous(); + } + } + + /** + * + * + *

Adds a charge to the amp of the specified team. One charge is equal to one note in the amp so two charges are + * needed to use the amp.

+ * + * @param isBlue Wether the charge is added to the blue or red alliance. + */ + public void addAmpCharge(boolean isBlue) { + if (isBlue) { + blueAmpCount = Math.min(blueAmpCount + 1, 2); + } else { + redAmpCount = Math.min(redAmpCount + 1, 2); + } + } + + /** + * + * + *

Activates the amp for the specified team.

+ * + * @param isBlue Wether to amplify for the blue or red team. + * @return Returns true if the amplification was successful and false if it was not. + */ + public boolean activateAmp(boolean isBlue) { + + if (DriverStation.isAutonomous()) { + System.out.println("Amplification is not allowed during auto."); + return false; + } + + if (isBlue && blueAmpCount == 2) { + blueAmpCount = 0; + blueAmpClock = 5; + System.out.println("blue amped it up"); + return true; + } + if (!isBlue && redAmpCount == 2) { + redAmpCount = 0; + redAmpClock = 5; + System.out.println("red amped it up"); + return true; + } + System.out.println( + isBlue + ? "Blue " + : "Red " + "Only has " + (isBlue ? blueAmpCount : redAmpCount) + "of needed 2 to use amp"); + return false; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java new file mode 100644 index 0000000..03e5b30 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java @@ -0,0 +1,68 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; + +import static edu.wpi.first.units.Units.Centimeters; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import java.util.*; +import swervelib.simulation.ironmaple.simulation.Goal; + +/** + * + * + *

Simulates a AMPS on the field.

+ * + *

This class simulates the AMP on the field where NOTESs can be scored. + */ +public class CrescendoAmp extends Goal { + + protected static final Translation3d blueAmpPose = new Translation3d(1.81, 8.3, 0.66); + protected static final Translation3d redAmpPose = new Translation3d(14.7, 8.3, 0.66); + + protected final Arena2024Crescendo crescendoArena; + + StructPublisher posePublisher; + + /** + * + * + *

Creates an Amp of the specified color.

+ * + * @param arena The host arena of this amp. + * @param isBlue Wether this is the blue amp or the red one. + */ + public CrescendoAmp(Arena2024Crescendo arena, boolean isBlue) { + super( + arena, + Centimeters.of(61), + Centimeters.of(30), + Centimeters.of(46), + "Note", + isBlue ? blueAmpPose : redAmpPose, + isBlue); + + crescendoArena = arena; + + setNeededAngle(new Rotation3d(0, Math.PI / 2, Math.PI / 2)); + + StructPublisher ampPublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueAmp" : "RedAmp", Pose3d.struct) + .publish(); + ampPublisher.set(new Pose3d(position, this.pieceAngle)); + } + + @Override + protected void addPoints() { + crescendoArena.addValueToMatchBreakdown(isBlue, "TotalNotesInAmp", 1.0); + arena.addValueToMatchBreakdown(isBlue, "AmplifiedScore", crescendoArena.isAmped(isBlue) ? 2 : 0); + + crescendoArena.addAmpCharge(isBlue); + arena.addToScore(isBlue, crescendoArena.isAmped(isBlue) ? 2 : 1); + } + + @Override + public void draw(List drawList) { + return; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java new file mode 100644 index 0000000..be80ee6 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java @@ -0,0 +1,36 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; + +import static swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024.toCurrentAllianceTranslation; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Timer; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; + +public class CrescendoHumanPlayerSimulation implements SimulatedArena.Simulatable { + private static final Translation2d BLUE_SOURCE_POSITION = new Translation2d(15.6, 0.8); + private double previousThrowTimeSeconds = 0; + private final Arena2024Crescendo arena; + + public CrescendoHumanPlayerSimulation(Arena2024Crescendo arena) { + this.arena = arena; + } + + @Override + public void simulationSubTick(int subTickNum) { + if (!DriverStation.isTeleopEnabled()) return; + + if (Timer.getFPGATimestamp() - previousThrowTimeSeconds < 1) return; + + final Translation2d sourcePosition = toCurrentAllianceTranslation(BLUE_SOURCE_POSITION); + /* if there is any game-piece 0.5 meters within the human player station, we don't throw a new note */ + for (GamePieceOnFieldSimulation gamePiece : arena.gamePiecesOnField()) + if (gamePiece instanceof CrescendoNoteOnField + && gamePiece.getPoseOnField().getTranslation().getDistance(sourcePosition) < 1) return; + + /* otherwise, place a note */ + arena.addGamePiece(new CrescendoNoteOnField(sourcePosition)); + previousThrowTimeSeconds = Timer.getFPGATimestamp(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java new file mode 100644 index 0000000..7658c52 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java @@ -0,0 +1,21 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; + +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Kilograms; + +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.util.Units; +import org.dyn4j.geometry.Geometry; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; + +public class CrescendoNoteOnField extends GamePieceOnFieldSimulation { + /* https://www.andymark.com/products/frc-2024-am-4999 */ + public static final GamePieceInfo CRESCENDO_NOTE_INFO = new GamePieceInfo( + "Note", Geometry.createCircle(Units.inchesToMeters(14) / 2), Inches.of(2), Kilograms.of(0.2), 3.5, 5, 0.3); + + public CrescendoNoteOnField(Translation2d initialPosition) { + super(CRESCENDO_NOTE_INFO, new Pose2d(initialPosition, new Rotation2d())); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java new file mode 100644 index 0000000..acde813 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java @@ -0,0 +1,68 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; + +import static edu.wpi.first.units.Units.Centimeters; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import java.util.*; +import swervelib.simulation.ironmaple.simulation.Goal; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; + +/** + * + * + *

Simulates a SPEAKERs on the field.

+ * + *

This class simulates the SPEAKERs on the field where NOTESs can be scored. It + * may be amplified by using the {@link Arena2024Crescendo#activateAmp(boolean)} function on the host arena. + */ +public class CrescendoSpeaker extends Goal { + + protected static final Translation3d redSpeakerPose = new Translation3d(16.52, 5.5825, 2.1); + protected static final Translation3d blueSpeakerPose = new Translation3d(0, 5.5825, 2.1); + StructPublisher posePublisher; + protected final Arena2024Crescendo crescendoArena; + + /** + * + * + *

Creates an Speaker of the specified color.

+ * + * @param arena The host arena of this speaker. + * @param isBlue Wether this is the blue speaker or the red one. + */ + public CrescendoSpeaker(Arena2024Crescendo arena, boolean isBlue) { + super( + arena, + Centimeters.of(90), + Centimeters.of(116.5), + Centimeters.of(100), + "Note", + isBlue ? blueSpeakerPose : redSpeakerPose, + isBlue); + + crescendoArena = arena; + StructPublisher speakerPosePublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueSpeaker" : "RedSpeaker", Pose3d.struct) + .publish(); + speakerPosePublisher.set(new Pose3d(position, new Rotation3d())); + } + + @Override + protected boolean checkVel(GamePiece gamePiece) { + return gamePiece.getVelocity3dMPS().getZ() > 0; + } + + @Override + protected void addPoints() { + arena.addValueToMatchBreakdown(isBlue, "TotalNotesInSpeaker", 1); + arena.addValueToMatchBreakdown(isBlue, "AmplifiedScore", crescendoArena.isAmped(isBlue) ? 5 : 0); + arena.addToScore(isBlue, crescendoArena.isAmped(isBlue) ? 5 : 2); + } + + @Override + public void draw(List drawList) { + return; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java new file mode 100644 index 0000000..b393f0e --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java @@ -0,0 +1,57 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; + +import static swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField.*; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; +import swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024; + +public class NoteOnFly extends GamePieceProjectile { + public NoteOnFly( + Translation2d robotPosition, + Translation2d shooterPositionOnRobot, + ChassisSpeeds chassisSpeeds, + Rotation2d shooterFacing, + Distance initialHeight, + LinearVelocity launchingSpeed, + Angle shooterAngle) { + super( + CRESCENDO_NOTE_INFO, + robotPosition, + shooterPositionOnRobot, + chassisSpeeds, + shooterFacing, + initialHeight, + launchingSpeed, + shooterAngle); + super.withTouchGroundHeight(0.6); + } + + public NoteOnFly asSpeakerShotNote(Runnable hitTargetCallBack) { + return (NoteOnFly) super.withTargetPosition(() -> + LegacyFieldMirroringUtils2024.toCurrentAllianceTranslation(new Translation3d(0.25, 5.56, 2.3))) + .withTargetTolerance(new Translation3d(0.5, 1.2, 0.3)) + .withHitTargetCallBack(hitTargetCallBack); + } + + public NoteOnFly asAmpShotNote(Runnable hitTargetCallBack) { + return (NoteOnFly) super.withTargetPosition(() -> + LegacyFieldMirroringUtils2024.toCurrentAllianceTranslation(new Translation3d(1.83, 8.12, 0.95))) + .withTargetTolerance(new Translation3d(0.1, 0.6, 0.45)) + .withHitTargetCallBack(hitTargetCallBack); + } + + public NoteOnFly enableBecomeNoteOnFieldAfterTouchGround() { + return (NoteOnFly) super.enableBecomesGamePieceOnFieldAfterTouchGround(); + } + + public NoteOnFly disableBecomeNoteOnFieldAfterTouchGround() { + return (NoteOnFly) super.disableBecomesGamePieceOnFieldAfterTouchGround(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java new file mode 100644 index 0000000..b3391df --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java @@ -0,0 +1,70 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.DriverStation; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; + +/** + *

A field with no obstacles

+ * + *

This class represents the playing field for the simulated Evergreen Field + * + *

It extends {@link SimulatedArena}. + */ +public class ArenaEvergreen extends SimulatedArena { + public static final class EvergreenFieldObstacleMap extends FieldMap { + public EvergreenFieldObstacleMap() { + super(); + } + + /** + * Used for adding walls when desired. + * + * @return this, for chaining. + */ + public EvergreenFieldObstacleMap withWalls() { + // blue wall + super.addBorderLine(new Translation2d(0, 1.270), new Translation2d(0, 6.782)); + + // red wall + super.addBorderLine(new Translation2d(17.548, 1.270), new Translation2d(17.548, 6.782)); + + // upper walls + super.addBorderLine(new Translation2d(1.672, 8.052), new Translation2d(11, 8.052)); + super.addBorderLine(new Translation2d(12, 8.052), new Translation2d(17.548 - 1.672, 8.052)); + + // lower walls + super.addBorderLine(new Translation2d(1.672, 0), new Translation2d(5.8, 0)); + super.addBorderLine(new Translation2d(6.3, 0), new Translation2d(17.548 - 1.672, 0)); + return this; + } + } + + /** + *

A field with no obstacles

+ * + *

This class represents the playing field for the simulated Evergreen Field + * + *

It extends {@link SimulatedArena}. + * + * @param withWalls used to add wall obstacles when desired. + */ + public ArenaEvergreen(boolean withWalls) { + super(withWalls ? new EvergreenFieldObstacleMap() : new EvergreenFieldObstacleMap().withWalls()); + } + + /** + *

Evergreen does not have game pieces, this method does nothing.

+ * + *

Places Game Pieces on the Field for Autonomous Mode. + * + *

This method sets up the game pieces on the field, typically in their starting positions for autonomous mode. + * + *

It should be implemented differently for each season-specific subclass of {@link SimulatedArena} to reflect + * the unique game piece placements for that season's game. + */ + @Override + public void placeGamePiecesOnField() { + DriverStation.reportError("Evergreen doesn't have game pieces.", false); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java new file mode 100644 index 0000000..203244d --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java @@ -0,0 +1,173 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.DriverStation; +import java.util.Arrays; +import java.util.List; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; + +/** + * + * + *

The playing field for the 2025 FRC Game: Reefscape

+ * + *

This class represents the playing field for the 2025 FRC game, Reefscape. + * + *

It extends {@link SimulatedArena} and includes specific details of the Reefscape game environment. + */ +public class Arena2025Reefscape extends SimulatedArena { + public static final class ReefscapeFieldObstacleMap extends FieldMap { + public ReefscapeFieldObstacleMap() { + super(); + + // blue wall + super.addBorderLine(new Translation2d(0, 1.270), new Translation2d(0, 6.782)); + + // blue coral stations + super.addBorderLine(new Translation2d(0, 1.270), new Translation2d(1.672, 0)); + super.addBorderLine(new Translation2d(0, 6.782), new Translation2d(1.672, 8.052)); + + // red wall + super.addBorderLine(new Translation2d(17.548, 1.270), new Translation2d(17.548, 6.782)); + + // red coral stations + super.addBorderLine(new Translation2d(17.548, 1.270), new Translation2d(17.548 - 1.672, 0)); + super.addBorderLine(new Translation2d(17.548, 6.782), new Translation2d(17.548 - 1.672, 8.052)); + + // upper walls + super.addBorderLine(new Translation2d(1.672, 8.052), new Translation2d(11, 8.052)); + super.addBorderLine(new Translation2d(12, 8.052), new Translation2d(17.548 - 1.672, 8.052)); + + // lower walls + super.addBorderLine(new Translation2d(1.672, 0), new Translation2d(5.8, 0)); + super.addBorderLine(new Translation2d(6.3, 0), new Translation2d(17.548 - 1.672, 0)); + + // blue reef + Translation2d[] reefVorticesBlue = new Translation2d[] { + new Translation2d(3.658, 3.546), + new Translation2d(3.658, 4.506), + new Translation2d(4.489, 4.987), + new Translation2d(5.3213, 4.506), + new Translation2d(5.3213, 3.546), + new Translation2d(4.489, 3.065) + }; + for (int i = 0; i < 6; i++) super.addBorderLine(reefVorticesBlue[i], reefVorticesBlue[(i + 1) % 6]); + + // red reef + Translation2d[] reefVorticesRed = Arrays.stream(reefVorticesBlue) + .map(pointAtBlue -> + new Translation2d(FieldMirroringUtils.FIELD_WIDTH - pointAtBlue.getX(), pointAtBlue.getY())) + .toArray(Translation2d[]::new); + for (int i = 0; i < 6; i++) super.addBorderLine(reefVorticesRed[i], reefVorticesRed[(i + 1) % 6]); + + // the pillar in the middle of the field + super.addRectangularObstacle(0.305, 0.305, new Pose2d(8.774, 4.026, new Rotation2d())); + } + } + + public final ReefscapeReefSimulation redReefSimulation; + public final ReefscapeReefSimulation blueReefSimulation; + public final ReefscapeBargeSimulation redBarge; + public final ReefscapeBargeSimulation blueBarge; + public final ReefscapeProcessorSimulation redProcessor; + public final ReefscapeProcessorSimulation blueProcessor; + + public Arena2025Reefscape() { + super(new ReefscapeFieldObstacleMap()); + + redReefSimulation = new ReefscapeReefSimulation(this, false); + super.addCustomSimulation(redReefSimulation); + + blueReefSimulation = new ReefscapeReefSimulation(this, true); + super.addCustomSimulation(blueReefSimulation); + + blueBarge = new ReefscapeBargeSimulation(this, true); + super.addCustomSimulation(blueBarge); + + redBarge = new ReefscapeBargeSimulation(this, false); + super.addCustomSimulation(redBarge); + + blueProcessor = new ReefscapeProcessorSimulation(this, true); + super.addCustomSimulation(blueProcessor); + + redProcessor = new ReefscapeProcessorSimulation(this, false); + super.addCustomSimulation(redProcessor); + } + + @Override + public void placeGamePiecesOnField() { + Translation2d[] bluePositions = new Translation2d[] { + new Translation2d(1.219, 5.855), new Translation2d(1.219, 4.026), new Translation2d(1.219, 2.197), + }; + for (Translation2d position : bluePositions) super.addGamePiece(new ReefscapeCoralAlgaeStack(position)); + + Translation2d[] redPositions = Arrays.stream(bluePositions) + .map(bluePosition -> + new Translation2d(FieldMirroringUtils.FIELD_WIDTH - bluePosition.getX(), bluePosition.getY())) + .toArray(Translation2d[]::new); + for (Translation2d position : redPositions) super.addGamePiece(new ReefscapeCoralAlgaeStack(position)); + + setupValueForMatchBreakdown("AlgaeInProcessor"); + setupValueForMatchBreakdown("AlgaeInNet"); + setupValueForMatchBreakdown("Auto/CoralScoredInAuto"); + setupValueForMatchBreakdown("CoralScoredOnLevel 1"); + setupValueForMatchBreakdown("CoralScoredOnLevel 2"); + setupValueForMatchBreakdown("CoralScoredOnLevel 3"); + setupValueForMatchBreakdown("CoralScoredOnLevel 4"); + setupValueForMatchBreakdown("Auto/AlgaeScoredInAuto"); + } + + @Override + public synchronized List getGamePiecesPosesByType(String type) { + List poses = super.getGamePiecesPosesByType(type); + + // add algae and coral stack + if (type.equals("Algae")) { + poses.addAll(ReefscapeCoralAlgaeStack.getStackedAlgaePoses()); + redBarge.draw(poses); + blueBarge.draw(poses); + + } else if (type.equals("Coral")) { + poses.addAll(ReefscapeCoralAlgaeStack.getStackedCoralPoses()); + redReefSimulation.draw(poses); + blueReefSimulation.draw(poses); + } + + return poses; + } + + @Override + public synchronized void clearGamePieces() { + super.clearGamePieces(); + redReefSimulation.clearReef(); + blueReefSimulation.clearReef(); + } + + /** + * Obtains the amount of CORAL held on the BRANCHES. + * + *

This method returns a 2D array of size 12 x 4, where each entry represents the number of + * CORALs held on a particular branch. + * + *

The BRANCHES are tracked in FMS as A, B, C, D, E, F, G, H, I, J, K, L (as per the game + * manual), and are mapped to indices 0, 1, 2, ... in the array. + * + *

The [i][j] entry in the array represents the number of CORAL(s) held on the Lj-1 + * branch in the ith section. + * + *

For example, getBranches()[2][3] returns the number of CORALs held on L4 of Branch C. + * + *

Note that L2, L3, and L4 can only hold one CORAL, while L1 can hold up to two + * CORALs. + * + * @param side the alliance side (Red or Blue) to check for CORAL counts + * @return a 2D array where each entry represents the number of CORAL held on each branch + */ + public int[][] getBranches(DriverStation.Alliance side) { + return side == DriverStation.Alliance.Red ? redReefSimulation.getBranches() : blueReefSimulation.getBranches(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java new file mode 100644 index 0000000..dd9b4a1 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java @@ -0,0 +1,26 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import org.dyn4j.geometry.Circle; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; + +/** + * + * + *

Represents an ALGAE in the 2025 Reefscape game.

+ * + *

The Algae (am-5602) is a 16-inch (41 cm) + * rubber playground ball with a ±½ inch (~12 mm) diameter, featured as a game piece in the 2025 Reefscape game. + */ +public class ReefscapeAlgaeOnField extends GamePieceOnFieldSimulation { + public static final GamePieceInfo REEFSCAPE_ALGAE_INFO = + new GamePieceInfo("Algae", new Circle(0.176), Inches.of(16), Kilograms.of(0.4), 1.8, 5, 0.8); + + public ReefscapeAlgaeOnField(Translation2d initialPosition) { + super(REEFSCAPE_ALGAE_INFO, new Pose2d(initialPosition, new Rotation2d())); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java new file mode 100644 index 0000000..89d7875 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java @@ -0,0 +1,58 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; + +/** + * + * + *

Represents an ALGAE launched into the air.

+ * + *

This class models a {@link ReefscapeAlgaeOnField} launched into the air. + * + *

The simulation will determine if the ALGAE hits its target—the NET. + * + *

The user can specify a callback using {@link #setHitNetCallBack(Runnable)}, which will be triggered when the ALGAE + * hits the NET. + */ +public class ReefscapeAlgaeOnFly extends GamePieceProjectile { + private static Runnable hitNetCallBack = () -> System.out.println("hit target!"); + + /** + * + * + *

Specifies a callback for when any ALGAE launched into the air hits the NET.

+ * + * @param callBack a {@link Runnable} to be invoked when an ALGAE hits the NET + */ + public static void setHitNetCallBack(Runnable callBack) { + hitNetCallBack = callBack; + } + + public ReefscapeAlgaeOnFly( + Translation2d robotPosition, + Translation2d shooterPositionOnRobot, + ChassisSpeeds chassisSpeeds, + Rotation2d shooterFacing, + Distance initialHeight, + LinearVelocity launchingSpeed, + Angle shooterAngle) { + super( + ReefscapeAlgaeOnField.REEFSCAPE_ALGAE_INFO, + robotPosition, + shooterPositionOnRobot, + chassisSpeeds, + shooterFacing, + initialHeight, + launchingSpeed, + shooterAngle); + + super.withTouchGroundHeight(0.8); + super.enableBecomesGamePieceOnFieldAfterTouchGround(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java new file mode 100644 index 0000000..b824f36 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java @@ -0,0 +1,75 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.Centimeters; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import edu.wpi.first.units.Units; +import edu.wpi.first.wpilibj.DriverStation; +import java.util.*; +import swervelib.simulation.ironmaple.simulation.Goal; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; + +/** + * + * + *

Simulates a BARGEs on the field.

+ * + *

This class simulates a BARGEs on the field where ALGAE can be scored. + */ +public class ReefscapeBargeSimulation extends Goal { + + protected static final Translation3d redBargePose = new Translation3d(8.805, 2.1, 1.57); + protected static final Translation3d blueBargePose = new Translation3d(8.805, 6.18, 1.57); + StructPublisher posePublisher; + + /** + * + * + *

Creates an barge of the specified color.

+ * + * @param arena The host arena of this barge. + * @param isBlue Wether this is the blue barge or the red one. + */ + public ReefscapeBargeSimulation(Arena2025Reefscape arena, boolean isBlue) { + super( + arena, + Centimeters.of(112), + Centimeters.of(343), + Centimeters.of(100), + "Algae", + isBlue ? blueBargePose : redBargePose, + isBlue); + + StructPublisher heldAlgaePublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueBarge" : "RedBarge", Pose3d.struct) + .publish(); + heldAlgaePublisher.set(new Pose3d(position, new Rotation3d())); + } + + @Override + public void draw(List algaePosesToDisplay) { + for (int i = 0; i < gamePieceCount; i++) { + algaePosesToDisplay.add(new Pose3d( + xyBox.getCenter().x, + xyBox.getCenter().y - xyBox.getHeight() / 2, + elevation.in(Units.Meters) + height.in(Units.Meters) / 2, + new Rotation3d()) + .plus(new Transform3d(0, i * 0.35, 0, new Rotation3d()))); + } + } + + @Override + protected boolean checkVel(GamePiece gamePiece) { + return gamePiece.getVelocity3dMPS().getZ() < 0; + } + + @Override + protected void addPoints() { + arena.addValueToMatchBreakdown(isBlue, "AlgaeInNet", 1); + arena.addValueToMatchBreakdown(isBlue, "Auto/AlgaeScoredInAuto", DriverStation.isAutonomous() ? 1 : 0); + + arena.addToScore(isBlue, 4); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java new file mode 100644 index 0000000..8a8b3a7 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java @@ -0,0 +1,146 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import java.util.List; +import org.dyn4j.geometry.Circle; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; + +/** + * + * + *

A CORAL-ALGAE stack on the field.

+ * + *

This class represents a CORAL-ALGAE stack, which consists of a standing CORAL with an ALGAE placed on top of it. + * + *

Three such stacks are staged on each side of the field before the match begins. + * + *

The stacks will collapse if hit, separating into a {@link ReefscapeCoralOnField} and a + * {@link ReefscapeAlgaeOnField}. + * + *

Intakes can also grab a Coral and/or an Algae from the stack. + * + *

To visualize these stacks, use {@link #getStackedAlgaePoses()} and {@link #getStackedCoralPoses()} to retrieve the + * positions of the coral and algae in the stacks, and display them through AScope. + */ +public class ReefscapeCoralAlgaeStack extends GamePieceOnFieldSimulation { + public static final GamePieceInfo REEFSCAPE_STACK_INFO = + new GamePieceInfo("CoralAlgaeStack", new Circle(0.15), Meters.zero(), Kilograms.of(0.7), 1.8, 4, 0.3); + + private final SimulatedArena arena; + private final Translation2d initialPosition; + private boolean collapsed = false; + + public ReefscapeCoralAlgaeStack(Translation2d initialPosition) { + this(initialPosition, SimulatedArena.getInstance()); + } + + public ReefscapeCoralAlgaeStack(Translation2d initialPosition, SimulatedArena arena) { + super(REEFSCAPE_STACK_INFO, new Pose2d(initialPosition, new Rotation2d())); + this.arena = arena; + this.initialPosition = initialPosition; + arena.addCustomSimulation(this::simulationSubTick); + } + + private void simulationSubTick(int subTickCount) { + // if already collapsed, skip + if (collapsed) return; + // make the stack collapse if its moved + if (getPoseOnField().getTranslation().minus(initialPosition).getNorm() > 0.2 + && getLinearVelocity().getMagnitude() > 0.3) collapse(); + } + + private Translation2d velocityMPS() { + return GeometryConvertor.toWpilibTranslation2d(getLinearVelocity()); + } + + private Rotation2d velocityDirection() { + return velocityMPS().getAngle(); + } + + private Translation2d stackPosition() { + return getPoseOnField().getTranslation(); + } + + private void collapse() { + // remove the stack + arena.removeGamePiece(this); + + throwCoralToGround(); + throwAlgaeToGround(); + + // mark as collapsed + collapsed = true; + } + + private void throwCoralToGround() { + ReefscapeCoralOnField coral = new ReefscapeCoralOnField(new Pose2d( + stackPosition().plus(new Translation2d(0.15, 0).rotateBy(velocityDirection())), velocityDirection())); + System.out.println("coral position: " + coral.getPoseOnField()); + coral.setLinearVelocity(getLinearVelocity()); + arena.addGamePiece(coral); + } + + private void throwAlgaeToGround() { + arena.addGamePieceProjectile(new ReefscapeAlgaeOnFly( + stackPosition(), + new Translation2d(), + new ChassisSpeeds(), + velocityDirection(), + Meters.of(0.3).plus(Inches.of(8)), + MetersPerSecond.of(velocityMPS().getNorm() * 0.6), + Degrees.zero())); + } + + /** + * + * + *

Retrieves the positions of the Coral pieces in all stacks.

+ * + * @return list of {@link Pose3d} representing the positions of the Coral pieces in all stacks in the arena + */ + public static List getStackedCoralPoses() { + return getStackedCoralPoses(SimulatedArena.getInstance()); + } + + /** @see #getStackedCoralPoses() */ + private static final Transform3d STACK_TO_CORAL = + new Transform3d(new Translation3d(0, 0, 0.15), new Rotation3d(0, Math.toRadians(90), 0)); + + public static List getStackedCoralPoses(SimulatedArena arena) { + return arena.getGamePiecesPosesByType(REEFSCAPE_STACK_INFO.type()).stream() + .map(stackPose -> stackPose.plus(STACK_TO_CORAL)) + .toList(); + } + + /** + * + * + *

Retrieves the positions of the Algae pieces in all stacks.

+ * + * @return a list of {@link Pose3d} representing the positions of the Algae pieces in all stacks in the arena + */ + public static List getStackedAlgaePoses() { + return getStackedAlgaePoses(SimulatedArena.getInstance()); + } + + private static final Transform3d STACK_TO_ALGAE = new Transform3d( + new Translation3d(0, 0, 0.3 + edu.wpi.first.math.util.Units.inchesToMeters(8)), new Rotation3d()); + + /** @see #getStackedAlgaePoses() */ + public static List getStackedAlgaePoses(SimulatedArena arena) { + return arena.getGamePiecesPosesByType(REEFSCAPE_STACK_INFO.type()).stream() + .map(stackPose -> stackPose.plus(STACK_TO_ALGAE)) + .toList(); + } + + @Override + public void onIntake(String intakeTargetGamePieceType) { + if ("Coral".equals(intakeTargetGamePieceType)) throwAlgaeToGround(); + else if ("Algae".equals(intakeTargetGamePieceType)) throwCoralToGround(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java new file mode 100644 index 0000000..31a2a4c --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java @@ -0,0 +1,27 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.geometry.Pose2d; +import org.dyn4j.geometry.Rectangle; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; + +/** + * + * + *

Represents a CORAL in the 2025 Reefscape game.

+ * + *

The Coral (am-5601) is an 11 ⅞-inch (~30 cm) + * long piece of 4-inch diameter Schedule 40 Cellular (Foam) Core PVC pipe, featured as a game piece in the 2025 + * Reefscape game. + * + *

The Coral has a 4-inch (~102 mm) inside diameter and a 4½-inch (~11 cm) outside diameter. + */ +public class ReefscapeCoralOnField extends GamePieceOnFieldSimulation { + public static final GamePieceInfo REEFSCAPE_CORAL_INFO = + new GamePieceInfo("Coral", new Rectangle(0.3, 0.11), Meters.of(0.11), Kilograms.of(0.3), 2.8, 4, 0.3); + + public ReefscapeCoralOnField(Pose2d initialPose) { + super(REEFSCAPE_CORAL_INFO, initialPose); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java new file mode 100644 index 0000000..1703492 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java @@ -0,0 +1,98 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.*; + +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.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.wpilibj.DriverStation; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; +import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; + +public class ReefscapeCoralOnFly extends GamePieceProjectile { + public ReefscapeCoralOnFly( + Translation2d robotPosition, + Translation2d shooterPositionOnRobot, + ChassisSpeeds chassisSpeeds, + Rotation2d shooterFacing, + Distance initialHeight, + LinearVelocity launchingSpeed, + Angle shooterAngle) { + super( + ReefscapeCoralOnField.REEFSCAPE_CORAL_INFO, + robotPosition, + shooterPositionOnRobot, + chassisSpeeds, + shooterFacing, + initialHeight, + launchingSpeed, + shooterAngle); + super.enableBecomesGamePieceOnFieldAfterTouchGround(); + super.withTouchGroundHeight(0.2); + } + + public enum CoralStationsSide { + LEFT_STATION(new Pose2d(0.89, 7.32, Rotation2d.fromDegrees(-54))), + RIGHT_STATION(new Pose2d(0.89, 0.6, Rotation2d.fromDegrees(54))); + + private final Pose2d startingPose; + + CoralStationsSide(Pose2d startingPose) { + this.startingPose = startingPose; + } + } + + public static ReefscapeCoralOnFly DropFromCoralStation( + CoralStationsSide station, DriverStation.Alliance alliance, boolean isHorizontal) { + Rotation2d rot = alliance == DriverStation.Alliance.Red + ? FieldMirroringUtils.flip(station.startingPose.getRotation()) + : station.startingPose.getRotation(); + Translation2d pos = alliance == DriverStation.Alliance.Red + ? FieldMirroringUtils.flip(station.startingPose.getTranslation()) + : station.startingPose.getTranslation(); + return isHorizontal + ? new ReefscapeCoralOnFly( + pos, + new Translation2d(), + ChassisSpeeds.fromRobotRelativeSpeeds(new ChassisSpeeds(3.0, 0, 0), rot), + rot.rotateBy(Rotation2d.kCCW_90deg), + Centimeters.of(98), + MetersPerSecond.of(0), + Degrees.of(0)) + : new ReefscapeCoralOnFly( + alliance == DriverStation.Alliance.Red + ? FieldMirroringUtils.flip(station.startingPose.getTranslation()) + : station.startingPose.getTranslation(), + new Translation2d(), + new ChassisSpeeds(), + alliance == DriverStation.Alliance.Red + ? FieldMirroringUtils.flip(station.startingPose.getRotation()) + : station.startingPose.getRotation(), + Centimeters.of(98), + MetersPerSecond.of(3), + Degrees.of(-50)); + } + + @Override + public void addGamePieceAfterTouchGround(SimulatedArena simulatedArena) { + if (!super.becomesGamePieceOnGroundAfterTouchGround) return; + simulatedArena.addGamePiece(new GamePieceOnFieldSimulation( + ReefscapeCoralOnField.REEFSCAPE_CORAL_INFO, + () -> Math.max( + ReefscapeCoralOnField.REEFSCAPE_CORAL_INFO + .gamePieceHeight() + .in(Meters) + / 2, + getPositionAtTime(super.launchedTimer.get()).getZ()), + new Pose2d( + getPositionAtTime(launchedTimer.get()).toTranslation2d(), + initialLaunchingVelocityMPS.getAngle()), + super.initialLaunchingVelocityMPS)); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java new file mode 100644 index 0000000..8df4d14 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java @@ -0,0 +1,87 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.Centimeters; +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import java.util.*; +import swervelib.simulation.ironmaple.simulation.Goal; + +/** + * + * + *

Simulates a PROCESSORs on the field.

+ * + *

This class simulates a PROCESSORs on the field where ALGAEs can be scored. It + * will automatically launch the algae scored into the apposing barge and always hit. + */ +public class ReefscapeProcessorSimulation extends Goal { + + protected static final Translation3d blueProcessorPose = new Translation3d(6.34, -0.5, 0); + protected static final Translation3d redProcessorPose = new Translation3d(11.5, 8.5, 0); + protected static final Translation3d blueProcessorLaunchPose = new Translation3d(6.34, 0, 0); + protected static final Translation3d redProcessorLaunchPose = new Translation3d(11.5, 8, 0); + + StructPublisher posePublisher; + + /** + * + * + *

Creates an processor of the specified color.

+ * + * @param arena The host arena of this processor. + * @param isBlue Wether this is the blue processor or the red one. + */ + public ReefscapeProcessorSimulation(Arena2025Reefscape arena, boolean isBlue) { + super( + arena, + Centimeters.of(100), + Centimeters.of(100), + Centimeters.of(100), + "Algae", + isBlue ? blueProcessorPose : redProcessorPose, + isBlue); + + StructPublisher heldAlgaePublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueProcessor" : "RedProcessor", Pose3d.struct) + .publish(); + heldAlgaePublisher.set(new Pose3d(position, new Rotation3d())); + } + + @Override + protected void addPoints() { + arena.addValueToMatchBreakdown(isBlue, "AlgaeInProcessor", 1); + + if (isBlue) { + arena.addToScore(isBlue, 6); + this.arena.addGamePieceProjectile(new ReefscapeAlgaeOnFly( + blueProcessorLaunchPose.toTranslation2d(), + new Translation2d(), + new ChassisSpeeds(), + Rotation2d.fromDegrees(45), + Meters.of(1.7), + MetersPerSecond.of(7), + Degrees.of(45))); + } else { + arena.addToScore(isBlue, 6); + this.arena.addGamePieceProjectile(new ReefscapeAlgaeOnFly( + redProcessorLaunchPose.toTranslation2d(), + new Translation2d(), + new ChassisSpeeds(), + Rotation2d.fromDegrees(-135), + Meters.of(1.7), + MetersPerSecond.of(7), + Degrees.of(45))); + } + } + + @Override + public void draw(List drawList) { + return; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java new file mode 100644 index 0000000..89c0c0a --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java @@ -0,0 +1,220 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import static edu.wpi.first.units.Units.Centimeters; +import static edu.wpi.first.units.Units.Degrees; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.units.Units; +import edu.wpi.first.wpilibj.DriverStation; +import java.util.Arrays; +import java.util.List; +import swervelib.simulation.ironmaple.simulation.Goal; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; +import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; + +/** + * + * + *

Simulates a Reefscape branch on the field.

+ * + *

This class simulates a Reefscape branch where corals can be scored. This class should not be used directly and + * instead should be used via a {@link ReefscapeReefSimulation} which will handle an entire reef. + */ +public class ReefscapeReefBranch extends Goal { + + public final int level; + public final int column; + + public static final Translation2d origin = + new Translation2d(FieldMirroringUtils.FIELD_WIDTH / 2, FieldMirroringUtils.FIELD_HEIGHT / 2); + public static final Translation2d[] branchesCenterPositionBlue = new Translation2d[] { + new Translation2d(-4.810, 0.164).plus(origin), // A + new Translation2d(-4.810, -0.164).plus(origin), // B + new Translation2d(-4.690, -0.373).plus(origin), // C + new Translation2d(-4.406, -0.538).plus(origin), // D + new Translation2d(-4.164, -0.537).plus(origin), // E + new Translation2d(-3.879, -0.374).plus(origin), // F + new Translation2d(-3.759, -0.164).plus(origin), // G + new Translation2d(-3.759, 0.164).plus(origin), // H + new Translation2d(-3.880, 0.373).plus(origin), // I + new Translation2d(-4.164, 0.538).plus(origin), // J + new Translation2d(-4.405, 0.538).plus(origin), // K + new Translation2d(-4.690, 0.374).plus(origin) // L + }; + + public static final Translation3d[] heights = new Translation3d[] { + new Translation3d(0, 0, 0.45), + new Translation3d(0, 0, 0.79), + new Translation3d(0, 0, 1.19), + new Translation3d(0, 0, 1.78) + }; + + public static final Rotation3d flip90 = new Rotation3d(0, 0, Math.PI / 2); + + public static final Translation2d[] branchesCenterPositionRed = Arrays.stream(branchesCenterPositionBlue) + .map(FieldMirroringUtils::flip) + .toArray(Translation2d[]::new); + + public static final Rotation2d[] branchesFacingOutwardsBlue = new Rotation2d[] { + Rotation2d.fromDegrees(180), Rotation2d.fromDegrees(180), // A and B + Rotation2d.fromDegrees(240), Rotation2d.fromDegrees(240), // C and D + Rotation2d.fromDegrees(300), Rotation2d.fromDegrees(300), // E and F + Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(0), // G and H + Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(60), // I and J + Rotation2d.fromDegrees(120), Rotation2d.fromDegrees(120), // K and L + }; + + /** + * + * + *

Returns the required pose of a reef branch at the designated position.

+ * + * @param isBlue Wether the position is on the blue reef or the red reef. + * @param level The level of the reef (0 indexed). Range of 0-3. + * @param col The pole or Colum of the reef (0 indexed). Range of 0-11. + * @return The pose of a reef branch with the specified stats. + */ + public static Translation3d getPoseOfBranchAt(boolean isBlue, int level, int col) { + if (isBlue) { + return new Translation3d(branchesCenterPositionBlue[col]) + .plus(heights[level]) + .plus(new Translation3d(0.255, 0, 0).rotateBy(new Rotation3d(branchesFacingOutwardsBlue[col]))); + } else { + return new Translation3d(branchesCenterPositionRed[col]) + .plus(heights[level]) + .plus(new Translation3d(0.255, 0, 0).rotateBy(new Rotation3d(branchesFacingOutwardsRed[col]))); + } + } + + public static final Rotation2d[] branchesFacingOutwardsRed = Arrays.stream(branchesFacingOutwardsBlue) + .map(FieldMirroringUtils::flip) + .toArray(Rotation2d[]::new); + + /** + * + * + *

Creates a singular reef branch at the specified location

+ * + * @param arena The host arena of this reef. + * @param isBlue Wether the position is on the blue reef or the red reef. + * @param level The level of the reef (0 indexed). Range of 0-3. + * @param column The pole or Colum of the reef (0 indexed). Range of 0-11. + */ + public ReefscapeReefBranch(Arena2025Reefscape arena, boolean isBlue, int level, int column) { + super( + arena, + level == 0 ? Centimeters.of(30) : Centimeters.of(10), + level == 0 ? Centimeters.of(100) : Centimeters.of(10), + Centimeters.of(30), + "Coral", + getPoseOfBranchAt(isBlue, level, column), + isBlue, + level == 0 ? 2 : 1); + + if (level == 1 || level == 2) { + if (isBlue) { + setNeededAngle( + new Rotation3d(0, -35 * Math.PI / 180, branchesFacingOutwardsBlue[column].getRadians()), + Degrees.of(10)); + } else { + setNeededAngle( + new Rotation3d(0, -35 * Math.PI / 180, branchesFacingOutwardsRed[column].getRadians()), + Degrees.of(10)); + } + } else if (level == 3) { + setNeededAngle( + new Rotation3d(0, -Math.PI / 2, branchesFacingOutwardsRed[column].getRadians()), Degrees.of(10)); + } + this.level = level; + this.column = column; + } + + /** + * + * + *

Gives the pose of the reef branch.

+ * + * @return This position of this branch as a pose3d. + */ + public Pose3d getPose() { + return new Pose3d( + position, + pieceAngle != null + ? pieceAngle + : new Rotation3d(0, 0, branchesFacingOutwardsBlue[column].getRadians()).plus(flip90)); + } + + @Override + public boolean checkRotation(GamePiece gamePiece) { + if (level == 3) { + Rotation3d rotation = gamePiece.getPose3d().getRotation(); + System.out.println(Math.abs(rotation.getY() + Math.PI / 2)); + System.out.println(Math.abs(rotation.getY() - Math.PI / 2)); + + return Math.abs(rotation.getY() + Math.PI / 2) < Degrees.of(10).in(Units.Radians) + || Math.abs(rotation.getY() - Math.PI / 2) < Degrees.of(10).in(Units.Radians); + } else { + return super.checkRotation(gamePiece); + } + } + + @Override + protected void addPoints() { + System.out.println("Coral scored on level: " + (level + 1) + " on the " + (isBlue ? "Blue " : "Red") + "reef"); + arena.addValueToMatchBreakdown(isBlue, "Auto/CoralScoredInAuto", DriverStation.isAutonomous() ? 1 : 0); + arena.addValueToMatchBreakdown(isBlue, "CoralScoredOnLevel " + String.valueOf(level + 1), 1); + + if (DriverStation.isAutonomous()) { + switch (level) { + case 3: + arena.addToScore(isBlue, 7); + break; + case 2: + arena.addToScore(isBlue, 6); + break; + case 1: + arena.addToScore(isBlue, 4); + break; + case 0: + arena.addToScore(isBlue, 3); + break; + default: + throw new Error("Something has gone horribly wrong in the maplesim internal reef, level was: " + + level + " out of a supported range 0-3"); + } + } else { + switch (level) { + case 3: + arena.addToScore(isBlue, 5); + break; + case 2: + arena.addToScore(isBlue, 4); + break; + case 1: + arena.addToScore(isBlue, 3); + break; + case 0: + arena.addToScore(isBlue, 2); + break; + default: + throw new Error("Something has gone horribly wrong in the maplesim internal reef, level was: " + + level + " out of a supported range 0-3"); + } + } + } + + @Override + public void draw(List drawList) { + if (this.gamePieceCount > 0) { + drawList.add(getPose()); + } + if (this.gamePieceCount > 1) { + drawList.add(getPose().transformBy(new Transform3d(0, isBlue ? 0.12 : -0.12, 0, new Rotation3d()))); + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java new file mode 100644 index 0000000..0113e0e --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java @@ -0,0 +1,105 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructArrayPublisher; +import java.util.ArrayList; +import java.util.List; +import swervelib.simulation.ironmaple.simulation.Goal; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; + +/** + * + * + *

Simulates a REEFs on the field.

+ * + *

This class simulates a REEFs on the field where CORALs can be scored. This class + * does not directly handle scoring uses an array of {@link ReefscapeReefBranch} objects. However for all other purposes + * this class behaves and can be used like a normal goal. + */ +public class ReefscapeReefSimulation implements SimulatedArena.Simulatable { + protected final List branches; + public ReefscapeAlgaeOnField algae; + private StructArrayPublisher reefPub; + Pose3d[] branchPoses; + + /** + * + * + *

Creates an reef of the specified color.

+ * + * @param arena The host arena of this reef. + * @param isBlue Wether this is the blue reef or the red one. + */ + ReefscapeReefSimulation(Arena2025Reefscape arena, boolean isBlue) { + branches = new ArrayList(48); + branchPoses = new Pose3d[96]; + for (int tower = 0; tower < 12; tower++) { + for (int level = 0; level < 4; level++) { + branches.add(new ReefscapeReefBranch(arena, isBlue, level, tower)); + Pose3d tempPose = branches.get(branches.size() - 1).getPose(); + + branchPoses[2 * (tower * 4 + level)] = tempPose; + + branchPoses[2 * (tower * 4 + level) + 1] = + new Pose3d(tempPose.getTranslation(), Goal.flipRotation(tempPose.getRotation())); + } + } + reefPub = NetworkTableInstance.getDefault() + .getStructArrayTopic(isBlue ? "BlueReef" : "RedReef", Pose3d.struct) + .publish(); + + reefPub.set(branchPoses); + } + + public void draw(List coralPosesToDisplay) { + for (ReefscapeReefBranch branch : branches) { + branch.draw(coralPosesToDisplay); + } + } + + @Override + public void simulationSubTick(int subTickNum) { + for (ReefscapeReefBranch branch : branches) { + branch.simulationSubTick(subTickNum); + } + } + + /** + * + * + *

Resets the reef to its original state.

+ */ + public void clearReef() { + for (ReefscapeReefBranch branch : branches) { + branch.clear(); + } + } + + /** + * Obtains the amount of CORAL held on the BRANCHES. + * + *

This method returns a 2D array of size 12 x 4, where each entry represents the number of + * CORALs held on a particular branch. + * + *

The BRANCHES are tracked in FMS as A, B, C, D, E, F, G, H, I, J, K, L (as per the game + * manual), and are mapped to indices 0, 1, 2, ... in the array. + * + *

The [i][j] entry in the array represents the number of CORAL(s) held on the Lj-1 + * branch in the ith section. + * + *

For example, getBranches()[2][3] returns the number of CORALs held on L4 of Branch C. + * + *

Note that L2, L3, and L4 can only hold one CORAL, while L1 can hold up to two + * CORALs. + * + * @return a 2D array where each entry represents the number of CORAL held on each branch + */ + public int[][] getBranches() { + int[][] toReturn = new int[12][4]; + for (ReefscapeReefBranch branch : branches) { + toReturn[branch.column][branch.level] = branch.getGamePieceCount(); + } + return toReturn; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java b/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java new file mode 100644 index 0000000..aeb3218 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java @@ -0,0 +1,55 @@ +package swervelib.simulation.ironmaple.utils; + +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.Translation3d; +import edu.wpi.first.wpilibj.DriverStation; +import java.util.Optional; + +public class FieldMirroringUtils { + public static final double FIELD_WIDTH = 17.548; + public static final double FIELD_HEIGHT = 8.052; + + public static Rotation2d toCurrentAllianceRotation(Rotation2d rotationAtBlueSide) { + return isSidePresentedAsRed() ? flip(rotationAtBlueSide) : rotationAtBlueSide; + } + + public static Rotation2d flip(Rotation2d rotation) { + return rotation.plus(Rotation2d.k180deg); + } + + public static Translation2d toCurrentAllianceTranslation(Translation2d translationAtBlueSide) { + return isSidePresentedAsRed() ? flip(translationAtBlueSide) : translationAtBlueSide; + } + + public static Translation2d flip(Translation2d translation) { + return new Translation2d(FIELD_WIDTH - translation.getX(), FIELD_HEIGHT - translation.getY()); + } + + public static Translation3d toCurrentAllianceTranslation(Translation3d translation3dAtBlueSide) { + final Translation2d translation3dAtCurrentAlliance = + toCurrentAllianceTranslation(translation3dAtBlueSide.toTranslation2d()); + if (isSidePresentedAsRed()) + return new Translation3d( + translation3dAtCurrentAlliance.getX(), + translation3dAtCurrentAlliance.getY(), + translation3dAtBlueSide.getZ()); + return translation3dAtBlueSide; + } + + public static Pose2d toCurrentAlliancePose(Pose2d poseAtBlueSide) { + return new Pose2d( + toCurrentAllianceTranslation(poseAtBlueSide.getTranslation()), + toCurrentAllianceRotation(poseAtBlueSide.getRotation())); + } + + public static boolean isSidePresentedAsRed() { + final Optional alliance = DriverStation.getAlliance(); + return alliance.isPresent() && alliance.get().equals(DriverStation.Alliance.Red); + } + + public static Rotation2d getCurrentAllianceDriverStationFacing() { + return toCurrentAllianceRotation(Rotation2d.kZero); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java b/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java new file mode 100644 index 0000000..9618877 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java @@ -0,0 +1,61 @@ +package swervelib.simulation.ironmaple.utils; + +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.Translation3d; +import edu.wpi.first.wpilibj.DriverStation; +import java.util.Optional; +import java.util.function.Supplier; + +public class LegacyFieldMirroringUtils2024 { + public static final double FIELD_WIDTH = 16.54; + public static final double FIELD_HEIGHT = 8.21; + + public static final Translation3d SPEAKER_POSE_BLUE = new Translation3d(0.1, 5.55, 2.2); + + public static final Supplier SPEAKER_POSITION_SUPPLIER = + () -> toCurrentAllianceTranslation(SPEAKER_POSE_BLUE.toTranslation2d()); + + public static Rotation2d toCurrentAllianceRotation(Rotation2d rotationAtBlueSide) { + final Rotation2d yAxis = Rotation2d.fromDegrees(90), + differenceFromYAxisAtBlueSide = rotationAtBlueSide.minus(yAxis), + differenceFromYAxisNew = differenceFromYAxisAtBlueSide.times(isSidePresentedAsRed() ? -1 : 1); + return yAxis.rotateBy(differenceFromYAxisNew); + } + + public static Translation2d toCurrentAllianceTranslation(Translation2d translationAtBlueSide) { + if (isSidePresentedAsRed()) + return new Translation2d(FIELD_WIDTH - translationAtBlueSide.getX(), translationAtBlueSide.getY()); + return translationAtBlueSide; + } + + public static Translation3d toCurrentAllianceTranslation(Translation3d translation3dAtBlueSide) { + final Translation2d translation3dAtCurrentAlliance = + toCurrentAllianceTranslation(translation3dAtBlueSide.toTranslation2d()); + if (isSidePresentedAsRed()) + return new Translation3d( + translation3dAtCurrentAlliance.getX(), + translation3dAtCurrentAlliance.getY(), + translation3dAtBlueSide.getZ()); + return translation3dAtBlueSide; + } + + public static Pose2d toCurrentAlliancePose(Pose2d poseAtBlueSide) { + return new Pose2d( + toCurrentAllianceTranslation(poseAtBlueSide.getTranslation()), + toCurrentAllianceRotation(poseAtBlueSide.getRotation())); + } + + public static boolean isSidePresentedAsRed() { + final Optional alliance = DriverStation.getAlliance(); + return alliance.isPresent() && alliance.get().equals(DriverStation.Alliance.Red); + } + + public static Rotation2d getCurrentAllianceDriverStationFacing() { + return switch (DriverStation.getAlliance().orElse(DriverStation.Alliance.Red)) { + case Red -> new Rotation2d(Math.PI); + case Blue -> new Rotation2d(0); + }; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java new file mode 100644 index 0000000..52ffbf9 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java @@ -0,0 +1,53 @@ +package swervelib.simulation.ironmaple.utils.mathutils; + +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.kinematics.ChassisSpeeds; +import org.dyn4j.geometry.Rotation; +import org.dyn4j.geometry.Transform; +import org.dyn4j.geometry.Vector2; + +/** utils to convert between WPILIB and dyn4j geometry classes */ +public class GeometryConvertor { + public static Vector2 toDyn4jVector2(Translation2d wpilibTranslation2d) { + return new Vector2(wpilibTranslation2d.getX(), wpilibTranslation2d.getY()); + } + + public static Translation2d toWpilibTranslation2d(Vector2 dyn4jVector2) { + return new Translation2d(dyn4jVector2.x, dyn4jVector2.y); + } + + public static Rotation toDyn4jRotation(Rotation2d wpilibRotation2d) { + return new Rotation(wpilibRotation2d.getRadians()); + } + + public static Rotation2d toWpilibRotation2d(Rotation dyn4jRotation) { + return new Rotation2d(dyn4jRotation.toRadians()); + } + + public static Transform toDyn4jTransform(Pose2d wpilibPose2d) { + final Transform transform = new Transform(); + transform.setTranslation(toDyn4jVector2(wpilibPose2d.getTranslation())); + transform.setRotation(toDyn4jRotation(wpilibPose2d.getRotation())); + return transform; + } + + public static Pose2d toWpilibPose2d(Transform dyn4jTransform) { + return new Pose2d( + toWpilibTranslation2d(dyn4jTransform.getTranslation()), + toWpilibRotation2d(dyn4jTransform.getRotation())); + } + + public static Vector2 toDyn4jLinearVelocity(ChassisSpeeds wpilibChassisSpeeds) { + return new Vector2(wpilibChassisSpeeds.vxMetersPerSecond, wpilibChassisSpeeds.vyMetersPerSecond); + } + + public static ChassisSpeeds toWpilibChassisSpeeds(Vector2 dyn4jLinearVelocity, double angularVelocityRadPerSec) { + return new ChassisSpeeds(dyn4jLinearVelocity.x, dyn4jLinearVelocity.y, angularVelocityRadPerSec); + } + + public static Translation2d getChassisSpeedsTranslationalComponent(ChassisSpeeds chassisSpeeds) { + return new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java new file mode 100644 index 0000000..9ade923 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java @@ -0,0 +1,61 @@ +package swervelib.simulation.ironmaple.utils.mathutils; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import java.util.Random; + +public class MapleCommonMath { + private static final Random random = new Random(); + + /** + * using the random number generator of a fixed seed, generate the next random normal variable + * + * @param mean the center of the distribution + * @param stdDev the standard deviation of the distribution + * @return the next random variable x from the distribution + */ + public static double generateRandomNormal(double mean, double stdDev) { + double u1 = random.nextDouble(); + double u2 = random.nextDouble(); + // Box–Muller transform https://en.wikipedia.org/wiki/Box%E2%80%93Muller_transform + double z0 = Math.sqrt(-2.0 * Math.log(u1)) * Math.cos(2.0 * Math.PI * u2); + return z0 * stdDev + mean; + } + + /** + * + * + *

Constrains the magnitude of a value.

+ * + * @param value the value to constrain + * @param maxMagnitude the maximum allowed magnitude + * @return the constrained value + */ + public static double constrainMagnitude(double value, double maxMagnitude) { + return Math.copySign(Math.min(Math.abs(value), Math.abs(maxMagnitude)), value); + } + + public static double linearInterpretationWithBounding(double x1, double y1, double x2, double y2, double x) { + final double minX = Math.min(x1, x2), maxX = Math.max(x1, x2); + return linearInterpretation(x1, y1, x2, y2, Math.min(maxX, Math.max(minX, x))); + } + + public static double linearInterpretation(double x1, double y1, double x2, double y2, double x) { + return y1 + (x - x1) * (y2 - y1) / (x2 - x1); + } + + /** + * + * + *

Obtains the angle of a translation, ignores zero translation.

+ * + *

This prevents the driver-station from throwing a bunch of "x and y components of Rotation2d are zero" warning. + * + * @param translation2d the translation + * @return the angle of the translation, or zero if the translation is zero + */ + public static Rotation2d getAngle(Translation2d translation2d) { + final double tooSmall = 1e-6; + return translation2d.getNorm() < tooSmall ? Rotation2d.fromDegrees(0) : translation2d.getAngle(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java new file mode 100644 index 0000000..0a31e76 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java @@ -0,0 +1,26 @@ +// Created by Team 5516 https://github.com/Shenzhen-Robotics-Alliance/ using ChatGPT4o +package swervelib.simulation.ironmaple.utils.mathutils; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; + +public class SwerveStateProjection { + /** + * Projects the swerve module speed onto the direction of the current swerve facing. + * + * @param swerveSpeed The current speed and direction of the swerve module. + * @param currentSwerveFacing The desired direction to project onto. + * @return The projected speed in the direction of currentSwerveFacing. + */ + public static double project(SwerveModuleState swerveSpeed, Rotation2d currentSwerveFacing) { + // Get the angle of the swerve module's current direction + Rotation2d swerveModuleAngle = swerveSpeed.angle; + + // Calculate the cosine of the angle difference between swerve module direction and the desired + // direction + double cosTheta = Math.cos(swerveModuleAngle.minus(currentSwerveFacing).getRadians()); + + // Scale the speed by the cosine value to get the projection + return swerveSpeed.speedMetersPerSecond * cosTheta; + } +} From 8bbdcd40f4aeaf16c4ba636d2bd876052932ca00 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Mon, 5 Jan 2026 15:17:56 -0600 Subject: [PATCH 02/62] Added navx3 support. --- yagsl/java/swervelib/imu/NavX3Swerve.java | 174 ++++++++++++++++++ .../swervelib/parser/json/DeviceJson.java | 3 + 2 files changed, 177 insertions(+) create mode 100644 yagsl/java/swervelib/imu/NavX3Swerve.java diff --git a/yagsl/java/swervelib/imu/NavX3Swerve.java b/yagsl/java/swervelib/imu/NavX3Swerve.java new file mode 100644 index 0000000..c748f05 --- /dev/null +++ b/yagsl/java/swervelib/imu/NavX3Swerve.java @@ -0,0 +1,174 @@ +package swervelib.imu; + +import static edu.wpi.first.units.Units.Degree; +import static edu.wpi.first.units.Units.DegreesPerSecond; +import static edu.wpi.first.units.Units.Milliseconds; + +import com.studica.frc.AHRS; +import com.studica.frc.AHRS.NavXComType; +import com.studica.frc.Navx; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.units.measure.MutAngularVelocity; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.Timer; +import java.util.Optional; + +/** + * Communicates with the NavX({@link AHRS}) as the IMU. + */ +public class NavX3Swerve extends SwerveIMU +{ + + /** + * Mutable {@link MutAngularVelocity} for readings. + */ + private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond); + /** + * NavX IMU. + */ + private Navx imu; + /** + * Offset for the NavX. + */ + private Rotation3d offset = new Rotation3d(); + /** + * An {@link Alert} for if there is an error instantiating the NavX. + */ + private Alert navXError; + /** + * Inversion state of the {@link AHRS}. + */ + private boolean inverted = false; + + /** + * Constructor for the NavX({@link com.studica.frc.Navx}) swerve. + * + * @param canid CAN ID of the NavX3. + */ + public NavX3Swerve(int canid) + { + navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); + try + { + imu = new Navx(canid); + for(int i = 0; i < 4; i++) + { + if (imu.start() == 0) + break; + Timer.delay(Milliseconds.of(5)); + } + + } catch (RuntimeException ex) + { + navXError.setText("Error instantiating NavX: " + ex.getMessage()); + navXError.set(true); + } + } + + @Override + public void close() + { +// imu.close(); + } + + /** + * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be + * too slow. + */ + @Override + public void factoryDefault() + { + // gyro.reset(); // Reported to be slow + offset = new Rotation3d(Degree.of(imu.getRoll()), Degree.of(imu.getPitch()), Degree.of(imu.getYaw())); + } + + /** + * Clear sticky faults on IMU. + */ + @Override + public void clearStickyFaults() + { + } + + /** + * Set the gyro offset. + * + * @param offset gyro offset as a {@link Rotation3d}. + */ + public void setOffset(Rotation3d offset) + { + this.offset = offset; + } + + /** + * Set the gyro to invert its default direction + * + * @param invertIMU invert gyro direction + */ + public void setInverted(boolean invertIMU) + { + inverted = invertIMU; +// setOffset(getRawRotation3d()); + } + + private Rotation3d negate(Rotation3d rot) { + return new Rotation3d(-rot.getX(), -rot.getY(), -rot.getZ()); + } + + /** + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRawRotation3d() + { + Rotation3d rotation = new Rotation3d(Degree.of(imu.getRoll()), Degree.of(imu.getPitch()), Degree.of(imu.getYaw())); + return inverted ? negate(rotation) : rotation; + } + + /** + * Fetch the {@link Rotation3d} from the IMU. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRotation3d() + { + return getRawRotation3d().rotateBy(offset.unaryMinus()); + } + + /** + * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns + * empty. + * + * @return {@link Translation3d} of the acceleration as an {@link Optional}. + */ + @Override + public Optional getAccel() + { + return Optional.empty(); + } + + @Override + public MutAngularVelocity getYawAngularVelocity() + { + // x, y, z + float[] angularVelocity = {0,0,0}; + imu.getAngularVel(angularVelocity); + return yawVel.mut_setMagnitude(angularVelocity[2]); + } + + /** + * Get the instantiated NavX({@link AHRS}) IMU object. + * + * @return IMU object. + */ + @Override + public Object getIMU() + { + return imu; + } +} diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index 3dadc69..be047e4 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -23,6 +23,7 @@ import swervelib.imu.ADXRS450Swerve; import swervelib.imu.AnalogGyroSwerve; //import swervelib.imu.CanandgyroSwerve; +import swervelib.imu.NavX3Swerve; import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.PigeonSwerve; @@ -158,6 +159,8 @@ public SwerveIMU createIMU() case "navx": case "navx_spi": return new NavXSwerve(NavXComType.kMXP_SPI); + case "navx3": + return new NavX3Swerve(id); case "navx_i2c": DriverStation.reportWarning( "WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " + From 824d2a86fa2b337b1a880611cdc6fc05650c1354 Mon Sep 17 00:00:00 2001 From: twisterjafla <122408604+twisterjafla@users.noreply.github.com> Date: Thu, 8 Jan 2026 15:17:02 -0700 Subject: [PATCH 03/62] Update README.md Fixed the vendor dep link --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 611b5a0..e488ec6 100644 --- a/README.md +++ b/README.md @@ -16,7 +16,7 @@ used in both TimedRobot and Command-Based Robot templates. Vendor URL: ``` -https://yet-another-software-suite.github.io/YAGSL/yagsl/yagsl.json +https://yet-another-software-suite.github.io/YAGSL/yagsl.json ``` [Javadocs here](https://yet-another-software-suite.github.io/YAGSL/javadocs/) @@ -73,4 +73,4 @@ SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory( # Special Thanks to Team 7900! Trial N' Terror Without the debugging and aid of Team 7900 the project could never be as stable or active as it is. -Falcon Support would not have been possible without support from Team 1466 Webb Robotics! \ No newline at end of file +Falcon Support would not have been possible without support from Team 1466 Webb Robotics! From 5a4852da0b67764876846a282478177151749645 Mon Sep 17 00:00:00 2001 From: twisterjafla <122408604+twisterjafla@users.noreply.github.com> Date: Thu, 8 Jan 2026 15:24:14 -0700 Subject: [PATCH 04/62] Update README.md (#7) --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 611b5a0..e488ec6 100644 --- a/README.md +++ b/README.md @@ -16,7 +16,7 @@ used in both TimedRobot and Command-Based Robot templates. Vendor URL: ``` -https://yet-another-software-suite.github.io/YAGSL/yagsl/yagsl.json +https://yet-another-software-suite.github.io/YAGSL/yagsl.json ``` [Javadocs here](https://yet-another-software-suite.github.io/YAGSL/javadocs/) @@ -73,4 +73,4 @@ SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory( # Special Thanks to Team 7900! Trial N' Terror Without the debugging and aid of Team 7900 the project could never be as stable or active as it is. -Falcon Support would not have been possible without support from Team 1466 Webb Robotics! \ No newline at end of file +Falcon Support would not have been possible without support from Team 1466 Webb Robotics! From fa368c4c56c85c37d5e74d3bbfb413bd5b386111 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sun, 11 Jan 2026 17:03:58 -0600 Subject: [PATCH 05/62] 2026 official build. --- examples/drivebase_only/.gitignore | 182 - .../drivebase_only/.pathplanner/settings.json | 15 - ...Build & Deploy Robot for Debugging.run.xml | 48 - .../.run/Build & Deploy Robot.run.xml | 48 - .../drivebase_only/.run/Build Robot.run.xml | 48 - ...Build & Deploy Robot for Debugging.run.xml | 50 - .../.run/Clean Build & Deploy Robot.run.xml | 50 - .../.run/Clean Build Robot.run.xml | 50 - examples/drivebase_only/.run/Clean.run.xml | 46 - .../.run/Debug Robot via IP.run.xml | 16 - .../.run/Debug Robot via USB.run.xml | 12 - .../drivebase_only/.styles/BroncBotzStyle.xml | 601 -- examples/drivebase_only/.vscode/launch.json | 21 - examples/drivebase_only/.vscode/settings.json | 29 - .../.wpilib/wpilib_preferences.json | 6 - examples/drivebase_only/LICENSE.txt | 201 - examples/drivebase_only/README.md | 115 - examples/drivebase_only/build.gradle | 114 - .../gradle/wrapper/gradle-wrapper.jar | Bin 43583 -> 0 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 - examples/drivebase_only/gradlew | 252 - examples/drivebase_only/gradlew.bat | 94 - examples/drivebase_only/networktables.json | 1 - examples/drivebase_only/settings.gradle | 30 - examples/drivebase_only/simgui.json | 142 - .../src/main/deploy/example.txt | 3 - .../main/deploy/pathplanner/SamplePath.path | 76 - .../deploy/pathplanner/autos/New Auto.auto | 19 - .../generatedJSON/New Path.wpilib.json | 9002 ----------------- .../generatedJSON/SamplePath.wpilib.json | 9002 ----------------- .../src/main/deploy/pathplanner/navgrid.json | 1656 --- .../deploy/pathplanner/paths/New Path.path | 70 - .../src/main/deploy/pathplanner/settings.json | 32 - .../swerve/falcon/controllerproperties.json | 8 - .../swerve/falcon/modules/backleft.json | 26 - .../swerve/falcon/modules/backright.json | 26 - .../swerve/falcon/modules/frontleft.json | 26 - .../swerve/falcon/modules/frontright.json | 26 - .../falcon/modules/physicalproperties.json | 23 - .../swerve/falcon/modules/pidfproperties.json | 16 - .../deploy/swerve/falcon/swervedrive.json | 15 - .../maxSwerve/controllerproperties.json | 8 - .../swerve/maxSwerve/modules/backleft.json | 27 - .../swerve/maxSwerve/modules/backright.json | 27 - .../swerve/maxSwerve/modules/frontleft.json | 27 - .../swerve/maxSwerve/modules/frontright.json | 27 - .../maxSwerve/modules/physicalproperties.json | 23 - .../maxSwerve/modules/pidfproperties.json | 16 - .../deploy/swerve/maxSwerve/swervedrive.json | 14 - .../swerve/neo/controllerproperties.json | 8 - .../deploy/swerve/neo/modules/backleft.json | 26 - .../deploy/swerve/neo/modules/backright.json | 26 - .../deploy/swerve/neo/modules/frontleft.json | 26 - .../deploy/swerve/neo/modules/frontright.json | 26 - .../neo/modules/physicalproperties.json | 23 - .../swerve/neo/modules/pidfproperties.json | 16 - .../main/deploy/swerve/neo/swervedrive.json | 15 - .../src/main/java/frc/robot/Constants.java | 51 - .../src/main/java/frc/robot/Main.java | 29 - .../src/main/java/frc/robot/Robot.java | 178 - .../main/java/frc/robot/RobotContainer.java | 199 - .../swervedrive/auto/AutoBalanceCommand.java | 86 - .../swervedrive/drivebase/AbsoluteDrive.java | 120 - .../drivebase/AbsoluteDriveAdv.java | 154 - .../drivebase/AbsoluteFieldDrive.java | 95 - .../swervedrive/SwerveSubsystem.java | 486 - .../drivebase_only/vendordeps/REVLib.json | 133 - .../vendordeps/Studica-2026.0.0-beta.json | 71 - .../drivebase_only/vendordeps/StudicaLib.json | 71 - .../drivebase_only/vendordeps/ThriftyLib.json | 20 - .../vendordeps/WPILibNewCommands.json | 39 - examples/drivebase_only_2026/build.gradle | 2 +- .../src/main/java/frc/robot/Robot.java | 2 +- .../vendordeps/PathplannerLib-2026.1.2.json | 38 + ...eta-1.json => Phoenix5-replay-5.36.0.json} | 44 +- .../Phoenix6-replay-26.0.0-beta-1.json | 453 - .../vendordeps/Phoenix6-replay-26.1.0.json} | 114 +- 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drivebase_only_2026/vendordeps/Phoenix6-replay-26.1.0.json} (83%) delete mode 100644 examples/drivebase_only_2026/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/drivebase_only_2026/vendordeps/StudicaLib.json delete mode 100644 examples/drivebase_only_2026/vendordeps/ThriftyLib.json create mode 100644 examples/field_oriented_drivebase/vendordeps/PathplannerLib-2026.1.2.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename examples/{drivebase_only/vendordeps/Phoenix5-replay-5.36.0-beta-1.json => field_oriented_drivebase/vendordeps/Phoenix5-replay-5.36.0.json} (86%) rename examples/{drivebase_only/vendordeps/Phoenix6-replay-26.0.0-beta-1.json => field_oriented_drivebase/vendordeps/Phoenix6-replay-26.1.0.json} (83%) delete mode 100644 examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/StudicaLib.json delete mode 100644 examples/field_oriented_drivebase/vendordeps/ThriftyLib.json diff --git a/examples/drivebase_only/.gitignore b/examples/drivebase_only/.gitignore deleted file mode 100644 index 8300c07..0000000 --- a/examples/drivebase_only/.gitignore +++ /dev/null @@ -1,182 +0,0 @@ -# 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 data log directory -logs/ - -simgui-window.json -simgui-ds.json - -# Folder that has CTRE Phoenix Sim device config storage -ctre_sim/ - -# clangd -/.cache -compile_commands.json diff --git a/examples/drivebase_only/.pathplanner/settings.json b/examples/drivebase_only/.pathplanner/settings.json deleted file mode 100644 index ca9c059..0000000 --- a/examples/drivebase_only/.pathplanner/settings.json +++ /dev/null @@ -1,15 +0,0 @@ -{ - "robotWidth": 0.9, - "robotLength": 0.9, - "holonomicMode": true, - "pathFolders": [ - "New Folder" - ], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, - "maxModuleSpeed": 4.5, - "choreoProjectPath": null -} \ No newline at end of file diff --git a/examples/drivebase_only/.run/Build & Deploy Robot for Debugging.run.xml b/examples/drivebase_only/.run/Build & Deploy Robot for Debugging.run.xml deleted file mode 100644 index f40df3e..0000000 --- a/examples/drivebase_only/.run/Build & Deploy Robot for Debugging.run.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Build & Deploy Robot.run.xml b/examples/drivebase_only/.run/Build & Deploy Robot.run.xml deleted file mode 100644 index 0464963..0000000 --- a/examples/drivebase_only/.run/Build & Deploy Robot.run.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Build Robot.run.xml b/examples/drivebase_only/.run/Build Robot.run.xml deleted file mode 100644 index 50099e3..0000000 --- a/examples/drivebase_only/.run/Build Robot.run.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Clean Build & Deploy Robot for Debugging.run.xml b/examples/drivebase_only/.run/Clean Build & Deploy Robot for Debugging.run.xml deleted file mode 100644 index 4b8585a..0000000 --- a/examples/drivebase_only/.run/Clean Build & Deploy Robot for Debugging.run.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Clean Build & Deploy Robot.run.xml b/examples/drivebase_only/.run/Clean Build & Deploy Robot.run.xml deleted file mode 100644 index 618aefd..0000000 --- a/examples/drivebase_only/.run/Clean Build & Deploy Robot.run.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Clean Build Robot.run.xml b/examples/drivebase_only/.run/Clean Build Robot.run.xml deleted file mode 100644 index f0dac4e..0000000 --- a/examples/drivebase_only/.run/Clean Build Robot.run.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Clean.run.xml b/examples/drivebase_only/.run/Clean.run.xml deleted file mode 100644 index b992246..0000000 --- a/examples/drivebase_only/.run/Clean.run.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - false - true - true - - - - - false - - - - false - true - true - - - - - false - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Debug Robot via IP.run.xml b/examples/drivebase_only/.run/Debug Robot via IP.run.xml deleted file mode 100644 index c553ddb..0000000 --- a/examples/drivebase_only/.run/Debug Robot via IP.run.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - \ No newline at end of file diff --git a/examples/drivebase_only/.run/Debug Robot via USB.run.xml b/examples/drivebase_only/.run/Debug Robot via USB.run.xml deleted file mode 100644 index e6ff4b0..0000000 --- a/examples/drivebase_only/.run/Debug Robot via USB.run.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/examples/drivebase_only/.styles/BroncBotzStyle.xml b/examples/drivebase_only/.styles/BroncBotzStyle.xml deleted file mode 100644 index dab66c9..0000000 --- a/examples/drivebase_only/.styles/BroncBotzStyle.xml +++ /dev/null @@ -1,601 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - xmlns:android - - ^$ - - - -
-
- - - - xmlns:.* - - ^$ - - - BY_NAME - -
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- - - - .*:id - - http://schemas.android.com/apk/res/android - - - -
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* - * @param AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG the average amount of drift, in degrees, the gyro experiences - * if it remains motionless for 30 seconds on a vibrating platform. This value can often be found in the user - * manual. + * @param AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG the average amount of drift, in degrees, the gyro experiences + * if it remains motionless for 30 seconds on a vibrating platform. This value can often be found in the user + * manual. * @param VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT the standard deviation of the velocity measurement, - * typically around 0.05 + * typically around 0.05 */ public GyroSimulation( double AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG, double VELOCITY_MEASUREMENT_STANDARD_DEVIATION_PERCENT) { @@ -115,12 +116,12 @@ public Rotation2d[] getCachedGyroReadings() { * *

This method updates the gyro simulation and should be called during every sub-tick of the simulation. * - *

If you are using this class outside of {@link SimulatedArena}: make sure to call it 5 + *

If you are using this class outside of {@link swervelib.simulation.ironmaple.simulation.SimulatedArena}: make sure to call it 5 * times in each robot period (if using default timings), or refer to - * {@link SimulatedArena#overrideSimulationTimings(Time, int)}. + * {@link swervelib.simulation.ironmaple.simulation.SimulatedArena#overrideSimulationTimings(Time, int)}. * * @param actualAngularVelocityRadPerSec the actual angular velocity in radians per second, usually obtained from - * {@link AbstractDriveTrainSimulation#getAngularVelocity()} + * {@link AbstractDriveTrainSimulation#getAngularVelocity()} */ public void updateSimulationSubTick(double actualAngularVelocityRadPerSec) { final Rotation2d driftingDueToImpact = getDriftingDueToImpact(actualAngularVelocityRadPerSec); @@ -145,20 +146,20 @@ public void updateSimulationSubTick(double actualAngularVelocityRadPerSec) { * exceeds a threshold, simulating the effects of impacts on the robot. * * @param actualAngularVelocityRadPerSec the actual angular velocity in radians per second, used to determine if an - * impact is detected + * impact is detected * @return the amount of drifting the IMU will experience if an impact is detected, or - * Rotation2d.fromRadians(0) if no impact is detected + * Rotation2d.fromRadians(0) if no impact is detected */ private Rotation2d getDriftingDueToImpact(double actualAngularVelocityRadPerSec) { final double angularAccelerationRadPerSecSq = - (actualAngularVelocityRadPerSec - previousAngularVelocityRadPerSec) - / SimulatedArena.getSimulationDt().in(Seconds), + (actualAngularVelocityRadPerSec - previousAngularVelocityRadPerSec) + / SimulatedArena.getSimulationDt().in(Seconds), driftingDueToImpactDegAbsVal = Math.abs(angularAccelerationRadPerSecSq) > ANGULAR_ACCELERATION_THRESHOLD_START_DRIFTING ? Math.abs(angularAccelerationRadPerSecSq) - / ANGULAR_ACCELERATION_THRESHOLD_START_DRIFTING - * DRIFT_DUE_TO_IMPACT_COEFFICIENT + / ANGULAR_ACCELERATION_THRESHOLD_START_DRIFTING + * DRIFT_DUE_TO_IMPACT_COEFFICIENT : 0, driftingDueToImpactDeg = Math.copySign(driftingDueToImpactDegAbsVal, -angularAccelerationRadPerSecSq); @@ -178,7 +179,7 @@ private Rotation2d getDriftingDueToImpact(double actualAngularVelocityRadPerSec) *

The measurement includes random errors based on the configuration of the gyro. * * @param actualAngularVelocityRadPerSec the actual angular velocity in radians per second, used to calculate the - * ΔTheta + * ΔTheta * @return the measured ΔTheta, including any measurement errors */ private Rotation2d getGyroDTheta(double actualAngularVelocityRadPerSec) { @@ -202,9 +203,9 @@ private Rotation2d getGyroDTheta(double actualAngularVelocityRadPerSec) { private Rotation2d getNoMotionDrifting() { final double AVERAGE_DRIFTING_1_PERIOD = - this.AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG - / 30 - * SimulatedArena.getSimulationDt().in(Seconds), + this.AVERAGE_DRIFTING_IN_30_SECS_MOTIONLESS_DEG + / 30 + * SimulatedArena.getSimulationDt().in(Seconds), driftingInThisPeriod = MapleCommonMath.generateRandomNormal(0, AVERAGE_DRIFTING_1_PERIOD); return Rotation2d.fromDegrees(driftingInThisPeriod); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java index 906c96d..d0d4344 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.java @@ -1,7 +1,5 @@ package swervelib.simulation.ironmaple.simulation.drivesims; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.Matrix; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.controller.PIDController; @@ -9,17 +7,23 @@ 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.kinematics.*; +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.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.units.measure.*; import edu.wpi.first.wpilibj.Timer; -import java.util.Arrays; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController; import swervelib.simulation.ironmaple.utils.mathutils.SwerveStateProjection; +import java.util.Arrays; + +import static edu.wpi.first.units.Units.*; + /** * * @@ -66,8 +70,8 @@ public SelfControlledSwerveDriveSimulation(SwerveDriveSimulation swerveDriveSimu *

Constructs a simplified swerve simulation with specified standard deviations for odometry & vision pose * estimates. * - * @param swerveDriveSimulation the {@link SwerveDriveSimulation} to control. - * @param stateStdDevs the standard deviations for odometry encoders. + * @param swerveDriveSimulation the {@link SwerveDriveSimulation} to control. + * @param stateStdDevs the standard deviations for odometry encoders. * @param visionMeasurementStdDevs the standard deviations for vision pose estimates. */ public SelfControlledSwerveDriveSimulation( @@ -108,7 +112,7 @@ public void periodic() { poseEstimator.updateWithTime( Timer.getFPGATimestamp() - SimulatedArena.getSimulationDt().in(Seconds) - * (SimulatedArena.getSimulationDt().in(Seconds) - i), + * (SimulatedArena.getSimulationDt().in(Seconds) - i), swerveDriveSimulation.gyroSimulation.getCachedGyroReadings()[i], cachedModulePositions[i]); } @@ -172,9 +176,9 @@ public SwerveModulePosition[][] getCachedModulePositions() { *

To obtain the facing of the robot retrieved from the odometry, use {@link #getOdometryEstimatedPose()}; to * obtain the actual facing of the robot, use {@link #getActualPoseInSimulationWorld()}. * - * @deprecated This rotation is NOT the actual facing of the robot; it is uncalibrated and is only - * used for features like rotation lock. * @return the raw (uncalibrated) angle of the simulated gyro. + * @deprecated This rotation is NOT the actual facing of the robot; it is uncalibrated and is only + * used for features like rotation lock. */ @Deprecated public Rotation2d getRawGyroAngle() { @@ -228,7 +232,7 @@ public void resetOdometry(Pose2d pose) { *

Adds a vision measurement to the Kalman Filter, correcting the odometry pose estimate while accounting for * measurement noise. * - * @param robotPoseMeters The pose of the robot as measured by the vision camera. + * @param robotPoseMeters The pose of the robot as measured by the vision camera. * @param timeStampSeconds The timestamp of the vision measurement, in seconds. */ public void addVisionEstimation(Pose2d robotPoseMeters, double timeStampSeconds) { @@ -245,10 +249,10 @@ public void addVisionEstimation(Pose2d robotPoseMeters, double timeStampSeconds) *

Adds a vision measurement to the Kalman Filter, correcting the odometry pose estimate while accounting for * measurement noise. * - * @param robotPoseMeters The pose of the robot as measured by the vision camera. - * @param timeStampSeconds The timestamp of the vision measurement, in seconds. + * @param robotPoseMeters The pose of the robot as measured by the vision camera. + * @param timeStampSeconds The timestamp of the vision measurement, in seconds. * @param measurementStdDevs Standard deviations of the vision pose measurement (x position in meters, y position in - * meters, and heading in radians). Increase these values to reduce the trust in the vision pose measurement. + * meters, and heading in radians). Increase these values to reduce the trust in the vision pose measurement. */ public void addVisionEstimation( Pose2d robotPoseMeters, double timeStampSeconds, Matrix measurementStdDevs) { @@ -262,13 +266,13 @@ public void addVisionEstimation( * *

Runs the specified chassis speeds, either robot-centric or field-centric. * - * @param chassisSpeeds The speeds to run, in either robot-centric or field-centric coordinates. + * @param chassisSpeeds The speeds to run, in either robot-centric or field-centric coordinates. * @param centerOfRotationMeters The center of rotation. For example, if you set the center of rotation at one - * corner of the robot and provide a chassis speed that has only a dtheta component, the robot will rotate - * around that corner. - * @param fieldCentricDrive Whether to execute field-centric drive with the provided speed. - * @param discretizeSpeeds Whether to apply {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} to the provided - * speed. + * corner of the robot and provide a chassis speed that has only a dtheta component, the robot will rotate + * around that corner. + * @param fieldCentricDrive Whether to execute field-centric drive with the provided speed. + * @param discretizeSpeeds Whether to apply {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} to the provided + * speed. */ public void runChassisSpeeds( ChassisSpeeds chassisSpeeds, @@ -369,9 +373,9 @@ public ChassisSpeeds getMeasuredSpeedsRobotRelative(boolean useGyroForAngularVel swerveSpeeds.vyMetersPerSecond, useGyroForAngularVelocity ? swerveDriveSimulation - .gyroSimulation - .getMeasuredAngularVelocity() - .in(RadiansPerSecond) + .gyroSimulation + .getMeasuredAngularVelocity() + .in(RadiansPerSecond) : swerveSpeeds.omegaRadiansPerSecond); } @@ -542,38 +546,52 @@ public SwerveModulePosition getModulePosition() { } } - /** @see SwerveDriveSimulation#maxLinearVelocity() */ + /** + * @see SwerveDriveSimulation#maxLinearVelocity() + */ public LinearVelocity maxLinearVelocity() { return swerveDriveSimulation.maxLinearVelocity(); } - /** @see SwerveDriveSimulation#maxLinearAcceleration(Current) */ + /** + * @see SwerveDriveSimulation#maxLinearAcceleration(Current) + */ public LinearAcceleration maxLinearAcceleration() { return swerveDriveSimulation.maxLinearAcceleration(moduleSimulations[0].driveCurrentLimit); } - /** @see DriveTrainSimulationConfig#trackWidthY() */ + /** + * @see DriveTrainSimulationConfig#trackWidthY() + */ public Distance trackWidthY() { return swerveDriveSimulation.config.trackWidthY(); } - /** @see DriveTrainSimulationConfig#trackLengthX() */ + /** + * @see DriveTrainSimulationConfig#trackLengthX() + */ public Distance trackLengthX() { return swerveDriveSimulation.config.trackLengthX(); } - /** @see SwerveDriveSimulation#driveBaseRadius() */ + /** + * @see SwerveDriveSimulation#driveBaseRadius() + */ public Distance driveBaseRadius() { return swerveDriveSimulation.config.driveBaseRadius(); } - /** @see SwerveDriveSimulation#maxAngularVelocity() */ + /** + * @see SwerveDriveSimulation#maxAngularVelocity() + */ public AngularVelocity maxAngularVelocity() { return RadiansPerSecond.of( maxLinearVelocity().in(MetersPerSecond) / driveBaseRadius().in(Meters)); } - /** @see SwerveDriveSimulation#maxAngularAcceleration(Current) */ + /** + * @see SwerveDriveSimulation#maxAngularAcceleration(Current) + */ public AngularAcceleration maxAngularAcceleration() { return swerveDriveSimulation.maxAngularAcceleration(moduleSimulations[0].driveCurrentLimit); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java index 6af5bc6..2ee420a 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveDriveSimulation.java @@ -1,7 +1,5 @@ package swervelib.simulation.ironmaple.simulation.drivesims; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; @@ -9,14 +7,16 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.units.measure.*; -import java.util.Arrays; -import java.util.function.Supplier; import org.dyn4j.geometry.Vector2; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; import swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath; -import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; + +import java.util.Arrays; +import java.util.function.Supplier; + +import static edu.wpi.first.units.Units.*; /** * @@ -80,9 +80,9 @@ public class SwerveDriveSimulation extends AbstractDriveTrainSimulation { *

This constructor initializes a swerve drive simulation with the given robot mass, bumper dimensions, module * simulations, module translations, gyro simulation, and initial pose on the field. * - * @param config a {@link DriveTrainSimulationConfig} instance containing the configurations of * this drivetrain + * @param config a {@link DriveTrainSimulationConfig} instance containing the configurations of * this drivetrain * @param initialPoseOnField the initial pose of the drivetrain in the simulation world, represented as a - * {@link Pose2d} + * {@link Pose2d} */ public SwerveDriveSimulation(DriveTrainSimulationConfig config, Pose2d initialPoseOnField) { super(config, initialPoseOnField); @@ -152,8 +152,8 @@ private void simulateChassisFrictionForce() { final ChassisSpeeds differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative = moduleSpeeds.minus(getDriveTrainSimulatedChassisSpeedsRobotRelative()); final Translation2d floorAndModuleSpeedsDiffFieldRelative = new Translation2d( - differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative.vxMetersPerSecond, - differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative.vyMetersPerSecond) + differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative.vxMetersPerSecond, + differenceBetweenFloorSpeedAndModuleSpeedsRobotRelative.vyMetersPerSecond) .rotateBy(getSimulatedDriveTrainPose().getRotation()); final double FRICTION_FORCE_GAIN = 3.0, totalGrippingForce = @@ -207,8 +207,8 @@ private void simulateChassisFrictionForce() { private void simulateChassisFrictionTorque() { final double desiredRotationalMotionPercent = - Math.abs(getDesiredSpeed().omegaRadiansPerSecond - / maxAngularVelocity().in(RadiansPerSecond)), + Math.abs(getDesiredSpeed().omegaRadiansPerSecond + / maxAngularVelocity().in(RadiansPerSecond)), actualRotationalMotionPercent = Math.abs(getAngularVelocity() / maxAngularVelocity().in(RadiansPerSecond)), differenceBetweenFloorSpeedAndModuleSpeed = @@ -249,12 +249,12 @@ private void simulateChassisFrictionTorque() { *

The total friction force should not exceed the tire's grip limit. */ private void simulateModulePropellingForces() { - for (int i = 0; i < moduleSimulations.length; i++) { + final int arrayLength = moduleSimulations.length; // Call it once + final Rotation2d driveRotation = getSimulatedDriveTrainPose().getRotation(); // Call it once per 4 modules. + for (int i = 0; i < arrayLength; i++) { final Vector2 moduleWorldPosition = getWorldPoint(GeometryConvertor.toDyn4jVector2(moduleTranslations[i])); final Vector2 moduleForce = moduleSimulations[i].updateSimulationSubTickGetModuleForce( - super.getLinearVelocity(moduleWorldPosition), - getSimulatedDriveTrainPose().getRotation(), - gravityForceOnEachModule); + super.getLinearVelocity(moduleWorldPosition), driveRotation, gravityForceOnEachModule); super.applyForce(moduleForce, moduleWorldPosition); } } @@ -298,7 +298,7 @@ private ChassisSpeeds getModuleSpeeds() { *

Obtains the maximum achievable linear velocity of the chassis.

* * @return the maximum linear velocity - * @see SwerveModuleSimulationConfig#maximumGroundSpeed() + * @see swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig#maximumGroundSpeed() */ public LinearVelocity maxLinearVelocity() { return moduleSimulations[0].config.maximumGroundSpeed(); @@ -310,7 +310,7 @@ public LinearVelocity maxLinearVelocity() { *

Obtains the maximum achievable linear acceleration of the chassis.

* * @return the maximum linear acceleration - * @see SwerveModuleSimulationConfig#maxAcceleration(Mass, int, Current) + * @see swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig#maxAcceleration(Mass, int, Current) */ public LinearAcceleration maxLinearAcceleration(Current statorCurrentLimit) { return moduleSimulations[0].config.maxAcceleration( @@ -349,10 +349,10 @@ public AngularVelocity maxAngularVelocity() { */ public AngularAcceleration maxAngularAcceleration(Current statorCurrentLimit) { return RadiansPerSecondPerSecond.of(moduleSimulations[0] - .config - .getTheoreticalPropellingForcePerModule( - config.robotMass, moduleSimulations.length, statorCurrentLimit) - .in(Newtons) + .config + .getTheoreticalPropellingForcePerModule( + config.robotMass, moduleSimulations.length, statorCurrentLimit) + .in(Newtons) * moduleTranslations[0].getNorm() * moduleSimulations.length / super.getMass().getInertia()); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java index a8d1d46..2c8201d 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/SwerveModuleSimulation.java @@ -1,14 +1,10 @@ package swervelib.simulation.ironmaple.simulation.drivesims; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.units.measure.*; -import java.util.Queue; -import java.util.concurrent.ConcurrentLinkedQueue; import org.dyn4j.geometry.Vector2; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; @@ -17,6 +13,11 @@ import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery; import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController; +import java.util.Queue; +import java.util.concurrent.ConcurrentLinkedQueue; + +import static edu.wpi.first.units.Units.*; + /** * * @@ -153,8 +154,8 @@ public SimulatedMotorController.GenericMotorController useGenericControllerForSt *

Note: Friction forces are not simulated in this method. * * @param moduleCurrentGroundVelocityWorldRelative the current ground velocity of the module, relative to the world - * @param robotFacing the absolute facing of the robot, relative to the world - * @param gravityForceOnModuleNewtons the gravitational force acting on this module, in newtons + * @param robotFacing the absolute facing of the robot, relative to the world + * @param gravityForceOnModuleNewtons the gravitational force acting on this module, in newtons * @return the propelling force generated by the module, as a {@link Vector2} object */ public Vector2 updateSimulationSubTickGetModuleForce( @@ -187,35 +188,35 @@ public Vector2 updateSimulationSubTickGetModuleForce( *

However, if the propelling force exceeds the gripping, only the max gripping force is applied. The rest of the * propelling force will cause the wheel to start skidding and make the odometry inaccurate. * - * @param grippingForceNewtons the amount of gripping force that wheel can generate, in newtons - * @param moduleWorldFacing the current world facing of the module + * @param grippingForceNewtons the amount of gripping force that wheel can generate, in newtons + * @param moduleWorldFacing the current world facing of the module * @param moduleCurrentGroundVelocity the current ground velocity of the module, world-reference * @return a vector representing the propelling force that the module generates, world-reference */ private Vector2 getPropellingForce( double grippingForceNewtons, Rotation2d moduleWorldFacing, Vector2 moduleCurrentGroundVelocity) { final double driveWheelTorque = getDriveWheelTorque(); - double propellingForceNewtons = driveWheelTorque / config.WHEEL_RADIUS.in(Meters); + final double wheelRadius = config.WHEEL_RADIUS.in(Meters); // Call it once + double propellingForceNewtons = driveWheelTorque / wheelRadius; final boolean skidding = Math.abs(propellingForceNewtons) > grippingForceNewtons; if (skidding) propellingForceNewtons = Math.copySign(grippingForceNewtons, propellingForceNewtons); + final double moduleAngleRadians = moduleWorldFacing.getRadians(); // Call it once final double floorVelocityProjectionOnWheelDirectionMPS = moduleCurrentGroundVelocity.getMagnitude() - * Math.cos(moduleCurrentGroundVelocity.getAngleBetween(new Vector2(moduleWorldFacing.getRadians()))); + * Math.cos(moduleCurrentGroundVelocity.getAngleBetween(moduleAngleRadians)); // if the chassis is tightly gripped on floor, the floor velocity is projected to the wheel - this.driveWheelFinalSpeed = - RadiansPerSecond.of(floorVelocityProjectionOnWheelDirectionMPS / config.WHEEL_RADIUS.in(Meters)); + this.driveWheelFinalSpeed = RadiansPerSecond.of(floorVelocityProjectionOnWheelDirectionMPS / wheelRadius); // if the module is skidding if (skidding) { final AngularVelocity skiddingEquilibriumWheelSpeed = config.driveMotorConfigs.calculateMechanismVelocity( - config.driveMotorConfigs.calculateCurrent( - NewtonMeters.of(propellingForceNewtons * config.WHEEL_RADIUS.in(Meters))), + config.driveMotorConfigs.calculateCurrent(NewtonMeters.of(propellingForceNewtons * wheelRadius)), driveMotorAppliedVoltage); this.driveWheelFinalSpeed = driveWheelFinalSpeed.times(0.5).plus(skiddingEquilibriumWheelSpeed.times(0.5)); } - return Vector2.create(propellingForceNewtons, moduleWorldFacing.getRadians()); + return Vector2.create(propellingForceNewtons, moduleAngleRadians); } /** @@ -249,7 +250,9 @@ private double getDriveWheelTorque() { return driveWheelTorqueWithFriction.in(NewtonMeters); } - /** @return the current module state of this simulation module */ + /** + * @return the current module state of this simulation module + */ public SwerveModuleState getCurrentState() { return new SwerveModuleState( MetersPerSecond.of(getDriveWheelFinalSpeed().in(RadiansPerSecond) * config.WHEEL_RADIUS.in(Meters)), @@ -269,10 +272,10 @@ public SwerveModuleState getCurrentState() { protected SwerveModuleState getFreeSpinState() { return new SwerveModuleState( config.driveMotorConfigs - .calculateMechanismVelocity( - config.driveMotorConfigs.calculateCurrent(config.driveMotorConfigs.friction), - driveMotorAppliedVoltage) - .in(RadiansPerSecond) + .calculateMechanismVelocity( + config.driveMotorConfigs.calculateCurrent(config.driveMotorConfigs.friction), + driveMotorAppliedVoltage) + .in(RadiansPerSecond) * config.WHEEL_RADIUS.in(Meters), getSteerAbsoluteFacing()); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java index 5bf369c..0ba1274 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/DriveTrainSimulationConfig.java @@ -1,19 +1,20 @@ package swervelib.simulation.ironmaple.simulation.drivesims.configs; -import static edu.wpi.first.units.Units.Kilograms; -import static edu.wpi.first.units.Units.Meters; - import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Mass; -import java.util.Arrays; -import java.util.OptionalDouble; -import java.util.function.Supplier; import swervelib.simulation.ironmaple.simulation.drivesims.COTS; import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation; import swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation; +import java.util.Arrays; +import java.util.OptionalDouble; +import java.util.function.Supplier; + +import static edu.wpi.first.units.Units.Kilograms; +import static edu.wpi.first.units.Units.Meters; + /** * * @@ -36,15 +37,15 @@ public class DriveTrainSimulationConfig { * *

Creates an instance of {@link DriveTrainSimulationConfig} with specified parameters. * - * @param robotMass the mass of the robot, including bumpers. - * @param bumperLengthX the length of the bumper (distance from front to back). - * @param bumperWidthY the width of the bumper (distance from left to right). - * @param trackLengthX the distance between the front and rear wheels. - * @param trackWidthY the distance between the left and right wheels. + * @param robotMass the mass of the robot, including bumpers. + * @param bumperLengthX the length of the bumper (distance from front to back). + * @param bumperWidthY the width of the bumper (distance from left to right). + * @param trackLengthX the distance between the front and rear wheels. + * @param trackWidthY the distance between the left and right wheels. * @param swerveModuleSimulationFactory the factory that creates appropriate swerve module simulation for the - * drivetrain. You can specify one factory to apply the same configuration over all modules or specify four - * factories in the order (FL, FR, BL, BR). - * @param gyroSimulationFactory the factory that creates appropriate gyro simulation for the drivetrain. + * drivetrain. You can specify one factory to apply the same configuration over all modules or specify four + * factories in the order (FL, FR, BL, BR). + * @param gyroSimulationFactory the factory that creates appropriate gyro simulation for the drivetrain. */ public DriveTrainSimulationConfig( Mass robotMass, @@ -128,7 +129,7 @@ public DriveTrainSimulationConfig withRobotMass(Mass robotMass) { *

Updates the dimensions of the bumper. * * @param bumperLengthX the length of the bumper. - * @param bumperWidthY the width of the bumper. + * @param bumperWidthY the width of the bumper. * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. */ public DriveTrainSimulationConfig withBumperSize(Distance bumperLengthX, Distance bumperWidthY) { @@ -149,18 +150,18 @@ public DriveTrainSimulationConfig withBumperSize(Distance bumperLengthX, Distanc *

For non-rectangular chassis configuration, use {@link #withCustomModuleTranslations(Translation2d[])} instead. * * @param trackLengthX the distance between the front and rear wheels. - * @param trackWidthY the distance between the left and right wheels. + * @param trackWidthY the distance between the left and right wheels. * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. */ public DriveTrainSimulationConfig withTrackLengthTrackWidth(Distance trackLengthX, Distance trackWidthY) { BoundingCheck.check(trackLengthX.in(Meters), 0.5, 1.5, "track length", "meters"); BoundingCheck.check(trackWidthY.in(Meters), 0.5, 1.5, "track width", "meters"); - this.moduleTranslations = new Translation2d[] { - new Translation2d(trackLengthX.in(Meters) / 2, trackWidthY.in(Meters) / 2), - new Translation2d(trackLengthX.in(Meters) / 2, -trackWidthY.in(Meters) / 2), - new Translation2d(-trackLengthX.in(Meters) / 2, trackWidthY.in(Meters) / 2), - new Translation2d(-trackLengthX.in(Meters) / 2, -trackWidthY.in(Meters) / 2) + this.moduleTranslations = new Translation2d[]{ + new Translation2d(trackLengthX.in(Meters) / 2, trackWidthY.in(Meters) / 2), + new Translation2d(trackLengthX.in(Meters) / 2, -trackWidthY.in(Meters) / 2), + new Translation2d(-trackLengthX.in(Meters) / 2, trackWidthY.in(Meters) / 2), + new Translation2d(-trackLengthX.in(Meters) / 2, -trackWidthY.in(Meters) / 2) }; return this; } @@ -192,8 +193,8 @@ public DriveTrainSimulationConfig withCustomModuleTranslations(Translation2d[] m *

Updates the factory used to create swerve module simulations. * * @param swerveModuleSimulationFactory the new factory (or factories) for swerve module simulations. You can - * specify one factory to apply the same configuration over all modules, or specify four factories in the order - * (FL, FR, BL, BR) + * specify one factory to apply the same configuration over all modules, or specify four factories in the order + * (FL, FR, BL, BR) * @return the current instance of {@link DriveTrainSimulationConfig} for method chaining. */ public DriveTrainSimulationConfig withSwerveModules( diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java index bd898a6..4fb958c 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/drivesims/configs/SwerveModuleSimulationConfig.java @@ -1,15 +1,16 @@ package swervelib.simulation.ironmaple.simulation.drivesims.configs; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.*; -import java.util.function.Supplier; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation; import swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs; +import java.util.function.Supplier; + +import static edu.wpi.first.units.Units.*; + public class SwerveModuleSimulationConfig implements Supplier { public final SimMotorConfigs driveMotorConfigs, steerMotorConfigs; public final double DRIVE_GEAR_RATIO, STEER_GEAR_RATIO, WHEELS_COEFFICIENT_OF_FRICTION; @@ -24,17 +25,17 @@ public class SwerveModuleSimulationConfig implements SupplierIf you are using {@link SimulatedArena#overrideSimulationTimings(Time, int)} to use custom timings, you must * call the method before constructing any swerve module simulations using this constructor. * - * @param driveMotorModel the model of the driving motor - * @param steerMotorModel; the model of the steering motor - * @param driveGearRatio the gear ratio for the driving motor, >1 is reduction - * @param steerGearRatio the gear ratio for the steering motor, >1 is reduction - * @param driveFrictionVoltage the measured minimum amount of voltage that can turn the driving rotter - * @param steerFrictionVoltage the measured minimum amount of voltage that can turn the steering rotter - * @param wheelRadius the radius of the wheels. - * @param steerRotationalInertia the rotational inertia of the entire steering mechanism + * @param driveMotorModel the model of the driving motor + * @param steerMotorModel; the model of the steering motor + * @param driveGearRatio the gear ratio for the driving motor, >1 is reduction + * @param steerGearRatio the gear ratio for the steering motor, >1 is reduction + * @param driveFrictionVoltage the measured minimum amount of voltage that can turn the driving rotter + * @param steerFrictionVoltage the measured minimum amount of voltage that can turn the steering rotter + * @param wheelRadius the radius of the wheels. + * @param steerRotationalInertia the rotational inertia of the entire steering mechanism * @param wheelsCoefficientOfFriction the coefficient - * of friction of the tires, normally around 1.2 {@link Units#inchesToMeters(double)}. + * href='https://simple.wikipedia.org/wiki/Coefficient_of_friction#:~:text=A%20coefficient%20of%20friction%20is%20a%20value%20that%20shows%20the'>coefficient + * of friction of the tires, normally around 1.2 {@link Units#inchesToMeters(double)}. */ public SwerveModuleSimulationConfig( DCMotor driveMotorModel, @@ -95,15 +96,15 @@ public LinearVelocity maximumGroundSpeed() { *

Calculates the maximum propelling force with respect to the gripping force and the drive motor's torque under * its current limit. * - * @param robotMass the mass of the robot + * @param robotMass the mass of the robot * @param modulesCount the amount of modules on the robot, assumed to be sharing the gravity force equally * @return the maximum propelling force of EACH module */ public Force getTheoreticalPropellingForcePerModule(Mass robotMass, int modulesCount, Current statorCurrentLimit) { final double maxThrustNewtons = - driveMotorConfigs.calculateTorque(statorCurrentLimit).in(NewtonMeters) - / WHEEL_RADIUS.in(Meters), + driveMotorConfigs.calculateTorque(statorCurrentLimit).in(NewtonMeters) + / WHEEL_RADIUS.in(Meters), maxGrippingNewtons = 9.8 * robotMass.in(Kilograms) / modulesCount * WHEELS_COEFFICIENT_OF_FRICTION; return Newtons.of(Math.min(maxThrustNewtons, maxGrippingNewtons)); @@ -117,7 +118,7 @@ public Force getTheoreticalPropellingForcePerModule(Mass robotMass, int modulesC *

Calculates the maximum linear acceleration of a robot, with respect to its mass and * {@link #getTheoreticalPropellingForcePerModule(Mass, int, Current)}. * - * @param robotMass the mass of the robot + * @param robotMass the mass of the robot * @param modulesCount the amount of modules on the robot, assumed to be sharing the gravity force equally */ public LinearAcceleration maxAcceleration(Mass robotMass, int modulesCount, Current statorCurrentLimit) { diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java index ea9e69c..68cb93d 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java @@ -35,7 +35,7 @@ public interface GamePiece { * * *

Gives the velocity of the game piece.

- * + *

* For grounded game pieces the z access velocity does not exist and so will be set to 0 automatically. * * @return The velocity of the game piece as a Translation3d. @@ -46,7 +46,7 @@ public interface GamePiece { * * *

Gives wether or not the piece is "grounded".

- * + *

* A grounded piece is likely a child of {@link GamePieceOnFieldSimulation} while a non grounded piece is likely a * child of{@link GamePieceProjectile}. * diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java index 58f0104..9c94425 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java @@ -1,17 +1,9 @@ package swervelib.simulation.ironmaple.simulation.gamepieces; -import static edu.wpi.first.units.Units.Kilogram; -import static edu.wpi.first.units.Units.Meters; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Mass; -import java.util.function.DoubleSupplier; import org.dyn4j.dynamics.Body; import org.dyn4j.dynamics.BodyFixture; import org.dyn4j.geometry.Convex; @@ -20,6 +12,11 @@ import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; +import java.util.function.DoubleSupplier; + +import static edu.wpi.first.units.Units.Kilogram; +import static edu.wpi.first.units.Units.Meters; + /** * * @@ -30,7 +27,7 @@ *

Game pieces can be "grabbed" by an {@link IntakeSimulation}. * *

For the simulation to actually run, every instance must be added to a - * {@link SimulatedArena} through + * {@link swervelib.simulation.ironmaple.simulation.SimulatedArena} through * {@link SimulatedArena#addGamePiece(GamePieceOnFieldSimulation)}. */ public class GamePieceOnFieldSimulation extends Body implements GamePiece { @@ -60,7 +57,7 @@ public class GamePieceOnFieldSimulation extends Body implements GamePiece { * *

Creates a Game Piece on the Field with Fixed Height.

* - * @param info info about the game piece type + * @param info info about the game piece type * @param initialPose the initial position of the game piece on the field */ public GamePieceOnFieldSimulation(GamePieceInfo info, Pose2d initialPose) { @@ -72,9 +69,9 @@ public GamePieceOnFieldSimulation(GamePieceInfo info, Pose2d initialPose) { * *

Creates a Game Piece on the Field with Custom Height Supplier and Initial Velocity.

* - * @param info info about the game piece type - * @param zPositionSupplier a supplier that provides the current Z-height of the game piece - * @param initialPose the initial position of the game piece on the field + * @param info info about the game piece type + * @param zPositionSupplier a supplier that provides the current Z-height of the game piece + * @param initialPose the initial position of the game piece on the field * @param initialVelocityMPS the initial velocity of the game piece, in meters per second */ public GamePieceOnFieldSimulation( @@ -150,10 +147,10 @@ public Pose3d getPose3d() { * *

Stores the info of a type of game piece

* - * @param type the type of the game piece, affecting categorization within the arena - * @param shape the shape of the collision space for the game piece + * @param type the type of the game piece, affecting categorization within the arena + * @param shape the shape of the collision space for the game piece * @param gamePieceHeight the height (thickness) of the game piece, in meters - * @param gamePieceMass the mass of the game piece, in kilograms + * @param gamePieceMass the mass of the game piece, in kilograms */ public record GamePieceInfo( String type, @@ -162,9 +159,11 @@ public record GamePieceInfo( Mass gamePieceMass, double linearDamping, double angularDamping, - double coefficientOfRestitution) {} + double coefficientOfRestitution) { + } - public void onIntake(String intakeTargetGamePieceType) {} + public void onIntake(String intakeTargetGamePieceType) { + } @Override public String getType() { diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java index a7aa182..d4c589b 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java @@ -1,13 +1,14 @@ package swervelib.simulation.ironmaple.simulation.gamepieces; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.wpilibj.Timer; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024; + import java.util.ArrayList; import java.util.List; import java.util.Queue; @@ -15,8 +16,8 @@ import java.util.concurrent.ArrayBlockingQueue; import java.util.function.Consumer; import java.util.function.Supplier; -import swervelib.simulation.ironmaple.simulation.SimulatedArena; -import swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024; + +import static edu.wpi.first.units.Units.*; /** * @@ -55,7 +56,7 @@ public class GamePieceProjectile implements GamePiece { // Properties of the game piece projectile: protected final GamePieceOnFieldSimulation.GamePieceInfo info; public final String gamePieceType; - protected final Translation2d initialPosition; + protected Translation2d initialPosition; protected final Translation2d initialLaunchingVelocityMPS; protected final double initialHeight, initialVerticalSpeedMPS; protected final Rotation3d gamePieceRotation; @@ -69,9 +70,11 @@ public class GamePieceProjectile implements GamePiece { *

Optionally, this callback will be used to visualize the projectile flight trajectory in a telemetry system, * such as Advantage Scope. */ - private Consumer> projectileTrajectoryDisplayCallBackHitTarget = projectileTrajectory -> {}; + private Consumer> projectileTrajectoryDisplayCallBackHitTarget = projectileTrajectory -> { + }; - private Consumer> projectileTrajectoryDisplayCallBackMiss = projectileTrajectory -> {}; + private Consumer> projectileTrajectoryDisplayCallBackMiss = projectileTrajectory -> { + }; // Optional properties of the game piece, used if we want it to become a // GamePieceOnFieldSimulation upon touching ground: @@ -80,7 +83,8 @@ public class GamePieceProjectile implements GamePiece { // Optional properties of the game piece, used if we want it to have a target: private Translation3d tolerance = new Translation3d(0.2, 0.2, 0.2); private Supplier targetPositionSupplier = () -> new Translation3d(0, 0, -100); - private Runnable hitTargetCallBack = () -> {}; + private Runnable hitTargetCallBack = () -> { + }; private double heightAsTouchGround = 0.5; /** @@ -105,17 +109,17 @@ public class GamePieceProjectile implements GamePiece { * *

Creates a Game Piece Projectile Ejected from a Shooter.

* - * @param info the info of the game piece - * @param robotPosition the position of the robot (not the shooter) at the time of launching the game piece - * @param shooterPositionOnRobot the translation from the shooter's position to the robot's center, in the robot's - * frame of reference + * @param info the info of the game piece + * @param robotPosition the position of the robot (not the shooter) at the time of launching the game piece + * @param shooterPositionOnRobot the translation from the shooter's position to the robot's center, in the robot's + * frame of reference * @param chassisSpeedsFieldRelative the field-relative velocity of the robot chassis when launching the game piece, - * influencing the initial velocity of the game piece - * @param shooterFacing the direction in which the shooter is facing at launch - * @param initialHeight the initial height of the game piece when launched, i.e., the height of the shooter from the - * ground - * @param launchingSpeed the speed at which the game piece is launch - * @param shooterAngle the pitch angle of the shooter when launching + * influencing the initial velocity of the game piece + * @param shooterFacing the direction in which the shooter is facing at launch + * @param initialHeight the initial height of the game piece when launched, i.e., the height of the shooter from the + * ground + * @param launchingSpeed the speed at which the game piece is launch + * @param shooterAngle the pitch angle of the shooter when launching */ public GamePieceProjectile( GamePieceOnFieldSimulation.GamePieceInfo info, @@ -148,11 +152,11 @@ public GamePieceProjectile( * translational and rotational motion as well as the shooter's ground speed. * * @param shooterPositionOnRobot the translation of the shooter on the robot, in the robot's frame of reference - * @param chassisSpeeds the speeds of the chassis when the game piece is launched, including translational and - * rotational velocities - * @param chassisFacing the direction the chassis is facing at the time of the launch - * @param groundSpeedMPS the ground component of the projectile's initial velocity, provided as a scalar in meters - * per second (m/s) + * @param chassisSpeeds the speeds of the chassis when the game piece is launched, including translational and + * rotational velocities + * @param chassisFacing the direction the chassis is facing at the time of the launch + * @param groundSpeedMPS the ground component of the projectile's initial velocity, provided as a scalar in meters + * per second (m/s) * @return the calculated initial velocity of the projectile as a {@link Translation2d} in meters per second */ private static Translation2d calculateInitialProjectileVelocityMPS( @@ -162,7 +166,7 @@ private static Translation2d calculateInitialProjectileVelocityMPS( double groundSpeedMPS) { final Translation2d chassisTranslationalVelocity = - new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond), + new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond), shooterGroundVelocityDueToChassisRotation = shooterPositionOnRobot .rotateBy(chassisFacing) @@ -178,15 +182,15 @@ private static Translation2d calculateInitialProjectileVelocityMPS( * *

Creates a Game Piece Projectile Ejected from a Shooter.

* - * @param info the info of the game piece - * @param initialPosition the position of the game piece at the moment it is launched into the air + * @param info the info of the game piece + * @param initialPosition the position of the game piece at the moment it is launched into the air * @param initialLaunchingVelocityMPS the horizontal component of the initial velocity in the X-Y plane, in meters - * per second (m/s) - * @param initialHeight the initial height of the game piece when launched (the height of the shooter from the - * ground) - * @param initialVerticalSpeedMPS the vertical component of the initial velocity, in meters per second (m/s) - * @param gamePieceRotation the 3D rotation of the game piece during flight (only affects visualization of the game - * piece) + * per second (m/s) + * @param initialHeight the initial height of the game piece when launched (the height of the shooter from the + * ground) + * @param initialVerticalSpeedMPS the vertical component of the initial velocity, in meters per second (m/s) + * @param gamePieceRotation the 3D rotation of the game piece during flight (only affects visualization of the game + * piece) */ public GamePieceProjectile( GamePieceOnFieldSimulation.GamePieceInfo info, @@ -266,7 +270,7 @@ public void launch() { * * * @return true if the game piece has touched the ground, otherwise false - * + * */ public boolean hasHitGround() { return getPositionAtTime(launchedTimer.get()).getZ() <= heightAsTouchGround @@ -374,7 +378,7 @@ protected Translation3d getPositionAtTime(double t) { * * @param t the time elapsed after the launch of the projectile, in seconds * @return a {@link Translation3d} object representing the calculated 3d velocity of the projectile at time t - * , in meters per second + * , in meters per second */ private Translation3d getVelocityMPSAtTime(double t) { final double verticalVelocityMPS = initialVerticalSpeedMPS - GRAVITY * t; @@ -402,9 +406,9 @@ public Pose3d getPose3d() { * *

Calculates the Projectile's Velocity at a Given Time.

* - * @see #getVelocityMPSAtTime(double) * @return a {@link Translation3d} object representing the calculated 3d velocity of the projectile at time t - * , in meters per second + * , in meters per second + * @see #getVelocityMPSAtTime(double) */ @Override public Translation3d getVelocity3dMPS() { @@ -425,7 +429,7 @@ public Translation3d getVelocity3dMPS() { * touching the ground. * * @param simulatedArena the arena simulation to which the game piece will be added, usually obtained from - * {@link SimulatedArena#getInstance()} + * {@link SimulatedArena#getInstance()} */ public void addGamePieceAfterTouchGround(SimulatedArena simulatedArena) { if (!becomesGamePieceOnGroundAfterTouchGround) return; @@ -469,6 +473,7 @@ public static void updateGamePieceProjectiles( } // The rest are methods to configure a game piece projectile simulation + /** * * @@ -570,7 +575,7 @@ public GamePieceProjectile withHitTargetCallBack(Runnable hitTargetCallBack) { * href='https://github.com/Mechanical-Advantage/AdvantageScope'>Advantage Scope * * @param projectileTrajectoryDisplayCallBack the callback that will receive the list of {@link Pose3d} objects - * representing the projectile's trajectory + * representing the projectile's trajectory * @return the current instance of {@link GamePieceProjectile} to allow method chaining */ public GamePieceProjectile withProjectileTrajectoryDisplayCallBack( @@ -594,10 +599,10 @@ public GamePieceProjectile withProjectileTrajectoryDisplayCallBack( *

This is usually for visualizing the trajectory of the projectile on a telemetry, like Advantage Scope * - * @param projectileTrajectoryDisplayCallBackHitTarget the callback that will receive the list of {@link Pose3d} - * objects representing the projectile's trajectory, called if the projectile will hit the target on its path + * @param projectileTrajectoryDisplayCallBackHitTarget the callback that will receive the list of {@link Pose3d} + * objects representing the projectile's trajectory, called if the projectile will hit the target on its path * @param projectileTrajectoryDisplayCallBackHitTargetMiss the callback that will receive the list of {@link Pose3d} - * objects representing the projectile's trajectory, called if the projectile will be off the target + * objects representing the projectile's trajectory, called if the projectile will be off the target * @return the current instance of {@link GamePieceProjectile} to allow method chaining */ public GamePieceProjectile withProjectileTrajectoryDisplayCallBack( @@ -627,6 +632,19 @@ public GamePieceProjectile withTouchGroundHeight(double heightAsTouchGround) { return this; } + /** + * + * + *

Configures the position of the robot (not the shooter) at the time of launching the game piece.

+ * + * @param initialPosition the position of the robot (not the shooter) at the time of launching the game piece + * @return the current instance of {@link GamePieceProjectile} to allow method chaining + */ + public GamePieceProjectile replaceRobotPosition(Translation2d initialPosition) { + this.initialPosition = initialPosition; + return this; + } + @Override public String getType() { return this.gamePieceType; diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java index d8da554..7aa263b 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/MapleMotorSim.java @@ -1,16 +1,16 @@ package swervelib.simulation.ironmaple.simulation.motorsims; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.units.measure.*; import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import static edu.wpi.first.units.Units.*; + /** * * - *

{@link edu.wpi.first.wpilibj.simulation.DCMotorSim} with a bit of extra spice.

+ *

{@link DCMotorSim} with a bit of extra spice.

* - *

This class extends the functionality of the original {@link edu.wpi.first.wpilibj.simulation.DCMotorSim} and + *

This class extends the functionality of the original {@link DCMotorSim} and * models the following aspects in addition: * *

    @@ -49,7 +49,7 @@ public MapleMotorSim(SimMotorConfigs configs) { * *

    Updates the simulation.

    * - *

    This is equivalent to{@link edu.wpi.first.wpilibj.simulation.DCMotorSim#update(double)}. + *

    This is equivalent to{@link DCMotorSim#update(double)}. */ public void update(Time dt) { this.appliedVoltage = controller.updateControlSignal( @@ -81,7 +81,7 @@ public SimulatedMotorController.GenericMotorController useSimpleDCMotorControlle * *

    Obtains the final position of the mechanism.

    * - *

    This is equivalent to {@link edu.wpi.first.wpilibj.simulation.DCMotorSim#getAngularPosition()}. + *

    This is equivalent to {@link DCMotorSim#getAngularPosition()}. * * @return the angular position of the mechanism, continuous */ @@ -105,7 +105,7 @@ public Angle getEncoderPosition() { * *

    Obtains the final velocity of the mechanism.

    * - *

    This is equivalent to {@link edu.wpi.first.wpilibj.simulation.DCMotorSim#getAngularVelocity()}. + *

    This is equivalent to {@link DCMotorSim#getAngularVelocity()}. * * @return the final angular velocity of the mechanism */ diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java index b9cfb65..5084e59 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorConfigs.java @@ -1,11 +1,10 @@ package swervelib.simulation.ironmaple.simulation.motorsims; -import static edu.wpi.first.units.Units.*; -import static edu.wpi.first.units.Units.Volts; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.units.measure.*; +import static edu.wpi.first.units.Units.*; + /** * * @@ -39,7 +38,7 @@ public final class SimMotorConfigs { public final MomentOfInertia loadMOI; public final Torque friction; - protected Angle forwardHardwareLimit, reverseHardwareLimit; + Angle forwardHardwareLimit, reverseHardwareLimit; /** * @@ -49,9 +48,9 @@ public final class SimMotorConfigs { *

    This constructor initializes a {@link SimMotorConfigs} object with the necessary parameters for motor * simulation, including the motor model, gearing ratio, load moment of inertia, and friction characteristics. * - * @param motor the motor model to be used in the simulation (e.g., Falcon 500, NEO). - * @param gearing the gear ratio between the motor and the load, affecting torque and speed output. - * @param loadMOI the moment of inertia of the load connected to the motor, representing rotational resistance. + * @param motor the motor model to be used in the simulation (e.g., Falcon 500, NEO). + * @param gearing the gear ratio between the motor and the load, affecting torque and speed output. + * @param loadMOI the moment of inertia of the load connected to the motor, representing rotational resistance. * @param frictionVoltage the voltage applied to simulate frictional torque losses in the motor. */ public SimMotorConfigs(DCMotor motor, double gearing, MomentOfInertia loadMOI, Voltage frictionVoltage) { @@ -71,10 +70,10 @@ public SimMotorConfigs(DCMotor motor, double gearing, MomentOfInertia loadMOI, V * *

    This method uses the {@link DCMotor} model to find the voltage for a given current and angular velocity. * - * @see DCMotor#getVoltage(double, double) for the underlying implementation. - * @param current the current flowing through the motor + * @param current the current flowing through the motor * @param mechanismVelocity the final angular velocity of the mechanism * @return the voltage required for the motor to achieve the specified current and angular velocity + * @see DCMotor#getVoltage(double, double) for the underlying implementation. */ public Voltage calculateVoltage(Current current, AngularVelocity mechanismVelocity) { return Volts.of(motor.getVoltage(current.in(Amps), mechanismVelocity.in(RadiansPerSecond) * gearing)); @@ -87,10 +86,10 @@ public Voltage calculateVoltage(Current current, AngularVelocity mechanismVeloci * *

    This method uses the {@link DCMotor} model to find the angular velocity for a given current and voltage. * - * @see DCMotor#getSpeed(double, double) for the underlying implementation. * @param current the current flowing through the motor. * @param voltage the voltage applied to the motor. * @return the final angular velocity of the mechanism. + * @see DCMotor#getSpeed(double, double) for the underlying implementation. */ public AngularVelocity calculateMechanismVelocity(Current current, Voltage voltage) { return RadiansPerSecond.of(motor.getSpeed(motor.getTorque(current.in(Amps)), voltage.in(Volts))) @@ -104,10 +103,10 @@ public AngularVelocity calculateMechanismVelocity(Current current, Voltage volta * *

    This method uses the {@link DCMotor} model to find the current for a given angular velocity and voltage. * - * @see DCMotor#getCurrent(double, double) for the underlying implementation. * @param mechanismVelocity the final angular velocity of the mechanism. - * @param voltage the voltage applied to the moto. + * @param voltage the voltage applied to the moto. * @return the current drawn by the motor. + * @see DCMotor#getCurrent(double, double) for the underlying implementation. */ public Current calculateCurrent(AngularVelocity mechanismVelocity, Voltage voltage) { return Amps.of(motor.getCurrent(mechanismVelocity.in(RadiansPerSecond) * gearing, voltage.in(Volts))); @@ -120,9 +119,9 @@ public Current calculateCurrent(AngularVelocity mechanismVelocity, Voltage volta * *

    This method uses the {@link DCMotor} model to find the current required for a given torque. * - * @see DCMotor#getCurrent(double) for the underlying implementation. * @param torque the final torque generated by the motor on the mechanism. * @return the current required to produce the specified torque. + * @see DCMotor#getCurrent(double) for the underlying implementation. */ public Current calculateCurrent(Torque torque) { return Amps.of(motor.getCurrent(torque.in(NewtonMeters) / gearing)); @@ -135,9 +134,9 @@ public Current calculateCurrent(Torque torque) { * *

    This method uses the {@link DCMotor} model to find the torque generated by a given current. * - * @see DCMotor#getTorque(double) for the underlying implementation. * @param current the current flowing through the motor. * @return the torque generated by the motor. + * @see DCMotor#getTorque(double) for the underlying implementation. */ public Torque calculateTorque(Current current) { return NewtonMeters.of(motor.getTorque(current.in(Amps)) * gearing); @@ -185,7 +184,7 @@ public Voltage nominalVoltage() { @Override protected SimMotorConfigs clone() { SimMotorConfigs cfg = new SimMotorConfigs( - motor, gearing, loadMOI, Volts.of(motor.getVoltage(friction.in(NewtonMeter), 0.0))) + motor, gearing, loadMOI, Volts.of(motor.getVoltage(friction.in(NewtonMeter), 0.0))) .withHardLimits(forwardHardwareLimit, reverseHardwareLimit); return cfg; diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java index 86fc9a4..f912cb3 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimMotorState.java @@ -1,9 +1,9 @@ package swervelib.simulation.ironmaple.simulation.motorsims; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.units.measure.*; +import static edu.wpi.first.units.Units.*; + /** * * @@ -49,8 +49,8 @@ public SimMotorState(Angle mechanismAngularPosition, AngularVelocity mechanismAn * * @param finalElectricTorque the final applied electric torque, in Newton-meters * @param finalFrictionTorque the final frictional torque, in Newton-meters - * @param loadMOI the moment of inertia of the load, in kilogram square meters - * @param dt the time step for the simulation, in seconds + * @param loadMOI the moment of inertia of the load, in kilogram square meters + * @param dt the time step for the simulation, in seconds */ public void step(Torque finalElectricTorque, Torque finalFrictionTorque, MomentOfInertia loadMOI, Time dt) { // Step 0: Convert all units to SI units (radians, radians per second, Newton-meters, seconds, kg*m²) @@ -76,7 +76,7 @@ public void step(Torque finalElectricTorque, Torque finalFrictionTorque, MomentO // If friction causes the motor to reverse direction, or if the velocity reaches zero, set the angular velocity // to zero. if ((currentAngularVelocityRadiansPerSecond + deltaAngularVelocityDueToFrictionRadPerSec) - * currentAngularVelocityRadiansPerSecond + * currentAngularVelocityRadiansPerSecond <= 0) // The velocity has reversed direction or reached zero, so stop the motor currentAngularVelocityRadiansPerSecond = 0; diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java index 08cdfb6..0c4ed27 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedBattery.java @@ -1,8 +1,5 @@ package swervelib.simulation.ironmaple.simulation.motorsims; -import static edu.wpi.first.units.Units.Amps; -import static edu.wpi.first.units.Units.Volts; - import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.units.measure.Current; @@ -11,10 +8,14 @@ import edu.wpi.first.wpilibj.simulation.BatterySim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import java.util.ArrayList; import java.util.List; import java.util.function.Supplier; +import static edu.wpi.first.units.Units.Amps; +import static edu.wpi.first.units.Units.Volts; + /** * * @@ -35,6 +36,17 @@ public class SimulatedBattery { // The current battery voltage in volts. private static double batteryVoltageVolts = BATTERY_NOMINAL_VOLTAGE; + private static boolean disableBatterySim = false; + + /** + * Disables the battery simulation. This is a lazy quick fix to help the opponent simulation. + */ + public static void disableBatterySim() { + disableBatterySim = true; + electricalAppliances.clear(); + batteryVoltageVolts = BATTERY_NOMINAL_VOLTAGE; + } + /** * * @@ -74,8 +86,6 @@ public static void simulationSubTick() { double totalCurrentAmps = getTotalCurrentDrawn().in(Amps); totalCurrentAmps = currentFilter.calculate(totalCurrentAmps); - batteryVoltageVolts = BatterySim.calculateLoadedBatteryVoltage(BATTERY_NOMINAL_VOLTAGE, 0.02, totalCurrentAmps); - if (Double.isNaN(batteryVoltageVolts)) { batteryVoltageVolts = 12.0; DriverStation.reportError( @@ -88,8 +98,13 @@ public static void simulationSubTick() { DriverStation.reportError("[MapleSim] BrownOut Detected, protecting battery voltage...", false); } - RoboRioSim.setVInVoltage(batteryVoltageVolts); + /// Quick fix to lock battery simulation to nominal voltage. + if (!disableBatterySim) { + batteryVoltageVolts = + BatterySim.calculateLoadedBatteryVoltage(BATTERY_NOMINAL_VOLTAGE, 0.02, totalCurrentAmps); + } + RoboRioSim.setVInVoltage(batteryVoltageVolts); SmartDashboard.putNumber("BatterySim/TotalCurrent (Amps)", totalCurrentAmps); SmartDashboard.putNumber("BatterySim/BatteryVoltage (Volts)", batteryVoltageVolts); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java index 4eeddd1..381209b 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/motorsims/SimulatedMotorController.java @@ -1,13 +1,13 @@ package swervelib.simulation.ironmaple.simulation.motorsims; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Current; import edu.wpi.first.units.measure.Voltage; +import static edu.wpi.first.units.Units.*; + public interface SimulatedMotorController { Voltage updateControlSignal( Angle mechanismAngle, @@ -53,41 +53,41 @@ public void requestVoltage(Voltage voltage) { * *

    Prevents motor from exceeding software limits * - * @param encoderAngle the angle of the encoder - * @param encoderVelocity the velocity of the encoder + * @param encoderAngle the angle of the encoder + * @param encoderVelocity the velocity of the encoder * @param requestedVoltage the requested voltage * @return the constrained voltage that satisfied the limits */ public Voltage constrainOutputVoltage( Angle encoderAngle, AngularVelocity encoderVelocity, Voltage requestedVoltage) { - final double kCurrentThreshold = 1.2; - - // don't use WpiLib Units for calculations + // Don't use WPILib Units final double motorCurrentVelocityRadPerSec = encoderVelocity.in(RadiansPerSecond); - final double currentLimitAmps = currentLimit.in(Amps); final double requestedOutputVoltageVolts = requestedVoltage.in(Volts); + final double currentLimitAmps = currentLimit.in(Amps); + final double kCurrentThreshold = 1.2; + final double thresholdedCurrentLimitAmps = kCurrentThreshold * currentLimitAmps; + final double currentAtRequestedVoltageAmps = model.getCurrent(motorCurrentVelocityRadPerSec, requestedOutputVoltageVolts); + double limitedVoltage = requestedOutputVoltageVolts; + // Resource for current limiting: // https://file.tavsys.net/control/controls-engineering-in-frc.pdf (sec 12.1.3) - double limitedVoltage = requestedOutputVoltageVolts; - final boolean currentTooHigh = - Math.abs(currentAtRequestedVoltageAmps) > (kCurrentThreshold * currentLimitAmps); - if (currentTooHigh) { + if (Math.abs(currentAtRequestedVoltageAmps) > thresholdedCurrentLimitAmps) { final double limitedCurrent = Math.copySign(currentLimitAmps, currentAtRequestedVoltageAmps); limitedVoltage = model.getVoltage(model.getTorque(limitedCurrent), motorCurrentVelocityRadPerSec); - } - // ensure the current limit doesn't cause an increase to output voltage - if (Math.abs(limitedVoltage) > Math.abs(requestedOutputVoltageVolts)) - limitedVoltage = requestedOutputVoltageVolts; + // Ensure the current limit doesn't cause an increase to output voltage + if (Math.abs(limitedVoltage) > Math.abs(requestedOutputVoltageVolts)) + limitedVoltage = requestedOutputVoltageVolts; + } - // apply software limits - if (encoderAngle.gte(forwardSoftwareLimit) && limitedVoltage > 0) limitedVoltage = 0; - if (encoderAngle.lte(reverseSoftwareLimit) && limitedVoltage < 0) limitedVoltage = 0; + // Apply software limits + if (limitedVoltage > 0 && encoderAngle.gte(forwardSoftwareLimit)) limitedVoltage = 0; + if (limitedVoltage < 0 && encoderAngle.lte(reverseSoftwareLimit)) limitedVoltage = 0; - // constrain the output voltage to the battery voltage + // Constrain the output voltage to the battery voltage return Volts.of(limitedVoltage); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/ManipulatorSim.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/ManipulatorSim.java new file mode 100644 index 0000000..5ecd0ea --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/ManipulatorSim.java @@ -0,0 +1,135 @@ +package swervelib.simulation.ironmaple.simulation.opponentsim; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import swervelib.simulation.ironmaple.simulation.IntakeSimulation; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; + +import java.util.HashMap; +import java.util.Map; +import java.util.function.Supplier; + +public class ManipulatorSim extends SubsystemBase { + /// Simulation Maps of saved manipulators + private final Map intakeSimulations; + private final Map> projectileSimulations; + + /** + * Creates a new manipulator simulation. + */ + public ManipulatorSim() { + this.intakeSimulations = new HashMap<>(); + this.projectileSimulations = new HashMap<>(); + } + + /** + * The Map of {@link IntakeSimulation} types. + * + * @return a Map of {@link IntakeSimulation} types. + */ + public Map getIntakeSimulations() { + return intakeSimulations; + } + + /** + * The Map of the {@link GamePieceProjectile} types. + * + * @return a Map of the {@link GamePieceProjectile} types. + */ + public Map> getProjectileSimulations() { + return projectileSimulations; + } + + /** + * Adds an intake simulation to the manipulator simulation. + * + * @param intakeName The name of the intake simulation. + * @param intakeSimulation The simulation to add. + * @return this, for chaining. + */ + public ManipulatorSim addIntakeSimulation(String intakeName, IntakeSimulation intakeSimulation) { + this.intakeSimulations.put(intakeName, intakeSimulation); + return this; + } + + /** + * Adds a projectile simulation to the manipulator simulation. + * + * @param projectileName The name of the projectile simulation. + * @param projectileSimulation The simulation to add. + * @return this, for chaining. + */ + public ManipulatorSim addProjectileSimulation( + String projectileName, Supplier projectileSimulation) { + this.projectileSimulations.put(projectileName, projectileSimulation); + return this; + } + + /** + * Gets an intake simulation from the manipulator simulation. + * + * @param intakeName The name of the intake simulation. + * @return The simulation. + */ + public IntakeSimulation getIntakeSimulation(String intakeName) { + return this.intakeSimulations.get(intakeName); + } + + /** + * Gets a projectile simulation from the manipulator simulation. + * + * @param projectileName The name of the simulation. + * @return The simulation. + */ + public Supplier getProjectileSimulation(String projectileName) { + return this.projectileSimulations.get(projectileName); + } + + /** + * Runs the intake, stops running the intake when the command ends. + * + * @param intakeName + * @return + */ + public Command intake(String intakeName) { + return runEnd(() -> getIntakeSimulation(intakeName).startIntake(), + () -> getIntakeSimulation(intakeName).stopIntake()); + } + + /** + * Runs intake(String) until the game piece count in the intake goes up. + * + * @param intakeName + * @return + */ + public Command intakeUntilCollected(String intakeName) { + final int count = getIntakeSimulation(intakeName).getGamePiecesAmount(); + return intake(intakeName) + .until(() -> count > getIntakeSimulation(intakeName).getGamePiecesAmount()); + } + + /** + * Adds a projectile to the simulation. + * + * @param projectileName The name of the projectile simulation. + * @return a command to add the game piece projectile to the simulation. + */ + public Command score(String projectileName) { + return runOnce(() -> SimulatedArena.getInstance() + .addGamePieceProjectile(getProjectileSimulation(projectileName).get())); + } + + /** + * A command that only calls score(String) when there is greater than zero(>0) + * {@link swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece} in the intake. + * + * @param intakeName the intake to check. + * @param projectileName the piece to score. + * @return score(String) when valid. + */ + public Command scoreWithIntake(String intakeName, String projectileName) { + return score(projectileName) + .onlyIf(() -> getIntakeSimulation(intakeName).getGamePiecesAmount() > 0); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java new file mode 100644 index 0000000..11b4b2d --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java @@ -0,0 +1,481 @@ +package swervelib.simulation.ironmaple.simulation.opponentsim; + +import com.pathplanner.lib.commands.PathfindingCommand; +import edu.wpi.first.math.Pair; +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.units.measure.Distance; +import edu.wpi.first.units.measure.Time; +import edu.wpi.first.wpilibj.DriverStation; +import swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar; + +import java.util.*; + +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Milliseconds; + +public class OpponentManager { + // Map of possible scoring poses and types. For example, Map<"Hoops", Map<"CourtLeft", Pose2d>> + protected static final Map> scoringMap = new HashMap<>(); + // Map of possible collecting poses and types. For example, Map<"CollectStation", Map<"StationCenter", Pose2d>> + protected static final Map> collectingMap = new HashMap<>(); + /// Cached opponent data for dynamic polling. + // Cached list of all opponent obstacles. + protected static final List> opponentObstacles = new ArrayList<>(); + protected double lastObstaclePoll = 0; + protected static final List> blueOpponentObstacles = new ArrayList<>(); + protected double lastBlueObstaclePoll = 0; + protected static final List> redOpponentObstacles = new ArrayList<>(); + protected double lastRedObstaclePoll = 0; + // Cached list of all opponent targets. + protected static final List> opponentTargets = new ArrayList<>(); + protected double lastTargetPoll = 0; + protected static final List> blueOpponentTargets = new ArrayList<>(); + protected double lastBlueTargetPoll = 0; + protected static final List> redOpponentTargets = new ArrayList<>(); + protected double lastRedTargetPoll = 0; + // Cached list of all opponent poses. + protected static final List opponentPoses = new ArrayList<>(); + protected double lastPosePoll = 0; + protected static final List blueOpponentPoses = new ArrayList<>(); + protected double lastBluePosePoll = 0; + protected static final List redOpponentPoses = new ArrayList<>(); + protected double lastRedPosePoll = 0; + // List of possible starting poses + protected static final List initialBluePoses = new ArrayList<>(); + protected static final List initialRedPoses = new ArrayList<>(); + // Map of queening poses + protected static final List queeningPoses = new ArrayList<>(); + // Bounding box buffer, used to determine how big to make the obstacles. + protected static Distance boundingBoxBuffer; + // Bounding box offset Translation2d + protected final Translation2d boundingBoxTranslation; + + /// List of all opponent robots. + protected static final List opponents = new ArrayList<>(); + + /** + * MapleSim Opponent currently relies on Pathplanner with a modified pathfinder. This is to be changed soon. ^TM + */ + public OpponentManager() { + boundingBoxBuffer = Meters.of(0.6); + this.boundingBoxTranslation = new Translation2d(boundingBoxBuffer, boundingBoxBuffer); + } + + /** + * MapleSim Opponent currently relies on Pathplanner with a modified pathfinder. This is to be changed soon. ^TM + * + * @param withDefaults whether to call withDefaults or not. + */ + public OpponentManager(boolean withDefaults) { + this(); + if (withDefaults) { + withDefaults(); + } + } + + /** + * Calls withDefaultQueeningPoses() and withDefaultInitialPoses(). Also warms up pathplanner. + * + * @return this, for chaining. + */ + public OpponentManager withDefaults() { + PathfindingCommand.warmupCommand().schedule(); + this + .withDefaultInitialPoses() + .withDefaultQueeningPoses(); + return this; + } + + /** + * Adds 6 default queening poses to the list. + * + * @return this, for chaining. + */ + public OpponentManager withDefaultQueeningPoses() { + /// Add 6 queening poses for 3v3 without any additional + queeningPoses.add(new Pose2d(-6, 0, new Rotation2d())); + queeningPoses.add(new Pose2d(-5, 0, new Rotation2d())); + queeningPoses.add(new Pose2d(-4, 0, new Rotation2d())); + queeningPoses.add(new Pose2d(-3, 0, new Rotation2d())); + queeningPoses.add(new Pose2d(-2, 0, new Rotation2d())); + queeningPoses.add(new Pose2d(-1, 0, new Rotation2d())); + return this; + } + + /** + * Add 6 basic starting positions, 3 on each side. + * + * @return this, for chaining. + */ + public OpponentManager withDefaultInitialPoses() { + /// Add 6 basic starting positions, 3 on each side. + initialRedPoses.add(new Pose2d(15, 6, Rotation2d.fromDegrees(180))); + initialRedPoses.add(new Pose2d(15, 4, Rotation2d.fromDegrees(180))); + initialRedPoses.add(new Pose2d(15, 2, Rotation2d.fromDegrees(180))); + initialBluePoses.add(new Pose2d(1.6, 6, Rotation2d.kZero)); + initialBluePoses.add(new Pose2d(1.6, 4, Rotation2d.kZero)); + initialBluePoses.add(new Pose2d(1.6, 2, Rotation2d.kZero)); + return this; + } + + /** + * Adds an opponent robot to the list of robots to grab things from. + * + * @param opponent the {@link SmartOpponent} to manage. + * @return this, for chaining. + */ + public OpponentManager registerOpponent(SmartOpponent opponent) { + opponents.add(opponent); + return this; + } + + /** + * Makes a list of opponents on the given alliance. + * + * @param alliance the {@link DriverStation.Alliance} to collect opponents from. + * @return a {@link List} of the given alliance. + */ + public List getOpponents(DriverStation.Alliance alliance) { + List allianceOpponents = new ArrayList<>(); + for (SmartOpponent opponent : opponents) { + if (opponent.config.alliance == alliance) { + allianceOpponents.add(opponent); + } + } + return allianceOpponents; + } + + /** + * Gets the list of all registered SmartOpponents. + * + * @return the {@link List} of registered opponents. + */ + public List getOpponents() { + return opponents; + } + + /** + * Returns only the opponent targets for the given alliance. + * + * @param alliance which {@link DriverStation.Alliance} targets to grab. + * @return a list of poses targeted by opponents on the given alliance. + */ + public List> getOpponentTargetsDynamic(DriverStation.Alliance alliance, Time pollRate) { + // If elapsed time is less than pollRate return our cached list. + final var isBlue = alliance == DriverStation.Alliance.Blue; + final var targetList = isBlue ? blueOpponentTargets : redOpponentTargets; + if (System.currentTimeMillis() - (isBlue ? lastBlueTargetPoll : lastRedTargetPoll) < pollRate.in(Milliseconds)) { + return targetList; + } + // New list to filter. + final var filteredOpponents = new ArrayList<>(opponents); + // If elapsed time exceeds our pollRate, refresh the list. + targetList.clear(); + filteredOpponents.stream() + // Remove all opponents not on given alliance. + .filter(opponent -> opponent.config.alliance != alliance) + // Collect all their poses. + .forEach(opponent -> targetList.add(opponent.getTarget())); + // Update our refresh timestamp. + if (isBlue) { + lastBlueTargetPoll = System.currentTimeMillis(); + } else { + lastRedTargetPoll = System.currentTimeMillis(); + } + return targetList; + } + + /** + * Dynamically caches and refreshed a list of opponent targets. + * + * @param pollRate how long to wait before refreshing + * @return the list of registered opponent target poses. + */ + public List> getOpponentTargetsDynamic(Time pollRate) { + // If elapsed time is less than pollRate return our cached list. + if (System.currentTimeMillis() - lastTargetPoll < pollRate.in(Milliseconds)) { + return opponentTargets; + } + // If elapsed time exceeds our pollRate, refresh the list. + opponentTargets.clear(); + // Call the other dynamic methods so we don't update if not needed. + opponentTargets.addAll(getOpponentTargetsDynamic(DriverStation.Alliance.Blue, pollRate)); + opponentTargets.addAll(getOpponentTargetsDynamic(DriverStation.Alliance.Red, pollRate)); + // Update our refresh timestamp. + lastTargetPoll = System.currentTimeMillis(); + return opponentTargets; + } + + /** + * Checks if the given pose is near any opponent target pose. + * + * @param pose the pose to check against. + * @param pollRate how long to wait before refreshing + * @param tolerance the translation tolerance in {@link Distance}. + * @return + */ + public boolean isNearTarget(Pose2d pose, Time pollRate, Distance tolerance) { + for (Pair existingTarget : getOpponentTargetsDynamic(pollRate)) { + // Check if the new target is within the tolerance distance of any existing target + if (Objects.nonNull(existingTarget)) { + if (existingTarget.getSecond().getTranslation().getDistance(pose.getTranslation()) < tolerance.in(Meters)) { + return true; + } + } + } + return false; + } + + /** + * Returns only the opponent poses for the given alliance. + * + * @param alliance which {@link DriverStation.Alliance} poses to grab. + * @return a list of opponent poses on the given alliance. + */ + public List getOpponentPosesDynamic(DriverStation.Alliance alliance, Time pollRate) { + // If elapsed time is less than pollRate return our cached list. + final var isBlue = alliance == DriverStation.Alliance.Blue; + final var poseList = isBlue ? blueOpponentPoses : redOpponentPoses; + if (System.currentTimeMillis() - (isBlue ? lastBluePosePoll : lastRedPosePoll) < pollRate.in(Milliseconds)) { + return poseList; + } + // New list to filter. + final var filteredOpponents = new ArrayList<>(opponents); + // If elapsed time exceeds our pollRate, refresh the list. + poseList.clear(); + filteredOpponents.stream() + // Remove all opponents not on a given alliance. + .filter(opponent -> opponent.config.alliance != alliance) + // Collect all their poses. + .forEach(opponent -> poseList.add(opponent.getOpponentPose())); + // Update our refresh timestamp. + if (isBlue) { + lastBluePosePoll = System.currentTimeMillis(); + } else { + lastRedPosePoll = System.currentTimeMillis(); + } + return poseList; + } + + /** + * Returns all registered opponent poses. + * + * @return a list of all opponents poses on the given alliance. + */ + public List getOpponentPosesDynamic(Time pollRate) { + // If elapsed time is less than pollRate return our cached list. + if (System.currentTimeMillis() - lastPosePoll < pollRate.in(Milliseconds)) { + return opponentPoses; + } + // If elapsed time exceeds our pollRate, refresh the list. + opponentPoses.clear(); + // Call the other dynamic methods so we don't update if not needed. + opponentPoses.addAll(getOpponentPosesDynamic(DriverStation.Alliance.Blue, pollRate)); + opponentPoses.addAll(getOpponentPosesDynamic(DriverStation.Alliance.Red, pollRate)); + // Update our refresh timestamp. + lastPosePoll = System.currentTimeMillis(); + return opponentPoses; + } + + /** + * Saves a list globally in {@link OpponentManager} and returns that list only updating it if the last update + * exceeds the given time. + * + * @param pollRate how long to wait before updating. + * @return a list of obstacles usable by {@link MapleADStar}. + */ + protected List> getObstaclesDynamic(DriverStation.Alliance alliance, Time pollRate) { + // If elapsed time is less than pollRate return our cached list. + final var isBlue = alliance == DriverStation.Alliance.Blue; + final var obstacleList = isBlue ? blueOpponentObstacles : redOpponentObstacles; + if (System.currentTimeMillis() - (isBlue ? lastBlueObstaclePoll : lastRedObstaclePoll) < pollRate.in(Milliseconds)) { + return obstacleList; + } + // New list to filter. + final var targets = isBlue + ? getOpponentTargetsDynamic(DriverStation.Alliance.Blue, pollRate) + : getOpponentTargetsDynamic(DriverStation.Alliance.Red, pollRate); + final var poses = isBlue + ? getOpponentPosesDynamic(DriverStation.Alliance.Blue, pollRate) + : getOpponentPosesDynamic(DriverStation.Alliance.Red, pollRate); + obstacleList.clear(); + // Format poses into obstacles and add them. + targets.forEach(target -> { + obstacleList.add(poseToObstacle(Objects.requireNonNullElse(target.getSecond(), Pose2d.kZero))); + }); + poses.forEach(pose -> { + obstacleList.add(poseToObstacle(pose)); + }); + // Update our refresh timestamp. + if (isBlue) { + lastBlueObstaclePoll = System.currentTimeMillis(); + } else { + lastRedObstaclePoll = System.currentTimeMillis(); + } + return obstacleList; + } + + /** + * Saves a list globally in {@link OpponentManager} and returns that list only updating it if the last update + * exceeds the given time. + * + * @param pollRate how long to wait before updating. + * @return a list of obstacles usable by {@link MapleADStar}. + */ + protected List> getObstaclesDynamic(Time pollRate) { + // If elapsed time is less than pollRate return our cached list. + if (System.currentTimeMillis() - lastObstaclePoll < pollRate.in(Milliseconds)) { + return opponentObstacles; + } + // If elapsed time exceeds our pollRate, refresh the list. + opponentObstacles.clear(); + // Call the other dynamic methods so we don't update if not needed. + opponentObstacles.addAll(getObstaclesDynamic(DriverStation.Alliance.Blue, pollRate)); + opponentObstacles.addAll(getObstaclesDynamic(DriverStation.Alliance.Red, pollRate)); + // Update our refresh timestamp. + lastObstaclePoll = System.currentTimeMillis(); + return opponentObstacles; + } + + /** + * Formats a pose2d as a bounding box for obstacles using the boundingBoxBuffer. + * + * @param pose the pose to format. + * @return an obstacle usable by pathplanner. + */ + protected Pair poseToObstacle(Pose2d pose) { + return Pair.of( + pose.getTranslation().plus(boundingBoxTranslation), + pose.getTranslation().minus(boundingBoxTranslation) + ); + } + + /** + * Gets a queening pose, removing it from the list. + * + * @return a queening pose. + */ + public Pose2d getQueeningPose() { + var pose = queeningPoses.get(0); + queeningPoses.remove(0); + return pose; + } + + /** + * Gets an initial pose, removing it from the list. + * + * @return a initial pose. + */ + public Pose2d getInitialPose(DriverStation.Alliance alliance) { + Pose2d pose; + if (alliance == DriverStation.Alliance.Blue) { + pose = initialBluePoses.get(0); + initialBluePoses.remove(0); + } else { + pose = initialRedPoses.get(0); + initialRedPoses.remove(0); + } + return pose; + } + + /** + * Adds a scoring pose. + * + * @param poseType The type of pose to add. For example, "Hoops". + * @param poseName The name of the pose to add. For example, "CourtLeft". + * @param pose The pose to add. + * @return this, for chaining. + */ + public OpponentManager addScoringPose(String poseType, String poseName, Pose2d pose) { + scoringMap.putIfAbsent(poseType, new HashMap<>()); + scoringMap.get(poseType).putIfAbsent(poseName, pose); + if (scoringMap.get(poseType).get(poseName) != pose) { + throw new IllegalArgumentException("Failed to add score pose: " + poseName + "/n"); + } + return this; + } + + /** + * Gets the raw scoring map. Setup as Map> + * + * @return the raw scoring map. + */ + public Map> getRawScoringMap() { + return scoringMap; + } + + /** + * Compiles a compacted scoring map. Setup as Map + * + * @return a compacted scoring map. + */ + public Map getScoringMap() { + Map scoringPoses = new HashMap<>(); + scoringMap.forEach((poseType, poseMap) -> poseMap.forEach((name, pose) -> { + scoringPoses.put(poseType + name, pose); + })); + return scoringPoses; + } + + /** + * Compiles a list of all scoring poses. + * + * @return a list of all scoring poses. + */ + public List getScoringPoses() { + List scoringPoses = new ArrayList<>(); + scoringMap.forEach((poseType, poseMap) -> poseMap.forEach((poseName, pose) -> scoringPoses.add(pose))); + return scoringPoses; + } + + /** + * Adds a collecting pose to the config. + * + * @param poseType The type of pose to add. For example, "CollectStation". + * @param poseName The name of the pose to add. For example, "StationCenter". + * @param pose The pose to add. + * @return this, for chaining. + */ + public OpponentManager addCollectingPose(String poseType, String poseName, Pose2d pose) { + collectingMap.putIfAbsent(poseType, new HashMap<>()); + collectingMap.get(poseType).putIfAbsent(poseName, pose); + if (collectingMap.get(poseType).get(poseName) != pose) { + throw new IllegalArgumentException("Failed to add collect pose: " + poseName + "/n"); + } + return this; + } + + /** + * Gets the raw collecting map. Setup as Map> + * + * @return the raw collecting map. + */ + public Map> getRawCollectingMap() { + return collectingMap; + } + + /** + * Compiles a compacted collecting map. Setup as Map + * + * @return a compacted collecting map. + */ + public Map getCollectingMap() { + Map collectingPoses = new HashMap<>(); + collectingMap.forEach( + (poseType, poseMap) -> poseMap.forEach((name, pose2d) -> collectingPoses.put(poseType + name, pose2d))); + return collectingPoses; + } + + /** + * Compiles a list of all collecting poses. + * + * @return a list of all collecting poses. + */ + public List getCollectingPoses() { + List collectingPoses = new ArrayList<>(); + collectingMap.forEach((poseType, poseMap) -> poseMap.forEach((poseName, pose) -> collectingPoses.add(pose))); + return collectingPoses; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java new file mode 100644 index 0000000..ee920ef --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java @@ -0,0 +1,586 @@ +package swervelib.simulation.ironmaple.simulation.opponentsim; + +import com.pathplanner.lib.commands.FollowPathCommand; +import com.pathplanner.lib.config.PIDConstants; +import com.pathplanner.lib.config.RobotConfig; +import com.pathplanner.lib.controllers.PPHolonomicDriveController; +import com.pathplanner.lib.path.*; +import com.pathplanner.lib.trajectory.PathPlannerTrajectoryState; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.filter.Debouncer; +import edu.wpi.first.math.filter.LinearFilter; +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.kinematics.ChassisSpeeds; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StringPublisher; +import edu.wpi.first.networktables.StructPublisher; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.units.measure.Time; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation; +import swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar; +import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; + +import java.util.*; +import java.util.function.Supplier; + +import static edu.wpi.first.units.Units.*; + +public abstract class SmartOpponent extends SubsystemBase { + /// Publishers + protected StringPublisher statePublisher; + protected StructPublisher posePublisher; + // String used in telemetry for alliance. + protected String allianceString; + /// The SmartOpponentConfig to use. + protected SmartOpponentConfig config; + // The opponent manager if set + protected OpponentManager manager; + /// The drivetrain simulation. + protected SelfControlledSwerveDriveSimulation drivetrainSim; + /// The Manipulator Sim + protected ManipulatorSim manipulatorSim; + /// The pathplanner config + protected RobotConfig pathplannerConfig; + /// Pathplanner HolonomicDriveController + protected PPHolonomicDriveController driveController; + // Pathfinding class cloned for modification. + protected final MapleADStar mapleADStar; + // Behavior Chooser Publisher + protected StringPublisher selectedBehaviorPublisher; + // Target Pose + protected Pair target; + // Whether the state was interrupted and should restart. + protected boolean restartInterrupt; + /// Collision Detection + protected final Debouncer collisionDebouncer; + /// Not Moving Detection + protected final Timer notMovingTimer; + protected final LinearVelocity notMovingThreshold; + + /** + * The SmartOpponent base abstracted class. + * + * @param config the {@link SmartOpponentConfig} to base the opponent off of. + */ + public SmartOpponent(SmartOpponentConfig config) { + /// Create and verify config. + this.config = config; + config.validateConfigs(); // Throw an error if the config is invalid. + if (config.manager != null) { + this.manager = config.manager; + } + this.driveController = new PPHolonomicDriveController( + new PIDConstants(5), + new PIDConstants(5)); + // Cloned Pathfinder for use here. + this.mapleADStar = new MapleADStar(); + // Preset an empty manipulator + this.manipulatorSim = new ManipulatorSim(); + /// Initialize simulations + this.drivetrainSim = config.chassis.createDriveTrainSim(config.queeningPose); + this.pathplannerConfig = config.chassis.updatePathplannerConfig(); + // Alliance string for telemetry. + this.allianceString = DriverStation.Alliance.Blue.equals(config.alliance) ? "Blue Alliance/" : "Red Alliance/"; + // NetworkTable setup. + this.statePublisher = NetworkTableInstance.getDefault() + .getStringTopic(config.telemetryPath + "SimulatedOpponents/States/" + + allianceString + config.name + "'s Current State").publish(); + this.posePublisher = NetworkTableInstance.getDefault() + .getStructTopic(config.telemetryPath + "SimulatedOpponents/Poses/" + + allianceString + config.name + "'s Pose2d", Pose2d.struct).publish(); + this.selectedBehaviorPublisher = NetworkTableInstance.getDefault() + .getTable(config.telemetryPath + "SimulatedOpponents/Behaviors/" + + allianceString + config.name + "'s Behaviors") + .getStringTopic("selected").publish(); + /// Adds the required states to run the {@link swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent}. + config.withState("Standby", this::standbyState); + config.withState("Starting", () -> startingState("Collect")); + config.withState("Collect", this::collectState); + config.withState("Score", this::scoreState); + setState("Standby"); + /// Adds options to the behavior sendable chooser. + config.withBehavior("Disabled", runState("Standby", true), true); + config.withBehavior("Enabled", runState("Starting", true)); + // Update the chooser and then publish it. + SmartDashboard.putData( + config.smartDashboardPath + + "SimulatedOpponents/Behaviors/" + + allianceString + config.name + + "'s Behaviors", + config.updateBehaviorChooser()); + /// Run behavior command when changed. + config.getBehaviorChooser().onChange(Command::schedule); + /// Finally, add our simulation + SimulatedArena.getInstance().addDriveTrainSimulation(drivetrainSim.getDriveTrainSimulation()); + if (config.isAutoEnable) { + RobotModeTriggers.teleop() + .onTrue(Commands.runOnce( + () -> config.getBehaviorChooser().getSelected().schedule())); + RobotModeTriggers.disabled().onTrue(standbyState()); + } + /// If a manager is set register with it + if (config.manager != null) { + config.manager.registerOpponent(this); + } + // Initialize an empty target. + this.target = Pair.of("None", Pose2d.kZero); + /// Collision Detection + this.collisionDebouncer = new Debouncer(1, Debouncer.DebounceType.kRising); + /// Not Moving Detection + this.notMovingThreshold = FeetPerSecond.of(1); + this.notMovingTimer = new Timer(); + // Caches weighted poses for a faster search later. + config.loadWeightedPoses(); + } + + /** + * Returns whether the opponent is on the given alliance. + * + * @param alliance the alliance to check. + * @return whether the opponent is on the given alliance. + */ + public boolean isAlliance(DriverStation.Alliance alliance) { + return this.config.alliance == alliance; + } + + /** + * Updates the selected behavior {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser}, as if it was + * changed from the dashboard. This is done with a {@link StringPublisher} pointing to the + * {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser} selected string. + * + * @param behavior which option to select. + * @return a command that updated the selected behavior. + */ + protected Command setSelectedBehavior(String behavior) { + return runOnce(() -> selectedBehaviorPublisher.set(behavior)); + } + + /** + * The standby state to run. + * + * @return a Command that runs the state. + */ + protected Command standbyState() { + return run(() -> { + drivetrainSim.setSimulationWorldPose(config.queeningPose); + drivetrainSim.runChassisSpeeds(new ChassisSpeeds(), new Translation2d(), false, false); + restartInterrupt = false; + }).ignoringDisable(true); + } + + /** + * The starting state to run. + * + * @return a Command that runs the state. + */ + protected Command startingState(String nextState) { + return runOnce(() -> drivetrainSim.runChassisSpeeds(new ChassisSpeeds(), new Translation2d(), false, false)) + .andThen(runOnce(() -> drivetrainSim.setSimulationWorldPose(config.initialPose))) + .andThen(Commands.waitSeconds(0.25)) + .finallyDo(() -> setState(nextState)) + .ignoringDisable(config.isAutoEnable); // Only move to the field while disabled if autoEnable is off. + } + + /** + * The collect state to run. + * + * @return a runnable that runs the state. + */ + protected abstract Command collectState(); + + /** + * The score state to run. + * + * @return a runnable that runs the state. + */ + protected abstract Command scoreState(); + + @Override + public void simulationPeriodic() { + // If command not in progress and standby isn't the desired state. Or if a restartInterrupt occurred, restarting the current state. + if (!config.commandInProgress && !Objects.equals("Standby", config.desiredState)) { + runState(config.desiredState, false).schedule(); + } + // If restart requested, do that now. + if (restartInterrupt) { + runState(config.desiredState, true).schedule(); + notMovingTimer.restart(); + restartInterrupt = false; + } + // If we are very stuck reload from start. + if (notMovingTimer.hasElapsed(5)) { + drivetrainSim.setSimulationWorldPose(config.initialPose); + runState(config.desiredState, true).schedule(); + } + // If the timer is not running and a command is running and the opponent is not moving, start the timer. + if (!notMovingTimer.isRunning() && config.commandInProgress && !isMoving(notMovingThreshold)) { + notMovingTimer.restart(); + } else { + notMovingTimer.stop(); + } + statePublisher.set(config.currentState); + posePublisher.set(drivetrainSim.getActualPoseInSimulationWorld()); + } + + /** + * Sets the current state of the robot. This waits its turn patiently for the command to finish. + * + * @param state The state to set. + * @return this, for chaining. + */ + protected SmartOpponent setState(String state) { + config.desiredState = state; + return this; + } + + /** + * Runs a state as a command. + * + * @param state The state to run. + * @param forceState Whether to force the state to run even if it is already running. + * @return The command to run the state. + */ + protected Command runState(String state, boolean forceState) { + // If forceState, cancel any commands. + if (forceState) { + Command currentCommand = getCurrentCommand(); + if (currentCommand != null) { + currentCommand.cancel(); + } + return config.getStates().get(state).get(); + } + // Don't force the state. If there's a command running or already in state, wait. + if (config.currentState.equals(state) + || getCurrentCommand() != null + || (getCurrentCommand() != null && !getCurrentCommand().isFinished()) + && (!RobotModeTriggers.disabled().getAsBoolean() && config.isAutoEnable)) { + setState(state); // Make state wait for command to finish. + return Commands.none(); + } + // Nothing in the way, get our state. + return config.getStates().get(state).get(); + } + + /** + * Gets the current actual opponent pose. + * + * @return the opponent {@link Pose2d}. + */ + public Pose2d getOpponentPose() { + return drivetrainSim.getActualPoseInSimulationWorld(); + } + + /** + * Gets the opponent's current active target pose. + * + * @return either the opponent target pose or null if there is no active target. + */ + public Pair getTarget() { + return target; + } + + protected boolean isColliding() { + final var collisionFactor = + LinearFilter.movingAverage(50).calculate(Math.abs( + (Arrays.stream(drivetrainSim.getDriveTrainSimulation().getModules()).findFirst().get().getDriveMotorSupplyCurrent()).in(Amps) + - Arrays.stream(drivetrainSim.getDriveTrainSimulation().getModules()).findAny().get().getDriveMotorAppliedVoltage().in(Volts))); + return collisionDebouncer.calculate(MathUtil.isNear(0.6, collisionFactor, 0.3)); + } + + /** + * Pathfinds to a target pose. + * + * @param target The target. + * @return A command to pathfind to the target pose. + */ + public Command pathfind(Pair target, LinearVelocity desiredVelocity) { + if (Objects.isNull(target)) { + System.out.println(config.name + " Opponent's target is null, skipping this cycle."); + return Commands.none(); + } + this.target = Pair.of(target.getFirst(), ifShouldFlip(target.getSecond())); + // Add offset after setting flipped generic target. + final Pose2d finalPose = this.target.getSecond().plus(config.pathfindOffset); + /// Set up the pathfinder + mapleADStar.setStartPosition(drivetrainSim.getActualPoseInSimulationWorld().getTranslation()); + mapleADStar.setGoalPosition(finalPose.getTranslation()); + mapleADStar.runThread(); + return Commands.run(() -> { + // Initialize our poses and targets + final var currentPose = drivetrainSim.getActualPoseInSimulationWorld(); + final var waypoints = mapleADStar.currentWaypoints; + final Translation2d targetTranslation; + final Rotation2d targetRotation; + // If waypoints exist, load our next target. + if (!waypoints.isEmpty()) { + // Set anchor as a target. + targetTranslation = waypoints.get(0).anchor(); + // Incorrectly interpolate rotation goal. + targetRotation = currentPose.getRotation().interpolate(finalPose.getRotation(), waypoints.size()); + // If close to current target transfer to the next. + if (currentPose.getTranslation().getDistance(targetTranslation) < config.chassis.driveToPoseTolerance.times(3).in(Meters)) { + waypoints.remove(0); + } + // If no waypoints, set the final pose as the target. + } else { + targetTranslation = finalPose.getTranslation(); + targetRotation = finalPose.getRotation(); + } + final var targetPose = new Pose2d(targetTranslation, targetRotation); + final PathPlannerTrajectoryState state = new PathPlannerTrajectoryState(); + state.pose = targetPose; + // Run out calculated speeds. + drivetrainSim.runChassisSpeeds( + driveController.calculateRobotRelativeSpeeds( + currentPose, + state), new Translation2d(), false, false); + }, this) + .until(() -> { // Run until no waypoints and within tolerances. + List waypoints = mapleADStar.currentWaypoints; + return waypoints.isEmpty() && nearPose(finalPose, config.chassis.driveToPoseTolerance, config.chassis.driveToPoseAngleTolerance); + }) // If an opponent seems stuck, restart. + .until(() -> { + final boolean bool = notMovingFor(Seconds.of(0.5)) || isColliding(); + if (bool) { + notMovingTimer.restart(); + restartInterrupt = true; + } + return bool; + }) + // When finished, stop moving. + .finallyDo(() -> drivetrainSim.runChassisSpeeds(new ChassisSpeeds(), new Translation2d(), false, false)); + } + + /** + * Has the opponent run a new FollowPathCommand. + * + * @param path the path to follow. + * @return a follow path command. + */ + protected Command followPath(PathPlannerPath path) { + return new FollowPathCommand( + path, + () -> drivetrainSim.getActualPoseInSimulationWorld(), + () -> drivetrainSim.getActualSpeedsRobotRelative(), + (speeds, ffNotUsed) -> drivetrainSim.runChassisSpeeds(speeds, new Translation2d(), false, false), + driveController, + pathplannerConfig, + () -> config.alliance == DriverStation.Alliance.Blue, + this); + } + + /** + * A {@link Command} to drive the {@link SmartOpponent}. Meant to be used for joystick drives. + * + * @param chassisSpeeds speeds supplier to run the robot. + * @return {@link Command} to drive the {@link SmartOpponent}. + */ + protected Command drive(Supplier chassisSpeeds, boolean fieldCentric) { + if (fieldCentric) { + return run(() -> { + // Blue alliance faces 180°, Red faces 0° + Rotation2d driverFacing = + config.alliance.equals(DriverStation.Alliance.Blue) ? Rotation2d.k180deg : Rotation2d.kZero; + + // Convert to field-centric and run + ChassisSpeeds fieldSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(chassisSpeeds.get(), driverFacing); + drivetrainSim.runChassisSpeeds(fieldSpeeds, new Translation2d(), true, false); + }); + } + + // Robot-relative + return run(() -> drivetrainSim.runChassisSpeeds(chassisSpeeds.get(), new Translation2d(), false, false)); + } + + /** + * Gets a random pose from a map. If the map is empty reports an error and returns null. + * + * @param poseMap The map to get a pose from. + * @return A random pose from the map. + */ + protected Pair getRandomFromMap(Map poseMap) { + Map.Entry randomEntry = poseMap.entrySet().stream() + .skip(new Random().nextInt(poseMap.size())) + .findFirst() + .orElse(null); + + return randomEntry != null ? Pair.of(randomEntry.getKey(), randomEntry.getValue()) : null; + } + + /** + * Gets a random pose from a map. + * If the map is empty returns null. + * + * @param poseMap The map to get a pose from. + * @return A random pose from the map, unless empty. + */ + protected Pair getTargetFromMap(Map poseMap) { + final Map newMap = new HashMap<>(poseMap); + // Remove all already targeted poses. + newMap.values().removeAll(manager.getOpponentTargetsDynamic(config.pollRate)); // ignore warning, if it doesn't exist or match, nothing will be removed. + // Return null if empty, otherwise continue. + return newMap.isEmpty() ? null : getRandomFromMap(newMap); + } + + /** + * Gets a random scoring target based on pose weights. + * + * @return a random scoring target based on pose weights. + */ + protected Pair getScoringTarget() { + // If no entries exist, fail. + if (config.cachedScoringEntries.isEmpty()) { + return null; + } + + // Cache opponent targets and weight map to avoid repeated calls. + final var opponentTargets = manager.getOpponentTargetsDynamic(config.alliance, config.pollRate); + final var scoringWeights = config.getScoringWeights(); + double random = Math.random(); + double cumulativeWeight = 0; + double totalWeight = 0; + + // First pass: calculate total weight of available entries. + for (var entry : config.cachedScoringEntries) { + // Check both that the target is not already taken and not near any existing targets + if (!opponentTargets.contains(entry.getValue()) && + !manager.isNearTarget(entry.getValue(), config.pollRate, Meters.of(1.0))) { + totalWeight += scoringWeights.getOrDefault(entry.getKey(), 1.0); + } + } + + // If no available targets, fail. + if (totalWeight == 0) { + return null; + } + + // Scale random value by total weight for weighted selection. + random *= totalWeight; + + // Second pass: find weighted target using cumulative weights. + for (var entry : config.cachedScoringEntries) { + if (!opponentTargets.contains(entry.getValue())) { + cumulativeWeight += scoringWeights.getOrDefault(entry.getKey(), 1.0); + if (random <= cumulativeWeight) { + return Pair.of(entry.getKey(), entry.getValue()); + } + } + } + + // No target found (shouldn't happen if totalWeight > 0). + return null; + } + + /** + * Gets a random collect target based on pose weights. + * + * @return a random collect target based on pose weights. + */ + protected Pair getCollectTarget() { + // If no entries exist, fail. + if (config.cachedCollectingEntries.isEmpty()) { + return null; + } + + final var opponentTargets = manager.getOpponentTargetsDynamic(config.alliance, config.pollRate); + final var collectWeights = config.getCollectWeights(); + double random = Math.random(); + double cumulativeWeight = 0; + double totalWeight = 0; + + // First pass: calculate total weight of available entries. + for (var entry : config.cachedCollectingEntries) { + // Check both that the target is not already taken and not near any existing targets + if (!opponentTargets.contains(entry.getValue()) && + !manager.isNearTarget(entry.getValue(), config.pollRate, Meters.of(1.0))) { + totalWeight += collectWeights.getOrDefault(entry.getKey(), 1.0); + } + } + + // If no available targets, fail. + if (totalWeight == 0) { + return null; + } + + // Scale random value by total weight for weighted selection. + random *= totalWeight; + + // Second pass: find weighted target using cumulative weights. + for (var entry : config.cachedCollectingEntries) { + if (!opponentTargets.contains(entry.getValue())) { + cumulativeWeight += collectWeights.getOrDefault(entry.getKey(), 1.0); + if (random <= cumulativeWeight) { + return Pair.of(entry.getKey(), entry.getValue()); + } + } + } + + // No target found (shouldn't happen if totalWeight > 0). + return null; + } + + /** + * Checks if the {@link SmartOpponent} is near the given pose within a given tolerance. + * + * @param pose the pose to check against. + * @param tolerance the translation tolerance in {@link Distance}. + * @param angleTolerance the rotation tolerance in {@link Angle}. + * @return + */ + public boolean nearPose(Pose2d pose, Distance tolerance, Angle angleTolerance) { + Pose2d robotPose = drivetrainSim.getActualPoseInSimulationWorld(); + return robotPose.getTranslation().getDistance(pose.getTranslation()) < tolerance.in(Meters) + && Math.abs(robotPose.getRotation().minus(pose.getRotation()).getDegrees()) + < angleTolerance.in(Degrees); + } + + /** + * Checks if the {@link SmartOpponent} is moving within the given tolerance. This checks only the linear velocity. + * + * @param tolerance the movement speed tolerance in {@link LinearVelocity}. + * @return true if the robot is moving faster than the given tolerance. + */ + public boolean isMoving(LinearVelocity tolerance) { + final var speeds = drivetrainSim.getActualSpeedsRobotRelative(); + return speeds.vxMetersPerSecond > tolerance.in(MetersPerSecond) + || speeds.vyMetersPerSecond > tolerance.in(MetersPerSecond); + } + + /** + * Checks if the {@link SmartOpponent} has not been moving for given time. + * + * @param elapsedTime how long the robot should be stuck for. + * @return true if the robot has been stopped for the elaspedTime. + */ + public boolean notMovingFor(Time elapsedTime) { + return notMovingTimer.hasElapsed(elapsedTime.in(Seconds)) && !isMoving(notMovingThreshold); + } + + /** + * If robot is red, returns pose as is. If the robot is blue, it returns the flipped pose. + * + * @param pose The pose to flip. + * @return The flipped pose. + */ + protected Pose2d ifShouldFlip(Pose2d pose) { + if (config.alliance == DriverStation.Alliance.Blue) { + return pose; + } else { + return new Pose2d( + FieldMirroringUtils.flip(pose.getTranslation()), FieldMirroringUtils.flip(pose.getRotation())); + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponentConfig.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponentConfig.java new file mode 100644 index 0000000..7df2a54 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponentConfig.java @@ -0,0 +1,1639 @@ +package swervelib.simulation.ironmaple.simulation.opponentsim; + +import com.pathplanner.lib.config.RobotConfig; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.units.measure.*; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.drivesims.*; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; +import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; + +import java.util.*; +import java.util.function.Supplier; + +import static edu.wpi.first.units.Units.*; + +/** + * The config is required to make a {@link SmartOpponent}. + * It should throw if configured wrong. + */ +public class SmartOpponentConfig { + /// Basic Required Options + public String name; + public DriverStation.Alliance alliance; + public Pose2d queeningPose; + public Pose2d initialPose; + /// Basic Optional Options + // Telemetry Options + public String telemetryPath; + public String smartDashboardPath; + protected final SendableChooser behaviorChooser; + // Joystick Options + protected Optional joystick = Optional.empty(); + public double joystickDeadband = 0.15; + // Pathfind pose offset translation to compensate for different chassis' + public Transform2d pathfindOffset; + // Auto Enable and Disable Opponent Support + public boolean isAutoEnable; + + /// Opponent Chassis Options + public ChassisConfig chassis; + + /// Maps using a (key, value) pair. Used to + // Map of the robot states. + private final Map> states = new HashMap<>(); + // Map of behaviour options + private final Map> behavior = new HashMap<>(); + // Map of possible scoring poses and types. For example, Map<"Hoops", Map<"CourtLeft", Pose2d>> + private final Map> scoringMap = new HashMap<>(); + // Map of possible collecting poses and types. For example, Map<"CollectStation", Map<"StationCenter", Pose2d>> + private final Map> collectingMap = new HashMap<>(); + // Map of scoring pose weights, if a weight is not defined, it defaults to 1.0. + private final Map scoringWeightMap = new HashMap<>(); + // Map of collect pose weights, if a weight is not defined, it defaults to 1.0. + private final Map collectWeightMap = new HashMap<>(); + /// Cached weighted maps for faster targeting. + // Cached entries for each pose. + public final List> cachedScoringEntries = new ArrayList<>(); + // Cached cumulative weights for a binary search. + public final List cachedScoringWeights = new ArrayList<>(); + // Cached entries for each pose. + public final List> cachedCollectingEntries = new ArrayList<>(); + // Cached cumulative weights for a binary search. + public final List cachedCollectingWeights = new ArrayList<>(); + + /// Opponent Management + protected OpponentManager manager; + protected Time pollRate; + public boolean commandInProgress = false; + // Opponents current and last states. + public String currentState = ""; + public String desiredState; + + /// Sets of required basic options + private final Set requiredBasicOptions; + + /** + * Default Constructor for SmartOpponentConfig. + */ + public SmartOpponentConfig() { + /// Sets the required basic options. + this.requiredBasicOptions = EnumSet.allOf(BasicOptions.class); + withPathfindOffset(Transform2d.kZero); // Sets a zero offset for default use. + withPollRate(SimulatedArena.getSimulationDt()); + + /// Prepares empty config. + this.chassis = new ChassisConfig(); + + /// Prepares Telemetry + withTelemetryPath("MapleSim/"); + this.behaviorChooser = new SendableChooser<>(); + } + + public void loadWeightedPoses() { + // Reset and load scoring poses + cachedScoringEntries.clear(); + cachedScoringEntries.addAll(getScoringMap().entrySet()); + double totalScoringWeight = 0.0; + + /// Cache our targets with a weight + for (Map.Entry entry : scoringWeightMap.entrySet()) { + // If no weight is set, default to 1.0 + double weight = scoringWeightMap.getOrDefault(entry.getKey(), 1.0); + totalScoringWeight += weight; + // Save our cumulative weight for a binary search + cachedScoringWeights.add(totalScoringWeight); + } + + // Reset and load collect poses + cachedCollectingEntries.clear(); + cachedCollectingEntries.addAll(getCollectingMap().entrySet()); + double totalCollectWeight = 0.0; + /// Cache our targets with a weight + for (Map.Entry entry : collectWeightMap.entrySet()) { + // If no weight is set, default to 1.0 + double weight = collectWeightMap.getOrDefault(entry.getKey(), 1.0); + totalCollectWeight += weight; + // Save our cumulative weight for a binary search + cachedCollectingWeights.add(totalCollectWeight); + } + } + + /** + * Constructor for SmartOpponentConfig with all required options set. + * + * @param name The robot's name. + * @param alliance The robot's alliance. + * @param initialPose The robot's initial pose. + * @param queeningPose The robot's queening pose. + * @param chassisConfig The robot's chassis config. + */ + public SmartOpponentConfig( + String name, + DriverStation.Alliance alliance, + Pose2d initialPose, + Pose2d queeningPose, + ChassisConfig chassisConfig) { + /// Creates a new config using the empty base. + this(); + /// Add required options to the checklist. + this.withName(name) + .withAlliance(alliance) + .withQueeningPose(queeningPose) + .withStartingPose(initialPose) + .withChassisConfig(chassisConfig); + } + + /** + * Sets the robot name. + * + * @param name The robot name. + * @return this, for chaining. + */ + public SmartOpponentConfig withName(String name) { + this.name = name; + this.requiredBasicOptions.remove(BasicOptions.Name); + return this; + } + + /** + * Sets the robot alliance. + * + * @param alliance The robot alliance. + * @return this, for chaining. + */ + public SmartOpponentConfig withAlliance(DriverStation.Alliance alliance) { + this.alliance = alliance; + this.requiredBasicOptions.remove(BasicOptions.Alliance); + return this; + } + + /** + * Adds a {@link OpponentManager} to register with. Set alliance and name beforehand. Sets these values as well + * withStartingPose() withQueeningPose() withCollectingMap() withScoringMap() + * + * @param manager the {@link OpponentManager} to use. + * @return this, for chaining. + * @return this, for chaining. + */ + public SmartOpponentConfig withManager(OpponentManager manager) { + if (alliance == null) { + DriverStation.reportError("Alliance is null", true); + } + this.manager = manager; + withStartingPose(this.manager.getInitialPose(alliance)) + .withQueeningPose(this.manager.getQueeningPose()) + .withCollectingMap(this.manager.getRawCollectingMap()) + .withScoringMap(this.manager.getRawScoringMap()); + return this; + } + + /** + * Gets this opponent's manager if registered. + * + * @return the {@link OpponentManager} being used. + */ + public OpponentManager getManager() { + if (manager == null) { + DriverStation.reportWarning("MapleSim getManager() returned null, no manager was found.", false); + return null; + } + return manager; + } + + /** + * Sets the queening pose. + * + * @param pose The pose to set the robot to. + * @return this, for chaining. + */ + public SmartOpponentConfig withQueeningPose(Pose2d pose) { + this.queeningPose = pose; + this.requiredBasicOptions.remove(BasicOptions.QueeningPose); + return this; + } + + /** + * Sets the initial pose. + * + * @param initialPose The initial pose. + * @return this, for chaining. + */ + public SmartOpponentConfig withStartingPose(Pose2d initialPose) { + this.initialPose = initialPose; + this.requiredBasicOptions.remove(BasicOptions.InitialPose); + return this; + } + + /** + * Sets the telemetry path. + * + * @param telemetryPath The telemetry path. + * @return this, for chaining. + */ + public SmartOpponentConfig withTelemetryPath(String telemetryPath) { + // Force a smartdashboard path since it's needed for the SendableChooser. + this.telemetryPath = "SmartDashboard/" + telemetryPath; + this.smartDashboardPath = telemetryPath; + return this; + } + + /** + * Sets the joystick to use. May or may not be used depending on the opponent's setup. + * + * @param joystick The joystick to use. + * @return this, for chaining. + */ + public SmartOpponentConfig withJoystick(Object joystick) { + this.joystick = Optional.of(joystick); + return this; + } + + /** + * Gets the optional joystick {@link Object}. Needs cast properly for use. + * + * @return the optional joystick {@link Object}. + */ + public Object getJoystick() { + if (joystick.isPresent()) { + return joystick.get(); + } + DriverStation.reportError("Joystick not found, returning null. Joystick is: " + joystick, true); + return null; + } + + /** + * Sets the joystick deadband. + * + * @param deadband The joystick deadband. + * @return this, for chaining. + */ + public SmartOpponentConfig withJoystickDeadband(double deadband) { + this.joystickDeadband = deadband; + return this; + } + + /** + * Sets the Pathfinding offset. + * + * @param pathfindOffset value to transform targets by. + * @return this, for chaining. + */ + public SmartOpponentConfig withPathfindOffset(Transform2d pathfindOffset) { + this.pathfindOffset = pathfindOffset; + return this; + } + + /** + * This sets a dynamic poll rate for various obstacle and pose getters. + * + * @param pollRate how long to wait before refreshing our getters. + * @return this, for chaining. + */ + public SmartOpponentConfig withPollRate(Time pollRate) { + this.pollRate = pollRate; + return this; + } + + /** + * Adds a scoring weight to a target pose. + * The weight is 1 by default, raise it to go there more often. + * + * @param weights the map of weights to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withScoringPoseWeights(Map weights) { + this.scoringWeightMap.putAll(weights); + return this; + } + + /** + * Adds a scoring weight to a target pose. + * The weight is 1 by default, raise it to go there more often. + * + * @param name the pose to add it to. + * @param weight the weight to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withScoringPoseWeights(String name, double weight) { + this.scoringWeightMap.put(name, weight); + return this; + } + + /** + * Gets the map of scoring weights. + * + * @return the map of scoring weights. + */ + public Map getScoringWeights() { + return scoringWeightMap; + } + + /** + * Adds a scoring weight to a target pose. + * The weight is 1 by default, raise it to go there more often. + * + * @param weights the map of weights to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withCollectPoseWeights(Map weights) { + this.collectWeightMap.putAll(weights); + return this; + } + + /** + * Adds a scoring weight to a target pose. + * The weight is 1 by default, raise it to go there more often. + * + * @param name the pose to add it to. + * @param weight the weight to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withCollectPoseWeights(String name, double weight) { + this.collectWeightMap.put(name, weight); + return this; + } + + /** + * Gets the map of collect weights. + * + * @return the map of collect weights. + */ + public Map getCollectWeights() { + return collectWeightMap; + } + + /** + * Sets the chassis config. This is the only input to encourage full configuration of the robot. + * + * @param chassisConfig The chassis config to set. + * @return this, for chaining. + */ + public SmartOpponentConfig withChassisConfig(ChassisConfig chassisConfig) { + this.chassis = chassisConfig; + return this; + } + + /** + * Enables automatically updating behavior with the RobotBase + * + * @return this, for chaining. + */ + public SmartOpponentConfig withAutoEnable() { + this.isAutoEnable = true; + return this; + } + + /** + * Setting for automatically updating behavior with the RobotBase + * + * @param autoEnable whether to enable. + * @return this, for chaining. + */ + public SmartOpponentConfig withAutoEnable(boolean autoEnable) { + this.isAutoEnable = autoEnable; + return this; + } + + /** + * Sets the current state of the robot. This waits it's turn patiently for the command to finish. + * + * @param state The state to set. + * @return this, for chaining. + */ + public SmartOpponentConfig setState(String state) { + desiredState = state; + return this; + } + + /** + * Adds a state to the config. + * + * @param stateName The name of the state. + * @param stateCommand The command to run when the state is entered. + * @return this, for chaining. + */ + public SmartOpponentConfig withState(String stateName, Supplier stateCommand) { + states.put(stateName, () -> stateCommand + .get() + .beforeStarting(() -> { + setState(stateName); + currentState = stateName; + commandInProgress = true; + }) + .finallyDo(() -> { + commandInProgress = false; + })); + return this; + } + + /** + * Removes a state from the config. + * + * @param stateName The name of the state to remove. + * @return this, for chaining. + */ + public SmartOpponentConfig removeState(String stateName) { + states.remove(stateName); + return this; + } + + /** + * Replaces a state's command. + * + * @param stateName The name of the state to replace. + * @param newStateCommand The new command to run when the state is entered. + * @return this, for chaining. + */ + public SmartOpponentConfig replaceStateCommand(String stateName, Supplier newStateCommand) { + states.replace(stateName, () -> newStateCommand + .get() + .beforeStarting(() -> { + setState(stateName); + currentState = stateName; + commandInProgress = true; + }) + .finallyDo(() -> { + commandInProgress = false; + })); + return this; + } + + /** + * Returns the state map. + * + * @return the state map. + */ + public Map> getStates() { + return states; + } + + /** + * Checks if the current state is equal to the given state. + * + * @param state the state to check. + * @return return true if states are the same. + */ + public boolean isState(String state) { + return currentState.equals(state); + } + + /** + * Checks if the current state is equal to the given state. + * + * @param state the state to check. + * @return return true if states are the same. + */ + public Trigger isStateTrigger(String state) { + return new Trigger(() -> currentState.equals(state)); + } + + /** + * Adds a behavior to the config. + * + * @param behaviorName The name of the behavior. + * @param behaviorCommand The command to run when the behavior is entered. + * @param isDefault whether this option should be the default. There can only be one. + * @return this, for chaining. + */ + public SmartOpponentConfig withBehavior(String behaviorName, Command behaviorCommand, boolean isDefault) { + behavior.put(behaviorName, Pair.of(behaviorCommand, isDefault)); + return this; + } + + /** + * Adds a non-default behavior to the config. + * + * @param behaviorName The name of the behavior. + * @param behaviorCommand The command to run when the behavior is entered. + * @return this, for chaining. + */ + public SmartOpponentConfig withBehavior(String behaviorName, Command behaviorCommand) { + return withBehavior(behaviorName, behaviorCommand, false); + } + + /** + * Removes a behavior from the config. + * + * @param behaviorName The name of the behavior to remove. + * @return this, for chaining. + */ + public SmartOpponentConfig removeBehavior(String behaviorName) { + behavior.remove(name); + return this; + } + + /** + * Replaces a behavior's command. + * + * @param behaviorName The name of the behavior to replace. + * @param newBehaviorCommand The new command to run when the behavior is entered. + * @param isDefault whether this option should be the default. There can only be one. + * @return this, for chaining. + */ + public SmartOpponentConfig replaceBehaviourCommand( + String behaviorName, Command newBehaviorCommand, boolean isDefault) { + behavior.put(name, Pair.of(newBehaviorCommand, isDefault)); + return this; + } + + /** + * Returns the behavior map. + * + * @return the behavior map. + */ + public Map> getBehavior() { + return behavior; + } + + /** + * Updates and gets the refreshed behavior {@link SendableChooser}. + * + * @return the refreshed behavior {@link SendableChooser}. + */ + public SendableChooser updateBehaviorChooser() { + boolean hasDefault = false; + /// Load all behaviours + for (Map.Entry> entry : behavior.entrySet()) { + // if behavior wants to be default. + if (entry.getValue().getSecond()) { + // Check if there is already a default. + if (hasDefault) { + // If there's multiple defaults report it. + DriverStation.reportError( + "Behaviour Chooser has multiple defaults, ignoring future defaults.", false); + // Then add it as normal + behaviorChooser.addOption(entry.getKey(), entry.getValue().getFirst()); + } else { + // If there are no issues, add the default. + behaviorChooser.setDefaultOption( + entry.getKey(), entry.getValue().getFirst()); + hasDefault = true; + } + } else { + // Behavior isn't default, add it like normal. + behaviorChooser.addOption(entry.getKey(), entry.getValue().getFirst()); + } + } + return behaviorChooser; + } + + /** + * Gets the behavior {@link SendableChooser}. + * + * @return the behavior {@link SendableChooser}. + */ + public SendableChooser getBehaviorChooser() { + return this.behaviorChooser; + } + + /** + * Adds all poses from an existing pose map. + * + * @param scoringMap the map to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withScoringMap(Map> scoringMap) { + this.scoringMap.putAll(scoringMap); + return this; + } + + /** + * Adds a scoring pose to the config. + * + * @param poseType The type of pose to add. For example, "Hoops". + * @param poseName The name of the pose to add. For example, "CourtLeft". + * @param pose The pose to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withScoringPose(String poseType, String poseName, Pose2d pose) { + scoringMap.putIfAbsent(poseType, new HashMap<>()); + scoringMap.get(poseType).putIfAbsent(poseName, pose); + if (scoringMap.get(poseType).get(poseName) != pose) { + throw new IllegalArgumentException("Failed to add score pose: " + poseName + "/n"); + } + return this; + } + + /** + * Removes a scoring pose from the config. + * + * @param poseType The type of pose to remove. + * @param poseName The name of the pose to remove. + * @return this, for chaining. + */ + public SmartOpponentConfig removeScoringPose(String poseType, String poseName) { + scoringMap.get(poseType).remove(poseName); + return this; + } + + /** + * Removes all scoring poses of a certain type from the config. + * + * @param poseType The type of poses to remove. + * @return this, for chaining. + */ + public SmartOpponentConfig removeScoringPoseType(String poseType) { + scoringMap.remove(poseType); + return this; + } + + /** + * Replaces a scoring pose. + * + * @param poseType The type of pose to replace. + * @param poseName The name of the pose to replace. + * @param pose The pose to replace with. + * @return this, for chaining. + */ + public SmartOpponentConfig replaceScoringPose(String poseType, String poseName, Pose2d pose) { + scoringMap.get(poseType).replace(poseName, pose); + return this; + } + + /** + * Gets the raw scoring map. Setup as Map> + * + * @return the raw scoring map. + */ + public Map> getRawScoringMap() { + return scoringMap; + } + + /** + * Compiles a compacted scoring map. Setup as Map + * + * @return a compacted scoring map. + */ + public Map getScoringMap() { + Map scoringPoses = new HashMap<>(); + scoringMap.forEach((poseType, poseMap) -> poseMap.forEach((name, pose) -> { + scoringPoses.put(poseType + " " + name, pose); + })); + return scoringPoses; + } + + /** + * Compiles a list of all scoring poses. + * + * @return a list of all scoring poses. + */ + public List getScoringPoses() { + List scoringPoses = new ArrayList<>(); + scoringMap.forEach((poseType, poseMap) -> poseMap.forEach((poseName, pose) -> scoringPoses.add(pose))); + return scoringPoses; + } + + /** + * Adds all poses from an existing pose map. + * + * @param collectingMap the map to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withCollectingMap(Map> collectingMap) { + this.collectingMap.putAll(collectingMap); + return this; + } + + /** + * Adds a collecting pose to the config. + * + * @param poseType The type of pose to add. For example, "CollectStation". + * @param poseName The name of the pose to add. For example, "StationCenter". + * @param pose The pose to add. + * @return this, for chaining. + */ + public SmartOpponentConfig withCollectingPose(String poseType, String poseName, Pose2d pose) { + collectingMap.putIfAbsent(poseType, new HashMap<>()); + collectingMap.get(poseType).putIfAbsent(poseName, pose); + if (collectingMap.get(poseType).get(poseName) != pose) { + throw new IllegalArgumentException("Failed to add collect pose: " + poseName + "/n"); + } + return this; + } + + /** + * Removes a collecting pose from the config. + * + * @param poseType The type of pose to remove. + * @param poseName The name of the pose to remove. + * @return this, for chaining. + */ + public SmartOpponentConfig removeCollectingPose(String poseType, String poseName) { + collectingMap.get(poseType).remove(poseName); + return this; + } + + /** + * Removes all collecting poses of a certain type from the config. + * + * @param poseType The type of poses to remove. + * @return this, for chaining. + */ + public SmartOpponentConfig removeCollectingPoseType(String poseType) { + collectingMap.remove(poseType); + return this; + } + + /** + * Replaces a collecting pose. + * + * @param poseType The type of pose to replace. + * @param poseName The name of the pose to replace. + * @param pose The pose to replace with. + * @return this, for chaining. + */ + public SmartOpponentConfig replaceCollectingPose(String poseType, String poseName, Pose2d pose) { + collectingMap.get(poseType).replace(poseName, pose); + return this; + } + + /** + * Gets the raw collecting map. Setup as Map> + * + * @return the raw collecting map. + */ + public Map> getRawCollectingMap() { + return collectingMap; + } + + /** + * Compiles a compacted collecting map. Setup as Map + * + * @return a compacted collecting map. + */ + public Map getCollectingMap() { + Map collectingPoses = new HashMap<>(); + collectingMap.forEach((poseType, poseMap) -> poseMap.forEach((name, pose) -> + collectingPoses.put(poseType + " " + name, pose))); + return collectingPoses; + } + + /** + * Compiles a list of all collecting poses. + * + * @return a list of all collecting poses. + */ + public List getCollectingPoses() { + List collectingPoses = new ArrayList<>(); + collectingMap.forEach((poseType, poseMap) -> poseMap.forEach((poseName, pose) -> collectingPoses.add(pose))); + return collectingPoses; + } + + /** + * Checks if the config is valid. + * + * @return true if the config is valid, false otherwise. + * @throws IllegalArgumentException if any config is incorrect. + */ + public boolean validateConfigs() { + boolean validConfig = chassis.validConfig() && requiredBasicOptions.isEmpty(); + // If not set correct, report settings to update. Then throw an error. + if (!validConfig) { + for (BasicOptions option : requiredBasicOptions) { + DriverStation.reportWarning( + "Required Option: " + option.toString() + " not set in SmartOpponentConfig", true); + } + throw new IllegalArgumentException( + "Invalid SmartOpponentConfig, check DriverStation Output for more info."); + } + // If any required options aren't removed, return false. + return validConfig; + } + + /** + * Basic Options that MUST be set for the {@link SmartOpponentConfig} to be valid. + */ + private enum BasicOptions { + /// Required Basic Options + /// Robot Name + Name, + /// Robot Alliance + Alliance, + /// Queening Pose + QueeningPose, + /// Starting Pose + InitialPose + } + + /** + * The SmartOpponent's Chassis Config, this is an inner config that is only chassis configuration. + */ + public static class ChassisConfig { + /// Required chassis options to be set later. + public Distance trackWidth; + public Distance trackLength; + public Distance bumperWidth; + public Distance bumperLength; + public Mass mass; + public MomentOfInertia moi; + public LinearVelocity maxLinearVelocity; + public AngularVelocity maxAngularVelocity; + public ModuleConfig module; + /// Optional chassis options + public Distance driveToPoseTolerance; + public Angle driveToPoseAngleTolerance; + public Supplier gyroSimulation; + /// Sets of required options set here. + public Set requiredChassisOptions; + public LinearAcceleration maxLinearAcceleration; + public AngularAcceleration maxAngularAcceleration; + // Saved simulation for later use + private SwerveModuleSimulationConfig moduleSimConfig; + public RobotConfig pathplannerConfig; + + /** + * Default constructor for ChassisConfig. Each Option must be set individually. + */ + ChassisConfig() { + /// Adds the required options to the checklist. + this.requiredChassisOptions = EnumSet.allOf(ChassisOptions.class); + /// Optional chassis options + this.driveToPoseTolerance = Inches.of(2); + this.driveToPoseAngleTolerance = Degrees.of(6); + this.gyroSimulation = COTS.ofGenericGyro(); + } + + /** + * Constructor for ChassisConfig. + * + * @param trackWidth the distance from one center of a rear wheel to the other. + * @param trackHeight the distance from one center of a left or right wheel to the other. + * @param bumperWidth the distance from the left of the robot to the right with bumpers. + * @param bumperHeight the distance from the front of the robot to the rear with the bumpers. + * @param mass the mass of the robot. + * @param moi the moment of inertia of the robot. + * @param maxLinearVelocity the max linear velocity of the robot. + * @param maxLinearAcceleration the max linear acceleration of the robot. + * @param maxAngularVelocity the max angular velocity of the robot. + * @param maxAngularAcceleration the max angular acceleration of the robot. + * @param module the {@link ModuleConfig} for the robot's swerve modules. + */ + ChassisConfig( + Distance trackWidth, + Distance trackHeight, + Distance bumperWidth, + Distance bumperHeight, + Mass mass, + MomentOfInertia moi, + LinearVelocity maxLinearVelocity, + LinearAcceleration maxLinearAcceleration, + AngularVelocity maxAngularVelocity, + AngularAcceleration maxAngularAcceleration, + ModuleConfig module) { + /// Creates a new config using the empty base. + this(); + /// Add required options to the checklist. + this.withTrackWidth(trackWidth) + .withTrackLength(trackHeight) + .withBumperWidth(bumperWidth) + .withBumperHeight(bumperHeight) + .withMass(mass) + .withMOI(moi) + .withMaxLinearVelocity(maxLinearVelocity) + .withMaxLinearAcceleration(maxLinearAcceleration) + .withMaxAngularVelocity(maxAngularVelocity) + .withMaxAngularAcceleration(maxAngularAcceleration) + .withModule(module); + } + + /** + * Constructor for ChassisConfig. + * + * @param mass The mass of the robot. + * @param moi The moment of inertia of the robot. + * @param maxLinearVelocity The max linear velocity of the robot. + * @param maxAngularVelocity The max angular velocity of the robot. + * @param wheelRadius the module's wheel radius. + * @param wheelCOF the module's drive Coefficient of Friction. + * @param driveMotor the module's drive motor. + * @param driveCurrentLimit the module's drive current limit. + */ + ChassisConfig( + Distance trackWidth, + Distance trackHeight, + Distance bumperWidth, + Distance bumperHeight, + Mass mass, + MomentOfInertia moi, + LinearVelocity maxLinearVelocity, + LinearAcceleration maxLinearAcceleration, + AngularVelocity maxAngularVelocity, + AngularAcceleration maxAngularAcceleration, + Distance wheelRadius, + double wheelCOF, + DCMotor driveMotor, + DCMotor steerMotor, + double driveGearRatio, + double steerGearRatio, + Voltage driveFrictionVoltage, + Voltage steerFrictionVoltage, + MomentOfInertia steerAngularInertia, + LinearVelocity maxDriveVelocity, + Current driveCurrentLimit) { + /// Creates a new config from the previous constructor with a manually set ModuleConfig + this( + trackWidth, + trackHeight, + bumperWidth, + bumperHeight, + mass, + moi, + maxLinearVelocity, + maxLinearAcceleration, + maxAngularVelocity, + maxAngularAcceleration, + new ModuleConfig( + wheelRadius, + wheelCOF, + driveMotor, + steerMotor, + driveGearRatio, + steerGearRatio, + driveFrictionVoltage, + steerFrictionVoltage, + steerAngularInertia, + maxDriveVelocity, + driveCurrentLimit)); + } + + /** + * Creates a new SwerveDriveSimulation from the current ChassisConfig. + * + * @param initialPose the initial pose of the robot. + * @return a new SwerveDriveSimulation from the current ChassisConfig. + */ + public SelfControlledSwerveDriveSimulation createDriveTrainSim(Pose2d initialPose) { + if (!validConfig()) { + throw new IllegalStateException("Config is not valid! Cannot create the driveTrain simulation!"); + } + if (module.driveMotor == null || module.steerMotor == null) { + throw new IllegalStateException( + "ModuleConfig has null motors! Drive: " + module.driveMotor + ", Steer: " + module.steerMotor); + } + return new SelfControlledSwerveDriveSimulation(new SwerveDriveSimulation( + new DriveTrainSimulationConfig( + mass, + bumperLength, + bumperWidth, + trackLength, + trackWidth, + gyroSimulation, + () -> new SwerveModuleSimulation(moduleSimConfig) // Force new sims from the config. + // Disable global battery draw quick fix. + ), + initialPose)); + } + + /** + * Creates a new RobotConfig from the current ChassisConfig. + * + * @return the new RobotConfig. + */ + public RobotConfig updatePathplannerConfig() { + this.pathplannerConfig = new RobotConfig(mass, moi, module.updatePathplannerModuleConfig(), trackWidth); + return this.pathplannerConfig; + } + + /** + * Checks if the config is valid. + * + * @return true if the config is valid, false otherwise. + */ + public boolean validConfig() { + boolean validConfig = module.validConfig() && requiredChassisOptions.isEmpty(); + if (!validConfig) { + for (ChassisOptions option : requiredChassisOptions) { + DriverStation.reportWarning( + "Required Option: " + option.toString() + " not set in ChassisConfig", false); + } + } + // If any required options aren't removed, return false. + return validConfig; + } + + /** + * Sets the track width of the robot. This is from one center of the wheel to the other. + * + * @param trackWidth The track width of the robot. + * @return this, for chaining. + */ + public ChassisConfig withTrackWidth(Distance trackWidth) { + this.trackWidth = trackWidth; + this.requiredChassisOptions.remove(ChassisOptions.TrackWidth); + return this; + } + + /** + * Sets the track height of the robot. + * + * @param trackHeight The track height of the robot. + * @return this, for chaining. + */ + public ChassisConfig withTrackLength(Distance trackHeight) { + this.trackLength = trackHeight; + this.requiredChassisOptions.remove(ChassisOptions.TrackLength); + return this; + } + + /** + * Sets the bumper width of the robot. + * + * @param bumperWidth The bumper width of the robot. + * @return this, for chaining. + */ + public ChassisConfig withBumperWidth(Distance bumperWidth) { + this.bumperWidth = bumperWidth; + this.requiredChassisOptions.remove(ChassisOptions.BumperWidth); + return this; + } + + /** + * Sets the bumper height of the robot. + * + * @param bumperHeight The bumper height of the robot. + * @return this, for chaining. + */ + public ChassisConfig withBumperHeight(Distance bumperHeight) { + this.bumperLength = bumperHeight; + this.requiredChassisOptions.remove(ChassisOptions.BumperLength); + return this; + } + + /** + * Simplified Chassis Configuration for a square robot. Sets the bumper width and height to the same value. + * + * @param bumperLength the length of the bumpers. + * @param trackLength the track width of the robot. This is from one center of the wheel to the other. + * @return this, for chaining. + */ + public ChassisConfig withSquareChassis(Distance bumperLength, Distance trackLength) { + return this.withBumperWidth(bumperLength) + .withBumperHeight(bumperLength) + .withTrackWidth(trackLength) + .withTrackLength(trackLength); + } + + /** + * Sets the mass of the robot. + * + * @param mass The mass of the robot. + * @return this, for chaining. + */ + public ChassisConfig withMass(Mass mass) { + this.mass = mass; + this.requiredChassisOptions.remove(ChassisOptions.Mass); + return this; + } + + /** + * Sets the moment of inertia of the robot. + * + * @param moi The moment of inertia of the robot. + * @return this, for chaining. + */ + public ChassisConfig withMOI(MomentOfInertia moi) { + this.moi = moi; + this.requiredChassisOptions.remove(ChassisOptions.MOI); + return this; + } + + /** + * Sets the max linear velocity of the robot. + * + * @param maxLinearVelocity The max linear velocity of the robot. + * @return this, for chaining. + */ + public ChassisConfig withMaxLinearVelocity(LinearVelocity maxLinearVelocity) { + this.maxLinearVelocity = maxLinearVelocity; + this.requiredChassisOptions.remove(ChassisOptions.MaxLinearVelocity); + return this; + } + + /** + * Sets the max linear acceleration of the robot. + * + * @param maxLinearAcceleration The max linear acceleration of the robot. + * @return this, for chaining. + */ + public ChassisConfig withMaxLinearAcceleration(LinearAcceleration maxLinearAcceleration) { + this.maxLinearAcceleration = maxLinearAcceleration; + this.requiredChassisOptions.remove(ChassisOptions.MaxLinearAcceleration); + return this; + } + + /** + * Sets the max angular velocity of the robot. + * + * @param maxAngularVelocity The max angular velocity of the robot. + * @return this, for chaining. + */ + public ChassisConfig withMaxAngularVelocity(AngularVelocity maxAngularVelocity) { + this.maxAngularVelocity = maxAngularVelocity; + this.requiredChassisOptions.remove(ChassisOptions.MaxAngularVelocity); + return this; + } + + /** + * Sets the max angular acceleration of the robot. + * + * @param maxAngularAcceleration The max angular acceleration of the robot. + * @return this, for chaining. + */ + public ChassisConfig withMaxAngularAcceleration(AngularAcceleration maxAngularAcceleration) { + this.maxAngularAcceleration = maxAngularAcceleration; + this.requiredChassisOptions.remove(ChassisOptions.MaxAngularAcceleration); + return this; + } + + /** + * Sets the module config. + * + * @param module The module config. + * @return this, for chaining. + */ + public ChassisConfig withModule(ModuleConfig module) { + this.module = module; + this.moduleSimConfig = module.createModuleSimConfig(); + this.requiredChassisOptions.remove(ChassisOptions.ModuleConfig); + return this; + } + + /** + * Sets the tolerance for the drive to pose command. + * + * @param tolerance the tolerance for the drive to pose command. + * @return this, for chaining. + */ + public ChassisConfig withDriveToPoseTolerance(Distance tolerance) { + this.driveToPoseTolerance = tolerance; + return this; + } + + public ChassisConfig withDriveToPoseAngleTolerance(Angle tolerance) { + this.driveToPoseAngleTolerance = tolerance; + return this; + } + + /** + * Sets the gyro simulation for the robot. + * + * @param gyroSimulation + * @return + */ + public ChassisConfig withGyroSimulation(Supplier gyroSimulation) { + this.gyroSimulation = gyroSimulation; + return this; + } + + /** + * Chassis Options that MUST be set for the {@link SmartOpponentConfig} to be valid. + */ + public enum ChassisOptions { + /// Required Opponent Chassis Options + /// Opponent Robot Track Width + TrackWidth, + /// Opponent Robot Track Height + TrackLength, + /// Opponent Robot Bumper Width + BumperWidth, + /// Opponent Robot Bumper Height + BumperLength, + /// Opponent Robot Mass + Mass, + /// Opponent Robot Moment of Inertia + MOI, + /// Opponent Robot Max Linear Velocity + MaxLinearVelocity, + /// Opponent Robot Max Linear Acceleration + MaxLinearAcceleration, + /// Opponent Robot Max Angular Velocity + MaxAngularVelocity, + /// Opponent Robot Max Angular Acceleration + MaxAngularAcceleration, + /// Opponent Module Config + ModuleConfig + } + + /** + * A few chassis presets to simplify configs that don't need to be specific. + */ + public enum Presets { + ///

    Opponent Swerve Chassis config presets to ease creation.

    + /// A simple config that defaults harder values to viable values. + SimpleSetup, + /// A basic square robot. Made to match the AdvantageScope basic assets. + SimpleSquareChassis; + + /** + * Returns a new ChassisConfig for the preset. Each call returns a fresh, independent instance. + * + * @return a new ChassisConfig for the preset. + */ + public ChassisConfig getConfig() { + return switch (this) { + case SimpleSetup -> new ChassisConfig() + .withMOI(KilogramSquareMeters.of(8)) + .withModule(ModuleConfig.Presets.SimpleSetup.getConfig()); + case SimpleSquareChassis -> new ChassisConfig() + .withSquareChassis(Inches.of(32), Inches.of(23)) // 32x32 bumper, 24 track width + .withMass(Kilograms.of(55)) + .withMOI(KilogramSquareMeters.of(8)) + .withMaxLinearVelocity(MetersPerSecond.of(8.5)) + .withMaxLinearAcceleration(MetersPerSecondPerSecond.of(12)) + .withMaxAngularVelocity(DegreesPerSecond.of(360)) + .withMaxAngularAcceleration(DegreesPerSecondPerSecond.of(480)) + .withModule(ModuleConfig.Presets.MK4i.getConfig()); + }; + } + } + + /** + * Loads another config into this config. + * + * @param other the config to copy. + * @return return the updated config. + */ + public ChassisConfig copy(ChassisConfig other) { + this.withTrackWidth(other.trackWidth) + .withTrackLength(other.trackLength) + .withBumperWidth(other.bumperWidth) + .withBumperHeight(other.bumperLength) + .withMass(other.mass) + .withMOI(other.moi) + .withMaxLinearVelocity(other.maxLinearVelocity) + .withMaxAngularVelocity(other.maxAngularVelocity) + .withModule(ModuleConfig.clone(other.module)); + return this; + } + + /** + * Creates a new clone of a config. + * + * @param other the config to clone. + * @return the newly cloned config. + */ + public static ChassisConfig clone(ChassisConfig other) { + return new ChassisConfig().copy(other); + } + } + + /** + * The SmartOpponent's Module Config, this is an inner config that is only the module configuration. + */ + public static class ModuleConfig { + /// Constants to be initialized in the constructor. + public Distance wheelRadius; + public double wheelCOF; + public DCMotor driveMotor; + public DCMotor steerMotor; + public double driveGearRatio; + public double steerGearRatio; + public Voltage driveFrictionVoltage; + public Voltage steerFrictionVoltage; + public MomentOfInertia steerAngularInertia; + public LinearVelocity maxDriveVelocity; + public Current driveCurrentLimit; + /// Set of required options for the ModuleConfig + public Set requiredModuleOptions; + // Saved objects for later use. + public SwerveModuleSimulation moduleSim; + public com.pathplanner.lib.config.ModuleConfig pathplannerModuleConfig; + + /** + * Empty constructor for ModuleConfig. Each Option must be set individually. + */ + ModuleConfig() { + /// Add required options to the checklist. + this.requiredModuleOptions = EnumSet.allOf(ModuleOptions.class); + } + + /** + * Constructor for ModuleConfig. + * + * @param wheelRadius the wheel radius. + * @param wheelCOF the wheel Coefficient of Friction. + * @param driveMotor the drive {@link DCMotor}. + * @param driveCurrentLimit the drive {@link Current} limit. + */ + ModuleConfig( + Distance wheelRadius, + double wheelCOF, + DCMotor driveMotor, + DCMotor steerMotor, + double driveGearRatio, + double steerGearRatio, + Voltage driveFrictionVoltage, + Voltage steerFrictionVoltage, + MomentOfInertia steerAngularInertia, + LinearVelocity maxDriveVelocity, + Current driveCurrentLimit) { + /// Creates a new config using the empty base. + this(); + /// Add required options to the checklist. + this.withWheelRadius(wheelRadius) + .withWheelCOF(wheelCOF) + .withDriveMotor(driveMotor) + .withSteerMotor(steerMotor) + .withDriveGearRatio(driveGearRatio) + .withSteerGearRatio(steerGearRatio) + .withDriveFrictionVoltage(driveFrictionVoltage) + .withSteerFrictionVoltage(steerFrictionVoltage) + .withSteerAngularInertia(steerAngularInertia) + .withMaxDriveVelocity(maxDriveVelocity) + .withDriveCurrentLimit(driveCurrentLimit); + } + + /** + * Creates a new {@link SwerveModuleSimulation} from a {@link com.pathplanner.lib.config.ModuleConfig}. Gets + * saved for later use. + * + * @return the new {@link SwerveModuleSimulation}. + */ + public SwerveModuleSimulationConfig createModuleSimConfig() { + return new SwerveModuleSimulationConfig( + driveMotor, + steerMotor, + driveGearRatio, + steerGearRatio, + driveFrictionVoltage, + steerFrictionVoltage, + wheelRadius, + steerAngularInertia, + wheelCOF); + } + + /** + * Creates a new {@link com.pathplanner.lib.config.ModuleConfig} from a + * {@link com.pathplanner.lib.config.ModuleConfig}. + * + * @return the new {@link com.pathplanner.lib.config.ModuleConfig}. + */ + public com.pathplanner.lib.config.ModuleConfig updatePathplannerModuleConfig() { + this.pathplannerModuleConfig = new com.pathplanner.lib.config.ModuleConfig( + wheelRadius, + maxDriveVelocity, + wheelCOF, + driveMotor, + driveCurrentLimit, + 1); // Hard set until someone complains + return this.pathplannerModuleConfig; + } + + /** + * Checks if the config is valid. + * + * @return true if the config is valid, false otherwise. + */ + public boolean validConfig() { + boolean validConfig = requiredModuleOptions.isEmpty(); + if (!validConfig) { + for (ModuleOptions option : requiredModuleOptions) { + DriverStation.reportError( + "Required Option: " + option.toString() + " not set in ModuleConfig", false); + } + } + return validConfig; + } + + /** + * Sets the wheel radius. + * + * @param wheelRadius The wheel radius. + * @return this, for chaining. + */ + public ModuleConfig withWheelRadius(Distance wheelRadius) { + this.wheelRadius = wheelRadius; + this.requiredModuleOptions.remove(ModuleOptions.WheelRadius); + return this; + } + + /** + * Sets the wheel Coefficient of Friction. + * + * @param wheelCOF The wheel Coefficient of Friction. + * @return this, for chaining. + */ + public ModuleConfig withWheelCOF(double wheelCOF) { + this.wheelCOF = wheelCOF; + this.requiredModuleOptions.remove(ModuleOptions.WheelCOF); + return this; + } + + /** + * Sets the drive {@link DCMotor}. + * + * @param driveMotor The drive {@link DCMotor}. + * @return this, for chaining. + */ + public ModuleConfig withDriveMotor(DCMotor driveMotor) { + this.driveMotor = driveMotor; + this.requiredModuleOptions.remove(ModuleOptions.DriveMotor); + return this; + } + + /** + * Sets the steer {@link DCMotor}. + * + * @param dcMotor The steer {@link DCMotor}. + * @return this, for chaining. + */ + public ModuleConfig withSteerMotor(DCMotor dcMotor) { + this.steerMotor = dcMotor; + this.requiredModuleOptions.remove(ModuleOptions.SteerMotor); + return this; + } + + /** + * Sets the gear ratios for the drive motor. + * + * @param driveGearRatio The gear ratio for the drive motor. + * @return this, for chaining. + */ + public ModuleConfig withDriveGearRatio(double driveGearRatio) { + this.driveGearRatio = driveGearRatio; + //this.driveMotor = driveMotor.withReduction(driveGearRatio); + this.requiredModuleOptions.remove(ModuleOptions.DriveRatio); + return this; + } + + /** + * Sets the gear ratio for the steer motor. + * + * @param steerGearRatio The gear ratio for the steer motor. + * @return this, for chaining. + */ + public ModuleConfig withSteerGearRatio(double steerGearRatio) { + this.steerGearRatio = steerGearRatio; + //this.steerMotor = steerMotor.withReduction(steerGearRatio); + this.requiredModuleOptions.remove(ModuleOptions.SteerRatio); + return this; + } + + /** + * Sets the friction voltage for the drive motor. + * + * @param driveFrictionVoltage The friction voltage for the drive motor. + * @return this, for chaining. + */ + public ModuleConfig withDriveFrictionVoltage(Voltage driveFrictionVoltage) { + this.driveFrictionVoltage = driveFrictionVoltage; + this.requiredModuleOptions.remove(ModuleOptions.DriveFrictionVoltage); + return this; + } + + /** + * Sets the friction voltage for the steer motor. + * + * @param steerFrictionVoltage The friction voltage for the steer motor. + * @return this, for chaining. + */ + public ModuleConfig withSteerFrictionVoltage(Voltage steerFrictionVoltage) { + this.steerFrictionVoltage = steerFrictionVoltage; + this.requiredModuleOptions.remove(ModuleOptions.SteerFrictionVoltage); + return this; + } + + /** + * Sets the steer angular inertia. + * + * @param steerAngularInertia The steer angular inertia. + * @return this, for chaining. + */ + public ModuleConfig withSteerAngularInertia(MomentOfInertia steerAngularInertia) { + this.steerAngularInertia = steerAngularInertia; + this.requiredModuleOptions.remove(ModuleOptions.SteerAngularInertia); + return this; + } + + /** + * Sets the max drive velocity. + * + * @param maxDriveVelocity The max drive velocity. + * @return this, for chaining. + */ + public ModuleConfig withMaxDriveVelocity(LinearVelocity maxDriveVelocity) { + this.maxDriveVelocity = maxDriveVelocity; + this.requiredModuleOptions.remove(ModuleOptions.MaxDriveVelocity); + return this; + } + + /** + * Sets the drive {@link Current} limit. + * + * @param driveCurrentLimit The drive {@link Current} limit. + * @return this, for chaining. + */ + public ModuleConfig withDriveCurrentLimit(Current driveCurrentLimit) { + this.driveCurrentLimit = driveCurrentLimit; + this.requiredModuleOptions.remove(ModuleOptions.DriveCurrentLimit); + return this; + } + + /** + * Module Options that MUST be set for the {@link SmartOpponentConfig} to be valid. + */ + public enum ModuleOptions { + /// Required Opponent Drive Module Options + /// Opponent Drive Module Wheel Radius + WheelRadius, + /// Opponent Drive Wheel Coefficient of Friction + WheelCOF, + /// Opponent Drive DCMotor + DriveMotor, + /// Opponent Steer DCMotor + SteerMotor, + /// Opponent Drive Ratio + DriveRatio, + /// Opponent Steer Ratio + SteerRatio, + /// Opponent Drive Friction Voltage + DriveFrictionVoltage, + /// Opponent Steer Friction Voltage + SteerFrictionVoltage, + /// Opponent Steer Angular Inertia + SteerAngularInertia, + /// Opponent Drive Motor Max Velocity + MaxDriveVelocity, + /// Opponent Drive Module Current Limit + DriveCurrentLimit + } + + /** + * A few module presets to simplify configs that don't need to be specific. + */ + public enum Presets { + ///

    Opponent Swerve module config presets to ease creation.

    + /// A simple config that defaults harder values to viable values. + SimpleSetup, + /// WCP MK4i Swerve Module with Neo Drive motor. + MK4i; + + /** + * Returns a new ModuleConfig for the preset. Each call returns a fresh, independent instance. + * + * @return a new ModuleConfig for the preset. + */ + public ModuleConfig getConfig() { + return switch (this) { + case SimpleSetup -> new ModuleConfig() + .withWheelRadius(Inches.of(2)) + .withWheelCOF(1.19) + .withDriveFrictionVoltage(Volts.of(0.3)) + .withSteerFrictionVoltage(Volts.of(0.2)) + .withDriveCurrentLimit(Amps.of(40)); + case MK4i -> new ModuleConfig() + .withWheelRadius(Inches.of(2)) + .withWheelCOF(1.19) + .withDriveMotor(DCMotor.getNEO(1)) + .withSteerMotor(DCMotor.getNEO(1)) + .withDriveGearRatio(6.75) // L2 Ratio + .withSteerGearRatio(150 / 7.0) // MK4i Steer Ratio Calculation + .withDriveFrictionVoltage(Volts.of(0.3)) + .withSteerFrictionVoltage(Volts.of(0.2)) + .withSteerAngularInertia(KilogramSquareMeters.of(0.03)) + .withMaxDriveVelocity(MetersPerSecond.of(10)) + .withDriveCurrentLimit(Amps.of(40)); + }; + } + } + + /** + * Copies the ModuleConfig from another ModuleConfig. + * + * @param other the other ModuleConfig to copy from. + * @return this, for chaining. + */ + public ModuleConfig copy(ModuleConfig other) { + withWheelRadius(other.wheelRadius); + withWheelCOF(other.wheelCOF); + withDriveMotor(other.driveMotor); + withSteerMotor(other.steerMotor); + withDriveGearRatio(other.driveGearRatio); + withSteerGearRatio(other.steerGearRatio); + withDriveFrictionVoltage(other.driveFrictionVoltage); + withSteerFrictionVoltage(other.steerFrictionVoltage); + withSteerAngularInertia(other.steerAngularInertia); + withMaxDriveVelocity(other.maxDriveVelocity); + withDriveCurrentLimit(other.driveCurrentLimit); + return this; + } + + /** + * Constructs a new {@link ModuleConfig} from a {@link ModuleConfig}. + * + * @param other the other ModuleConfig to copy from. + * @return the new ModuleConfig. + */ + public static ModuleConfig clone(ModuleConfig other) { + return new ModuleConfig().copy(other); + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/pathfinding/MapleADStar.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/pathfinding/MapleADStar.java new file mode 100644 index 0000000..ab1d580 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/pathfinding/MapleADStar.java @@ -0,0 +1,771 @@ +package swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding; + +import com.pathplanner.lib.path.GoalEndState; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.path.Waypoint; +import com.pathplanner.lib.pathfinding.Pathfinder; +import edu.wpi.first.math.Pair; +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.wpilibj.Filesystem; +import org.json.simple.JSONArray; +import org.json.simple.JSONObject; +import org.json.simple.parser.JSONParser; + +import java.io.BufferedReader; +import java.io.File; +import java.io.FileReader; +import java.util.*; +import java.util.concurrent.locks.ReadWriteLock; +import java.util.concurrent.locks.ReentrantReadWriteLock; + +/** + * Implementation of AD* running locally in a background thread + *

    + * COPIED INTO MapleSim with minor modifications exposing things. + * + *

    I would like to apologize to anyone trying to understand this code. The implementation I + * translated it from was much worse. + */ +public class MapleADStar implements Pathfinder { + private static final double SMOOTHING_ANCHOR_PCT = 0.8; + private static final double EPS = 2.5; + public final Set requestObstacles = new HashSet<>(); + private final HashMap g = new HashMap<>(); + private final HashMap rhs = new HashMap<>(); + private final HashMap> open = new HashMap<>(); + private final HashMap> incons = new HashMap<>(); + private final Set closed = new HashSet<>(); + private final Set staticObstacles = new HashSet<>(); + private final Set dynamicObstacles = new HashSet<>(); + private final Thread planningThread; + private final ReadWriteLock pathLock = new ReentrantReadWriteLock(); + private final ReadWriteLock requestLock = new ReentrantReadWriteLock(); + public List currentWaypoints = new ArrayList<>(); + public List currentPathPoses = new ArrayList<>(); + public List currentPathFull = new ArrayList<>(); + private double fieldLength = 16.54; + private double fieldWidth = 8.02; + private double nodeSize = 0.2; + private int nodesX = (int) Math.ceil(fieldLength / nodeSize); + private int nodesY = (int) Math.ceil(fieldWidth / nodeSize); + private GridPosition requestStart; + private Translation2d requestRealStartPos; + private GridPosition requestGoal; + private Translation2d requestRealGoalPos; + private double eps; + private boolean requestMinor = true; + private boolean requestMajor = true; + private boolean requestReset = true; + private boolean newPathAvailable = false; + + /** + * Create a new pathfinder that runs AD* locally in a background thread + */ + public MapleADStar() { + planningThread = new Thread(this::runThread); + planningThread.setPriority(7); // Priority is 1-10. Higher is a greater priority. + + requestStart = new GridPosition(0, 0); + requestRealStartPos = Translation2d.kZero; + requestGoal = new GridPosition(0, 0); + requestRealGoalPos = Translation2d.kZero; + + staticObstacles.clear(); + dynamicObstacles.clear(); + + File navGridFile = new File(Filesystem.getDeployDirectory(), "pathplanner/navgrid.json"); + if (navGridFile.exists()) { + try (BufferedReader br = new BufferedReader(new FileReader(navGridFile))) { + StringBuilder fileContentBuilder = new StringBuilder(); + String line; + while ((line = br.readLine()) != null) { + fileContentBuilder.append(line); + } + + String fileContent = fileContentBuilder.toString(); + JSONObject json = (JSONObject) new JSONParser().parse(fileContent); + + nodeSize = ((Number) json.get("nodeSizeMeters")).doubleValue(); + JSONArray grid = (JSONArray) json.get("grid"); + nodesY = grid.size(); + for (int row = 0; row < grid.size(); row++) { + JSONArray rowArray = (JSONArray) grid.get(row); + if (row == 0) { + nodesX = rowArray.size(); + } + for (int col = 0; col < rowArray.size(); col++) { + boolean isObstacle = (boolean) rowArray.get(col); + if (isObstacle) { + staticObstacles.add(new GridPosition(col, row)); + } + } + } + + JSONObject fieldSize = (JSONObject) json.get("field_size"); + fieldLength = ((Number) fieldSize.get("x")).doubleValue(); + fieldWidth = ((Number) fieldSize.get("y")).doubleValue(); + } catch (Exception e) { + // Do nothing, use defaults + } + } + + requestObstacles.clear(); + requestObstacles.addAll(staticObstacles); + requestObstacles.addAll(dynamicObstacles); + + requestReset = true; + requestMajor = true; + requestMinor = true; + + newPathAvailable = false; + + planningThread.setDaemon(true); + planningThread.setName("ADStar Planning Thread"); + planningThread.start(); + } + + /** + * 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() { + return newPathAvailable; + } + + /** + * 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) { + List waypoints; + + pathLock.readLock().lock(); + waypoints = new ArrayList<>(currentWaypoints); + pathLock.readLock().unlock(); + + newPathAvailable = false; + + if (waypoints.size() < 2) { + // Not enough points. Something got borked somewhere + return null; + } + + return new PathPlannerPath(waypoints, constraints, null, 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) { + GridPosition startPos = findClosestNonObstacle(getGridPos(startPosition), requestObstacles); + + if (startPos != null && !startPos.equals(requestStart)) { + requestLock.writeLock().lock(); + requestStart = startPos; + requestRealStartPos = startPosition; + + requestMinor = true; + newPathAvailable = false; + requestLock.writeLock().unlock(); + } + } + + /** + * 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) { + GridPosition gridPos = findClosestNonObstacle(getGridPos(goalPosition), requestObstacles); + + if (gridPos != null) { + requestLock.writeLock().lock(); + requestGoal = gridPos; + requestRealGoalPos = goalPosition; + + requestMinor = true; + requestMajor = true; + requestReset = true; + newPathAvailable = false; + requestLock.writeLock().unlock(); + } + } + + /** + * 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 if the robot is now within an obstacle. + */ + @Override + public void setDynamicObstacles( + List> obs, Translation2d currentRobotPos) { + Set newObs = new HashSet<>(); + + for (var obstacle : obs) { + var gridPos1 = getGridPos(obstacle.getFirst()); + var gridPos2 = getGridPos(obstacle.getSecond()); + + int minX = Math.min(gridPos1.x, gridPos2.x); + int maxX = Math.max(gridPos1.x, gridPos2.x); + + int minY = Math.min(gridPos1.y, gridPos2.y); + int maxY = Math.max(gridPos1.y, gridPos2.y); + + for (int x = minX; x <= maxX; x++) { + for (int y = minY; y <= maxY; y++) { + newObs.add(new GridPosition(x, y)); + } + } + } + + dynamicObstacles.clear(); + dynamicObstacles.addAll(newObs); + requestLock.writeLock().lock(); + requestObstacles.clear(); + requestObstacles.addAll(staticObstacles); + requestObstacles.addAll(dynamicObstacles); + requestLock.writeLock().unlock(); + + pathLock.readLock().lock(); + boolean recalculate = false; + for (GridPosition pos : currentPathFull) { + if (requestObstacles.contains(pos)) { + recalculate = true; + break; + } + } + pathLock.readLock().unlock(); + + if (recalculate) { + setStartPosition(currentRobotPos); + setGoalPosition(requestRealGoalPos); + } + } + + public void runThread() { + try { + requestLock.readLock().lock(); + boolean reset = requestReset; + boolean minor = requestMinor; + boolean major = requestMajor; + GridPosition start = requestStart; + Translation2d realStart = requestRealStartPos; + GridPosition goal = requestGoal; + Translation2d realGoal = requestRealGoalPos; + + // Change the request booleans based on what will be done this loop + if (reset) { + requestReset = false; + } + + if (minor) { + requestMinor = false; + } else if (major && (eps - 0.5) <= 1.0) { + requestMajor = false; + } + requestLock.readLock().unlock(); + + if (reset || minor || major) { + doWork(reset, minor, major, start, goal, realStart, realGoal, requestObstacles); + } +// else { +// try { +// //Thread.sleep(10); +// } catch (InterruptedException e) { +// throw new RuntimeException(e); +// } +// } + } catch (Exception e) { + // Something messed up. Reset and hope for the best + requestLock.writeLock().lock(); + requestReset = true; + requestLock.writeLock().unlock(); + } + } + + private void doWork( + boolean needsReset, + boolean doMinor, + boolean doMajor, + GridPosition sStart, + GridPosition sGoal, + Translation2d realStartPos, + Translation2d realGoalPos, + Set obstacles) { + if (needsReset) { + reset(sStart, sGoal); + } + + if (doMinor) { + computeOrImprovePath(sStart, sGoal, obstacles); + + List pathPositions = extractPath(sStart, sGoal, obstacles); + List waypoints = + createWaypoints(pathPositions, realStartPos, realGoalPos, obstacles); + + pathLock.writeLock().lock(); + currentPathFull = pathPositions; + currentWaypoints = waypoints; + pathLock.writeLock().unlock(); + + newPathAvailable = true; + } else if (doMajor) { + if (eps > 1.0) { + eps -= 0.5; + open.putAll(incons); + + open.replaceAll((s, v) -> key(s, sStart)); + closed.clear(); + computeOrImprovePath(sStart, sGoal, obstacles); + + List pathPositions = extractPath(sStart, sGoal, obstacles); + List waypoints = + createWaypoints(pathPositions, realStartPos, realGoalPos, obstacles); + + pathLock.writeLock().lock(); + currentPathFull = pathPositions; + currentWaypoints = waypoints; + pathLock.writeLock().unlock(); + + newPathAvailable = true; + } + } + } + + private List extractPath( + GridPosition sStart, GridPosition sGoal, Set obstacles) { + if (sGoal.equals(sStart)) { + return new ArrayList<>(); + } + + List path = new ArrayList<>(); + path.add(sStart); + + var s = sStart; + + for (int k = 0; k < 200; k++) { + HashMap gList = new HashMap<>(); + + for (GridPosition x : getOpenNeighbors(s, obstacles)) { + gList.put(x, g.get(x)); + } + + Map.Entry min = Map.entry(sGoal, Double.POSITIVE_INFINITY); + for (var entry : gList.entrySet()) { + if (entry.getValue() < min.getValue()) { + min = entry; + } + } + s = min.getKey(); + + path.add(s); + if (s.equals(sGoal)) { + break; + } + } + + return path; + } + + private List createPathPoses( + List path, + Translation2d realStartPos, + Translation2d realGoalPos, + Set obstacles) { + if (path.isEmpty()) { + return new ArrayList<>(); + } + + List simplifiedPath = new ArrayList<>(); + simplifiedPath.add(path.get(0)); + for (int i = 1; i < path.size() - 1; i++) { + if (!walkable(simplifiedPath.get(simplifiedPath.size() - 1), path.get(i + 1), obstacles)) { + simplifiedPath.add(path.get(i)); + } + } + simplifiedPath.add(path.get(path.size() - 1)); + + List fieldPosPath = new ArrayList<>(); + for (GridPosition pos : simplifiedPath) { + fieldPosPath.add(gridPosToTranslation2d(pos)); + } + + if (fieldPosPath.size() < 2) { + return new ArrayList<>(); + } + + // Replace start and end positions with their real positions + fieldPosPath.set(0, realStartPos); + fieldPosPath.set(fieldPosPath.size() - 1, realGoalPos); + + List pathPoses = new ArrayList<>(); + pathPoses.add( + new Pose2d(fieldPosPath.get(0), fieldPosPath.get(1).minus(fieldPosPath.get(0)).getAngle())); + for (int i = 1; i < fieldPosPath.size() - 1; i++) { + Translation2d last = fieldPosPath.get(i - 1); + Translation2d current = fieldPosPath.get(i); + Translation2d next = fieldPosPath.get(i + 1); + + Translation2d anchor1 = current.minus(last).times(SMOOTHING_ANCHOR_PCT).plus(last); + Rotation2d heading1 = current.minus(last).getAngle(); + Translation2d anchor2 = current.minus(next).times(SMOOTHING_ANCHOR_PCT).plus(next); + Rotation2d heading2 = next.minus(anchor2).getAngle(); + + pathPoses.add(new Pose2d(anchor1, heading1)); + pathPoses.add(new Pose2d(anchor2, heading2)); + } + pathPoses.add( + new Pose2d( + fieldPosPath.get(fieldPosPath.size() - 1), + fieldPosPath + .get(fieldPosPath.size() - 1) + .minus(fieldPosPath.get(fieldPosPath.size() - 2)) + .getAngle())); + + return pathPoses; + } + + private List createWaypoints( + List path, + Translation2d realStartPos, + Translation2d realGoalPos, + Set obstacles) { + if (path.isEmpty()) { + return new ArrayList<>(); + } + + List simplifiedPath = new ArrayList<>(); + simplifiedPath.add(path.get(0)); + for (int i = 1; i < path.size() - 1; i++) { + if (!walkable(simplifiedPath.get(simplifiedPath.size() - 1), path.get(i + 1), obstacles)) { + simplifiedPath.add(path.get(i)); + } + } + simplifiedPath.add(path.get(path.size() - 1)); + + List fieldPosPath = new ArrayList<>(); + for (GridPosition pos : simplifiedPath) { + fieldPosPath.add(gridPosToTranslation2d(pos)); + } + + if (fieldPosPath.size() < 2) { + return new ArrayList<>(); + } + + // Replace start and end positions with their real positions + fieldPosPath.set(0, realStartPos); + fieldPosPath.set(fieldPosPath.size() - 1, realGoalPos); + + List pathPoses = new ArrayList<>(); + pathPoses.add( + new Pose2d(fieldPosPath.get(0), fieldPosPath.get(1).minus(fieldPosPath.get(0)).getAngle())); + for (int i = 1; i < fieldPosPath.size() - 1; i++) { + Translation2d last = fieldPosPath.get(i - 1); + Translation2d current = fieldPosPath.get(i); + Translation2d next = fieldPosPath.get(i + 1); + + Translation2d anchor1 = current.minus(last).times(SMOOTHING_ANCHOR_PCT).plus(last); + Rotation2d heading1 = current.minus(last).getAngle(); + Translation2d anchor2 = current.minus(next).times(SMOOTHING_ANCHOR_PCT).plus(next); + Rotation2d heading2 = next.minus(anchor2).getAngle(); + + pathPoses.add(new Pose2d(anchor1, heading1)); + pathPoses.add(new Pose2d(anchor2, heading2)); + } + pathPoses.add( + new Pose2d( + fieldPosPath.get(fieldPosPath.size() - 1), + fieldPosPath + .get(fieldPosPath.size() - 1) + .minus(fieldPosPath.get(fieldPosPath.size() - 2)) + .getAngle())); + this.currentPathPoses = pathPoses; + return PathPlannerPath.waypointsFromPoses(pathPoses); + } + + private GridPosition findClosestNonObstacle(GridPosition pos, Set obstacles) { + if (!obstacles.contains(pos)) { + return pos; + } + + Set visited = new HashSet<>(); + + Queue queue = new LinkedList<>(getAllNeighbors(pos)); + + while (!queue.isEmpty()) { + GridPosition check = queue.poll(); + if (!obstacles.contains(check)) { + return check; + } + visited.add(check); + + for (GridPosition neighbor : getAllNeighbors(check)) { + if (!visited.contains(neighbor) && !queue.contains(neighbor)) { + queue.add(neighbor); + } + } + } + return null; + } + + private boolean walkable(GridPosition s1, GridPosition s2, Set obstacles) { + int x0 = s1.x; + int y0 = s1.y; + int x1 = s2.x; + int y1 = s2.y; + + int dx = Math.abs(x1 - x0); + int dy = Math.abs(y1 - y0); + int x = x0; + int y = y0; + int n = 1 + dx + dy; + int xInc = (x1 > x0) ? 1 : -1; + int yInc = (y1 > y0) ? 1 : -1; + int error = dx - dy; + dx *= 2; + dy *= 2; + + for (; n > 0; n--) { + if (obstacles.contains(new GridPosition(x, y))) { + return false; + } + + if (error > 0) { + x += xInc; + error -= dy; + } else if (error < 0) { + y += yInc; + error += dx; + } else { + x += xInc; + y += yInc; + error -= dy; + error += dx; + n--; + } + } + + return true; + } + + private void reset(GridPosition sStart, GridPosition sGoal) { + g.clear(); + rhs.clear(); + open.clear(); + incons.clear(); + closed.clear(); + + for (int x = 0; x < nodesX; x++) { + for (int y = 0; y < nodesY; y++) { + g.put(new GridPosition(x, y), Double.POSITIVE_INFINITY); + rhs.put(new GridPosition(x, y), Double.POSITIVE_INFINITY); + } + } + + rhs.put(sGoal, 0.0); + + eps = EPS; + + open.put(sGoal, key(sGoal, sStart)); + } + + private void computeOrImprovePath( + GridPosition sStart, GridPosition sGoal, Set obstacles) { + while (true) { + var sv = topKey(); + if (sv == null) { + break; + } + var s = sv.getFirst(); + var v = sv.getSecond(); + + if (comparePair(v, key(sStart, sStart)) >= 0 && rhs.get(sStart).equals(g.get(sStart))) { + break; + } + + open.remove(s); + + if (g.get(s) > rhs.get(s)) { + g.put(s, rhs.get(s)); + closed.add(s); + + for (GridPosition sn : getOpenNeighbors(s, obstacles)) { + updateState(sn, sStart, sGoal, obstacles); + } + } else { + g.put(s, Double.POSITIVE_INFINITY); + for (GridPosition sn : getOpenNeighbors(s, obstacles)) { + updateState(sn, sStart, sGoal, obstacles); + } + updateState(s, sStart, sGoal, obstacles); + } + } + } + + private void updateState( + GridPosition s, GridPosition sStart, GridPosition sGoal, Set obstacles) { + if (!s.equals(sGoal)) { + rhs.put(s, Double.POSITIVE_INFINITY); + + for (GridPosition x : getOpenNeighbors(s, obstacles)) { + rhs.put(s, Math.min(rhs.get(s), g.get(x) + cost(s, x, obstacles))); + } + } + + open.remove(s); + + if (!g.get(s).equals(rhs.get(s))) { + if (!closed.contains(s)) { + open.put(s, key(s, sStart)); + } else { + incons.put(s, Pair.of(0.0, 0.0)); + } + } + } + + private double cost(GridPosition sStart, GridPosition sGoal, Set obstacles) { + if (isCollision(sStart, sGoal, obstacles)) { + return Double.POSITIVE_INFINITY; + } + + return heuristic(sStart, sGoal); + } + + private boolean isCollision(GridPosition sStart, GridPosition sEnd, Set obstacles) { + if (obstacles.contains(sStart) || obstacles.contains(sEnd)) { + return true; + } + + if (sStart.x != sEnd.x && sStart.y != sEnd.y) { + GridPosition s1; + GridPosition s2; + + if (sEnd.x - sStart.x == sStart.y - sEnd.y) { + s1 = new GridPosition(Math.min(sStart.x, sEnd.x), Math.min(sStart.y, sEnd.y)); + s2 = new GridPosition(Math.max(sStart.x, sEnd.x), Math.max(sStart.y, sEnd.y)); + } else { + s1 = new GridPosition(Math.min(sStart.x, sEnd.x), Math.max(sStart.y, sEnd.y)); + s2 = new GridPosition(Math.max(sStart.x, sEnd.x), Math.min(sStart.y, sEnd.y)); + } + + return obstacles.contains(s1) || obstacles.contains(s2); + } + + return false; + } + + private List getOpenNeighbors(GridPosition s, Set obstacles) { + List ret = new ArrayList<>(); + + for (int xMove = -1; xMove <= 1; xMove++) { + for (int yMove = -1; yMove <= 1; yMove++) { + GridPosition sNext = new GridPosition(s.x + xMove, s.y + yMove); + if (!obstacles.contains(sNext) + && sNext.x >= 0 + && sNext.x < nodesX + && sNext.y >= 0 + && sNext.y < nodesY) { + ret.add(sNext); + } + } + } + return ret; + } + + private List getAllNeighbors(GridPosition s) { + List ret = new ArrayList<>(); + + for (int xMove = -1; xMove <= 1; xMove++) { + for (int yMove = -1; yMove <= 1; yMove++) { + GridPosition sNext = new GridPosition(s.x + xMove, s.y + yMove); + if (sNext.x >= 0 && sNext.x < nodesX && sNext.y >= 0 && sNext.y < nodesY) { + ret.add(sNext); + } + } + } + return ret; + } + + private Pair key(GridPosition s, GridPosition sStart) { + if (g.get(s) > rhs.get(s)) { + return Pair.of(rhs.get(s) + eps * heuristic(sStart, s), rhs.get(s)); + } else { + return Pair.of(g.get(s) + heuristic(sStart, s), g.get(s)); + } + } + + private Pair> topKey() { + Map.Entry> min = null; + for (var entry : open.entrySet()) { + if (min == null || comparePair(entry.getValue(), min.getValue()) < 0) { + min = entry; + } + } + + if (min == null) { + return null; + } + + return Pair.of(min.getKey(), min.getValue()); + } + + private double heuristic(GridPosition sStart, GridPosition sGoal) { + return Math.hypot(sGoal.x - sStart.x, sGoal.y - sStart.y); + } + + private int comparePair(Pair a, Pair b) { + int first = Double.compare(a.getFirst(), b.getFirst()); + if (first == 0) { + return Double.compare(a.getSecond(), b.getSecond()); + } else { + return first; + } + } + + private GridPosition getGridPos(Translation2d pos) { + int x = (int) Math.floor(pos.getX() / nodeSize); + int y = (int) Math.floor(pos.getY() / nodeSize); + + return new GridPosition(x, y); + } + + private Translation2d gridPosToTranslation2d(GridPosition pos) { + return new Translation2d( + (pos.x * nodeSize) + (nodeSize / 2.0), (pos.y * nodeSize) + (nodeSize / 2.0)); + } + + /** + * Represents a node in the pathfinding grid + * + * @param x X index in the grid + * @param y Y index in the grid + */ + public record GridPosition(int x, int y) implements Comparable { + @Override + public int compareTo(GridPosition o) { + if (x == o.x) { + return Integer.compare(y, o.y); + } else { + return Integer.compare(x, o.x); + } + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java index e8ce671..f68935f 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/Arena2024Crescendo.java @@ -25,7 +25,9 @@ public class Arena2024Crescendo extends SimulatedArena { protected final CrescendoAmp redAmp; protected final CrescendoAmp blueAmp; - /** the obstacles on the 2024 competition field */ + /** + * the obstacles on the 2024 competition field + */ public static final class CrescendoFieldObstaclesMap extends FieldMap { private static final double FIELD_WIDTH = 16.54; @@ -74,18 +76,18 @@ public CrescendoFieldObstaclesMap() { } } - private static final Translation2d[] NOTE_INITIAL_POSITIONS = new Translation2d[] { - new Translation2d(2.9, 4.1), - new Translation2d(2.9, 5.55), - new Translation2d(2.9, 7), - new Translation2d(8.27, 0.75), - new Translation2d(8.27, 2.43), - new Translation2d(8.27, 4.1), - new Translation2d(8.27, 5.78), - new Translation2d(8.27, 7.46), - new Translation2d(13.64, 4.1), - new Translation2d(13.64, 5.55), - new Translation2d(13.64, 7), + private static final Translation2d[] NOTE_INITIAL_POSITIONS = new Translation2d[]{ + new Translation2d(2.9, 4.1), + new Translation2d(2.9, 5.55), + new Translation2d(2.9, 7), + new Translation2d(8.27, 0.75), + new Translation2d(8.27, 2.43), + new Translation2d(8.27, 4.1), + new Translation2d(8.27, 5.78), + new Translation2d(8.27, 7.46), + new Translation2d(13.64, 4.1), + new Translation2d(13.64, 5.55), + new Translation2d(13.64, 7), }; public Arena2024Crescendo() { @@ -144,7 +146,7 @@ public void simulationSubTick(int tickNum) { * * *

    Returns wether the specified team currently has an amped speaker

    - * + *

    * This function returns true during autonomous since the autonomous mode behaves exactly like amplified game play. * * @param isBlue Wether to check the blue or red alliance. diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java index 03e5b30..56cf8ea 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java @@ -1,13 +1,16 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; -import static edu.wpi.first.units.Units.Centimeters; - -import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructPublisher; -import java.util.*; import swervelib.simulation.ironmaple.simulation.Goal; +import java.util.List; + +import static edu.wpi.first.units.Units.Centimeters; + /** * * @@ -29,7 +32,7 @@ public class CrescendoAmp extends Goal { * *

    Creates an Amp of the specified color.

    * - * @param arena The host arena of this amp. + * @param arena The host arena of this amp. * @param isBlue Wether this is the blue amp or the red one. */ public CrescendoAmp(Arena2024Crescendo arena, boolean isBlue) { @@ -63,6 +66,5 @@ protected void addPoints() { @Override public void draw(List drawList) { - return; } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java index be80ee6..6b94246 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoHumanPlayerSimulation.java @@ -1,13 +1,13 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; -import static swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024.toCurrentAllianceTranslation; - import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import static swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024.toCurrentAllianceTranslation; + public class CrescendoHumanPlayerSimulation implements SimulatedArena.Simulatable { private static final Translation2d BLUE_SOURCE_POSITION = new Translation2d(15.6, 0.8); private double previousThrowTimeSeconds = 0; diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java index 7658c52..4df842b 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoNoteOnField.java @@ -1,8 +1,5 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; -import static edu.wpi.first.units.Units.Inches; -import static edu.wpi.first.units.Units.Kilograms; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; @@ -10,6 +7,9 @@ import org.dyn4j.geometry.Geometry; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Kilograms; + public class CrescendoNoteOnField extends GamePieceOnFieldSimulation { /* https://www.andymark.com/products/frc-2024-am-4999 */ public static final GamePieceInfo CRESCENDO_NOTE_INFO = new GamePieceInfo( diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java index acde813..6e9b872 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java @@ -1,14 +1,17 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; -import static edu.wpi.first.units.Units.Centimeters; - -import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructPublisher; -import java.util.*; import swervelib.simulation.ironmaple.simulation.Goal; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; +import java.util.List; + +import static edu.wpi.first.units.Units.Centimeters; + /** * * @@ -29,7 +32,7 @@ public class CrescendoSpeaker extends Goal { * *

    Creates an Speaker of the specified color.

    * - * @param arena The host arena of this speaker. + * @param arena The host arena of this speaker. * @param isBlue Wether this is the blue speaker or the red one. */ public CrescendoSpeaker(Arena2024Crescendo arena, boolean isBlue) { @@ -63,6 +66,5 @@ protected void addPoints() { @Override public void draw(List drawList) { - return; } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java index b393f0e..fe14d85 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/NoteOnFly.java @@ -1,7 +1,5 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024; -import static swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField.*; - import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; @@ -12,6 +10,8 @@ import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; import swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024; +import static swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField.CRESCENDO_NOTE_INFO; + public class NoteOnFly extends GamePieceProjectile { public NoteOnFly( Translation2d robotPosition, diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java index b3391df..0172e99 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/evergreen/ArenaEvergreen.java @@ -24,18 +24,13 @@ public EvergreenFieldObstacleMap() { */ public EvergreenFieldObstacleMap withWalls() { // blue wall - super.addBorderLine(new Translation2d(0, 1.270), new Translation2d(0, 6.782)); - + super.addBorderLine(new Translation2d(0, 0), new Translation2d(0, 8)); // red wall - super.addBorderLine(new Translation2d(17.548, 1.270), new Translation2d(17.548, 6.782)); - - // upper walls - super.addBorderLine(new Translation2d(1.672, 8.052), new Translation2d(11, 8.052)); - super.addBorderLine(new Translation2d(12, 8.052), new Translation2d(17.548 - 1.672, 8.052)); - - // lower walls - super.addBorderLine(new Translation2d(1.672, 0), new Translation2d(5.8, 0)); - super.addBorderLine(new Translation2d(6.3, 0), new Translation2d(17.548 - 1.672, 0)); + super.addBorderLine(new Translation2d(17.548, 0), new Translation2d(17.548, 8)); + // upper wall + super.addBorderLine(new Translation2d(0, 8.052), new Translation2d(20, 8.052)); + // lower wall + super.addBorderLine(new Translation2d(0, 0), new Translation2d(20, 0)); return this; } } @@ -49,8 +44,8 @@ public EvergreenFieldObstacleMap withWalls() { * * @param withWalls used to add wall obstacles when desired. */ - public ArenaEvergreen(boolean withWalls) { - super(withWalls ? new EvergreenFieldObstacleMap() : new EvergreenFieldObstacleMap().withWalls()); + public ArenaEvergreen(boolean withWalls) { + super(withWalls ? new EvergreenFieldObstacleMap().withWalls() : new EvergreenFieldObstacleMap()); } /** diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java index 203244d..1b2a922 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/Arena2025Reefscape.java @@ -5,11 +5,13 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; -import java.util.Arrays; -import java.util.List; import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.ReefscapeOpponentManager; import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; +import java.util.Arrays; +import java.util.List; + /** * * @@ -23,7 +25,6 @@ public class Arena2025Reefscape extends SimulatedArena { public static final class ReefscapeFieldObstacleMap extends FieldMap { public ReefscapeFieldObstacleMap() { super(); - // blue wall super.addBorderLine(new Translation2d(0, 1.270), new Translation2d(0, 6.782)); @@ -47,13 +48,13 @@ public ReefscapeFieldObstacleMap() { super.addBorderLine(new Translation2d(6.3, 0), new Translation2d(17.548 - 1.672, 0)); // blue reef - Translation2d[] reefVorticesBlue = new Translation2d[] { - new Translation2d(3.658, 3.546), - new Translation2d(3.658, 4.506), - new Translation2d(4.489, 4.987), - new Translation2d(5.3213, 4.506), - new Translation2d(5.3213, 3.546), - new Translation2d(4.489, 3.065) + Translation2d[] reefVorticesBlue = new Translation2d[]{ + new Translation2d(3.658, 3.546), + new Translation2d(3.658, 4.506), + new Translation2d(4.489, 4.987), + new Translation2d(5.3213, 4.506), + new Translation2d(5.3213, 3.546), + new Translation2d(4.489, 3.065) }; for (int i = 0; i < 6; i++) super.addBorderLine(reefVorticesBlue[i], reefVorticesBlue[(i + 1) % 6]); @@ -78,6 +79,7 @@ public ReefscapeFieldObstacleMap() { public Arena2025Reefscape() { super(new ReefscapeFieldObstacleMap()); + super.withOpponentManager(new ReefscapeOpponentManager()); redReefSimulation = new ReefscapeReefSimulation(this, false); super.addCustomSimulation(redReefSimulation); @@ -98,10 +100,23 @@ public Arena2025Reefscape() { super.addCustomSimulation(redProcessor); } + /** + * Gets the opponent manager for FRC 2025 Reefscape. + * + * @return this {@link ReefscapeOpponentManager}. + */ + @Override + public ReefscapeOpponentManager getOpponentManager() { + if (opponentManager == null) { + DriverStation.reportWarning("Something went wrong, no OpponentManager found in Arena2025Reefscape", false); + } + return (ReefscapeOpponentManager) opponentManager; + } + @Override public void placeGamePiecesOnField() { - Translation2d[] bluePositions = new Translation2d[] { - new Translation2d(1.219, 5.855), new Translation2d(1.219, 4.026), new Translation2d(1.219, 2.197), + Translation2d[] bluePositions = new Translation2d[]{ + new Translation2d(1.219, 5.855), new Translation2d(1.219, 4.026), new Translation2d(1.219, 2.197), }; for (Translation2d position : bluePositions) super.addGamePiece(new ReefscapeCoralAlgaeStack(position)); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java index dd9b4a1..08154c3 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnField.java @@ -1,13 +1,14 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import org.dyn4j.geometry.Circle; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Kilograms; + /** * * diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java index b824f36..728ca35 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java @@ -1,16 +1,20 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.Centimeters; - -import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructPublisher; import edu.wpi.first.units.Units; import edu.wpi.first.wpilibj.DriverStation; -import java.util.*; import swervelib.simulation.ironmaple.simulation.Goal; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; +import java.util.List; + +import static edu.wpi.first.units.Units.Centimeters; + /** * * @@ -29,7 +33,7 @@ public class ReefscapeBargeSimulation extends Goal { * *

    Creates an barge of the specified color.

    * - * @param arena The host arena of this barge. + * @param arena The host arena of this barge. * @param isBlue Wether this is the blue barge or the red one. */ public ReefscapeBargeSimulation(Arena2025Reefscape arena, boolean isBlue) { @@ -52,10 +56,10 @@ public ReefscapeBargeSimulation(Arena2025Reefscape arena, boolean isBlue) { public void draw(List algaePosesToDisplay) { for (int i = 0; i < gamePieceCount; i++) { algaePosesToDisplay.add(new Pose3d( - xyBox.getCenter().x, - xyBox.getCenter().y - xyBox.getHeight() / 2, - elevation.in(Units.Meters) + height.in(Units.Meters) / 2, - new Rotation3d()) + xyBox.getCenter().x, + xyBox.getCenter().y - xyBox.getHeight() / 2, + elevation.in(Units.Meters) + height.in(Units.Meters) / 2, + new Rotation3d()) .plus(new Transform3d(0, i * 0.35, 0, new Rotation3d()))); } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java index 8a8b3a7..2c8c718 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralAlgaeStack.java @@ -1,15 +1,16 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; -import java.util.List; import org.dyn4j.geometry.Circle; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; +import java.util.List; + +import static edu.wpi.first.units.Units.*; + /** * * @@ -107,7 +108,9 @@ public static List getStackedCoralPoses() { return getStackedCoralPoses(SimulatedArena.getInstance()); } - /** @see #getStackedCoralPoses() */ + /** + * @see #getStackedCoralPoses() + */ private static final Transform3d STACK_TO_CORAL = new Transform3d(new Translation3d(0, 0, 0.15), new Rotation3d(0, Math.toRadians(90), 0)); @@ -131,7 +134,9 @@ public static List getStackedAlgaePoses() { private static final Transform3d STACK_TO_ALGAE = new Transform3d( new Translation3d(0, 0, 0.3 + edu.wpi.first.math.util.Units.inchesToMeters(8)), new Rotation3d()); - /** @see #getStackedAlgaePoses() */ + /** + * @see #getStackedAlgaePoses() + */ public static List getStackedAlgaePoses(SimulatedArena arena) { return arena.getGamePiecesPosesByType(REEFSCAPE_STACK_INFO.type()).stream() .map(stackPose -> stackPose.plus(STACK_TO_ALGAE)) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java index 31a2a4c..f3ddfad 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnField.java @@ -1,11 +1,12 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.geometry.Pose2d; import org.dyn4j.geometry.Rectangle; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import static edu.wpi.first.units.Units.Kilograms; +import static edu.wpi.first.units.Units.Meters; + /** * * diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java index 1703492..461845b 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeCoralOnFly.java @@ -1,7 +1,5 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; @@ -15,6 +13,8 @@ import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; +import static edu.wpi.first.units.Units.*; + public class ReefscapeCoralOnFly extends GamePieceProjectile { public ReefscapeCoralOnFly( Translation2d robotPosition, @@ -58,25 +58,25 @@ public static ReefscapeCoralOnFly DropFromCoralStation( : station.startingPose.getTranslation(); return isHorizontal ? new ReefscapeCoralOnFly( - pos, - new Translation2d(), - ChassisSpeeds.fromRobotRelativeSpeeds(new ChassisSpeeds(3.0, 0, 0), rot), - rot.rotateBy(Rotation2d.kCCW_90deg), - Centimeters.of(98), - MetersPerSecond.of(0), - Degrees.of(0)) + pos, + new Translation2d(), + ChassisSpeeds.fromRobotRelativeSpeeds(new ChassisSpeeds(3.0, 0, 0), rot), + rot.rotateBy(Rotation2d.kCCW_90deg), + Centimeters.of(98), + MetersPerSecond.of(0), + Degrees.of(0)) : new ReefscapeCoralOnFly( - alliance == DriverStation.Alliance.Red - ? FieldMirroringUtils.flip(station.startingPose.getTranslation()) - : station.startingPose.getTranslation(), - new Translation2d(), - new ChassisSpeeds(), - alliance == DriverStation.Alliance.Red - ? FieldMirroringUtils.flip(station.startingPose.getRotation()) - : station.startingPose.getRotation(), - Centimeters.of(98), - MetersPerSecond.of(3), - Degrees.of(-50)); + alliance == DriverStation.Alliance.Red + ? FieldMirroringUtils.flip(station.startingPose.getTranslation()) + : station.startingPose.getTranslation(), + new Translation2d(), + new ChassisSpeeds(), + alliance == DriverStation.Alliance.Red + ? FieldMirroringUtils.flip(station.startingPose.getRotation()) + : station.startingPose.getRotation(), + Centimeters.of(98), + MetersPerSecond.of(3), + Degrees.of(-50)); } @Override @@ -86,8 +86,8 @@ public void addGamePieceAfterTouchGround(SimulatedArena simulatedArena) { ReefscapeCoralOnField.REEFSCAPE_CORAL_INFO, () -> Math.max( ReefscapeCoralOnField.REEFSCAPE_CORAL_INFO - .gamePieceHeight() - .in(Meters) + .gamePieceHeight() + .in(Meters) / 2, getPositionAtTime(super.launchedTimer.get()).getZ()), new Pose2d( diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java index 8df4d14..08f0fff 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java @@ -1,17 +1,15 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.Centimeters; -import static edu.wpi.first.units.Units.Degrees; -import static edu.wpi.first.units.Units.Meters; -import static edu.wpi.first.units.Units.MetersPerSecond; - import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructPublisher; -import java.util.*; import swervelib.simulation.ironmaple.simulation.Goal; +import java.util.List; + +import static edu.wpi.first.units.Units.*; + /** * * @@ -34,7 +32,7 @@ public class ReefscapeProcessorSimulation extends Goal { * *

    Creates an processor of the specified color.

    * - * @param arena The host arena of this processor. + * @param arena The host arena of this processor. * @param isBlue Wether this is the blue processor or the red one. */ public ReefscapeProcessorSimulation(Arena2025Reefscape arena, boolean isBlue) { @@ -82,6 +80,5 @@ protected void addPoints() { @Override public void draw(List drawList) { - return; } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java index 89c0c0a..cbe3668 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java @@ -1,22 +1,18 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025; -import static edu.wpi.first.units.Units.Centimeters; -import static edu.wpi.first.units.Units.Degrees; - -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.geometry.*; import edu.wpi.first.units.Units; import edu.wpi.first.wpilibj.DriverStation; -import java.util.Arrays; -import java.util.List; import swervelib.simulation.ironmaple.simulation.Goal; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; +import java.util.Arrays; +import java.util.List; + +import static edu.wpi.first.units.Units.Centimeters; +import static edu.wpi.first.units.Units.Degrees; + /** * * @@ -32,26 +28,26 @@ public class ReefscapeReefBranch extends Goal { public static final Translation2d origin = new Translation2d(FieldMirroringUtils.FIELD_WIDTH / 2, FieldMirroringUtils.FIELD_HEIGHT / 2); - public static final Translation2d[] branchesCenterPositionBlue = new Translation2d[] { - new Translation2d(-4.810, 0.164).plus(origin), // A - new Translation2d(-4.810, -0.164).plus(origin), // B - new Translation2d(-4.690, -0.373).plus(origin), // C - new Translation2d(-4.406, -0.538).plus(origin), // D - new Translation2d(-4.164, -0.537).plus(origin), // E - new Translation2d(-3.879, -0.374).plus(origin), // F - new Translation2d(-3.759, -0.164).plus(origin), // G - new Translation2d(-3.759, 0.164).plus(origin), // H - new Translation2d(-3.880, 0.373).plus(origin), // I - new Translation2d(-4.164, 0.538).plus(origin), // J - new Translation2d(-4.405, 0.538).plus(origin), // K - new Translation2d(-4.690, 0.374).plus(origin) // L + public static final Translation2d[] branchesCenterPositionBlue = new Translation2d[]{ + new Translation2d(-4.810, 0.164).plus(origin), // A + new Translation2d(-4.810, -0.164).plus(origin), // B + new Translation2d(-4.690, -0.373).plus(origin), // C + new Translation2d(-4.406, -0.538).plus(origin), // D + new Translation2d(-4.164, -0.537).plus(origin), // E + new Translation2d(-3.879, -0.374).plus(origin), // F + new Translation2d(-3.759, -0.164).plus(origin), // G + new Translation2d(-3.759, 0.164).plus(origin), // H + new Translation2d(-3.880, 0.373).plus(origin), // I + new Translation2d(-4.164, 0.538).plus(origin), // J + new Translation2d(-4.405, 0.538).plus(origin), // K + new Translation2d(-4.690, 0.374).plus(origin) // L }; - public static final Translation3d[] heights = new Translation3d[] { - new Translation3d(0, 0, 0.45), - new Translation3d(0, 0, 0.79), - new Translation3d(0, 0, 1.19), - new Translation3d(0, 0, 1.78) + public static final Translation3d[] heights = new Translation3d[]{ + new Translation3d(0, 0, 0.45), + new Translation3d(0, 0, 0.79), + new Translation3d(0, 0, 1.19), + new Translation3d(0, 0, 1.78) }; public static final Rotation3d flip90 = new Rotation3d(0, 0, Math.PI / 2); @@ -60,13 +56,13 @@ public class ReefscapeReefBranch extends Goal { .map(FieldMirroringUtils::flip) .toArray(Translation2d[]::new); - public static final Rotation2d[] branchesFacingOutwardsBlue = new Rotation2d[] { - Rotation2d.fromDegrees(180), Rotation2d.fromDegrees(180), // A and B - Rotation2d.fromDegrees(240), Rotation2d.fromDegrees(240), // C and D - Rotation2d.fromDegrees(300), Rotation2d.fromDegrees(300), // E and F - Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(0), // G and H - Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(60), // I and J - Rotation2d.fromDegrees(120), Rotation2d.fromDegrees(120), // K and L + public static final Rotation2d[] branchesFacingOutwardsBlue = new Rotation2d[]{ + Rotation2d.fromDegrees(180), Rotation2d.fromDegrees(180), // A and B + Rotation2d.fromDegrees(240), Rotation2d.fromDegrees(240), // C and D + Rotation2d.fromDegrees(300), Rotation2d.fromDegrees(300), // E and F + Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(0), // G and H + Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(60), // I and J + Rotation2d.fromDegrees(120), Rotation2d.fromDegrees(120), // K and L }; /** @@ -75,8 +71,8 @@ public class ReefscapeReefBranch extends Goal { *

    Returns the required pose of a reef branch at the designated position.

    * * @param isBlue Wether the position is on the blue reef or the red reef. - * @param level The level of the reef (0 indexed). Range of 0-3. - * @param col The pole or Colum of the reef (0 indexed). Range of 0-11. + * @param level The level of the reef (0 indexed). Range of 0-3. + * @param col The pole or Colum of the reef (0 indexed). Range of 0-11. * @return The pose of a reef branch with the specified stats. */ public static Translation3d getPoseOfBranchAt(boolean isBlue, int level, int col) { @@ -100,9 +96,9 @@ public static Translation3d getPoseOfBranchAt(boolean isBlue, int level, int col * *

    Creates a singular reef branch at the specified location

    * - * @param arena The host arena of this reef. + * @param arena The host arena of this reef. * @param isBlue Wether the position is on the blue reef or the red reef. - * @param level The level of the reef (0 indexed). Range of 0-3. + * @param level The level of the reef (0 indexed). Range of 0-3. * @param column The pole or Colum of the reef (0 indexed). Range of 0-11. */ public ReefscapeReefBranch(Arena2025Reefscape arena, boolean isBlue, int level, int column) { @@ -153,9 +149,6 @@ public Pose3d getPose() { public boolean checkRotation(GamePiece gamePiece) { if (level == 3) { Rotation3d rotation = gamePiece.getPose3d().getRotation(); - System.out.println(Math.abs(rotation.getY() + Math.PI / 2)); - System.out.println(Math.abs(rotation.getY() - Math.PI / 2)); - return Math.abs(rotation.getY() + Math.PI / 2) < Degrees.of(10).in(Units.Radians) || Math.abs(rotation.getY() - Math.PI / 2) < Degrees.of(10).in(Units.Radians); } else { @@ -167,7 +160,7 @@ public boolean checkRotation(GamePiece gamePiece) { protected void addPoints() { System.out.println("Coral scored on level: " + (level + 1) + " on the " + (isBlue ? "Blue " : "Red") + "reef"); arena.addValueToMatchBreakdown(isBlue, "Auto/CoralScoredInAuto", DriverStation.isAutonomous() ? 1 : 0); - arena.addValueToMatchBreakdown(isBlue, "CoralScoredOnLevel " + String.valueOf(level + 1), 1); + arena.addValueToMatchBreakdown(isBlue, "CoralScoredOnLevel " + (level + 1), 1); if (DriverStation.isAutonomous()) { switch (level) { diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java index 0113e0e..e00b887 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java @@ -3,11 +3,12 @@ import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructArrayPublisher; -import java.util.ArrayList; -import java.util.List; import swervelib.simulation.ironmaple.simulation.Goal; import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import java.util.ArrayList; +import java.util.List; + /** * * @@ -20,7 +21,7 @@ public class ReefscapeReefSimulation implements SimulatedArena.Simulatable { protected final List branches; public ReefscapeAlgaeOnField algae; - private StructArrayPublisher reefPub; + private final StructArrayPublisher reefPub; Pose3d[] branchPoses; /** @@ -28,7 +29,7 @@ public class ReefscapeReefSimulation implements SimulatedArena.Simulatable { * *

    Creates an reef of the specified color.

    * - * @param arena The host arena of this reef. + * @param arena The host arena of this reef. * @param isBlue Wether this is the blue reef or the red one. */ ReefscapeReefSimulation(Arena2025Reefscape arena, boolean isBlue) { diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/KitBot.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/KitBot.java new file mode 100644 index 0000000..fc0f15b --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/KitBot.java @@ -0,0 +1,134 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import swervelib.simulation.ironmaple.simulation.IntakeSimulation; +import swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent; +import swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly; + +import static edu.wpi.first.units.Units.*; + +public class KitBot extends SmartOpponent { + /** + * A SmartOpponent for FRC Reefscape. + * + * @param name the opponent name. Typically just "SuperKitBot 1". + * Names should not be the same. + * @param alliance the opponents {@link DriverStation.Alliance}. + */ + public KitBot(String name, DriverStation.Alliance alliance) { + /// All Options should be set in the constructor. + super(new SmartOpponentConfig() + .withName(name) + .withAlliance(alliance) + .withManager(Arena2025Reefscape.getInstance().getOpponentManager()) + .withChassisConfig(SmartOpponentConfig.ChassisConfig.Presets.SimpleSquareChassis.getConfig() + .withMaxLinearVelocity(MetersPerSecond.of(4)) + .withMaxAngularVelocity(DegreesPerSecond.of(360))) + .removeScoringPoseType("Barge") + .withAutoEnable()); + /// Adds a separate subsystem thread for the manipulator, this allows better manual control support. + // TODO add better commenting + this.manipulatorSim + .addIntakeSimulation( + "Intake", + IntakeSimulation.InTheFrameIntake( + "Coral", + drivetrainSim.getDriveTrainSimulation(), + Inches.of(20), + IntakeSimulation.IntakeSide.FRONT, + 1)) + .addProjectileSimulation( + "Coral", + () -> new ReefscapeCoralOnFly( + drivetrainSim.getActualPoseInSimulationWorld().getTranslation(), + new Translation2d(Inches.of(0), Inches.of(-18)), // Shooter on bot + drivetrainSim + .getActualSpeedsFieldRelative() + .plus(ChassisSpeeds.fromRobotRelativeSpeeds( + new ChassisSpeeds( + 1, 0, 0), // Added chassis speeds to change coral velocity, + drivetrainSim + .getActualPoseInSimulationWorld() + .getRotation())), // this is because we want a horizontal score + drivetrainSim + .getActualPoseInSimulationWorld() + .getRotation() + .rotateBy( + Rotation2d.kCCW_90deg), // Rotated by 90 degrees for horizontal shooter. + Inches.of(30), // Shooter Height + MetersPerSecond.of(0), // Initial piece speed + Degrees.of(0))); // Shooter angle + } + + /** + * The collect state to run. + * + * @return a runnable that runs the state. + */ + @Override + protected Command collectState() { + return pathfind(getCollectTarget(), MetersPerSecond.of(2)) + .andThen(manipulatorSim.intake("Intake").withTimeout(1.5)) + .finallyDo(() -> setState("Score")) + .withTimeout(12); + } + + /** + * The score state to run. + * + * @return a runnable that runs the state. + */ + @Override + protected Command scoreState() { + return pathfind(getScoringTarget(), MetersPerSecond.of(2)) + .andThen(Commands.waitSeconds(1.5)) + .andThen(manipulatorSim.score("Coral")) + .andThen(Commands.waitSeconds(0.5)) + .finallyDo(() -> setState("Collect")) + .withTimeout(12); + } + + // TODO + public KitBot withXboxController(CommandXboxController xboxController) { + config.withJoystick(xboxController); + config.withState("Joystick", this::joystickState); + config.withBehavior( + "Player", + startingState("Joystick").andThen(startingState("Joystick").ignoringDisable(false))); + config.updateBehaviorChooser(); + /// Enable Manipulator control + xboxController.leftBumper().and(config.isStateTrigger("Joystick")).whileTrue(manipulatorSim.intake("Intake")); + xboxController.rightBumper().and(config.isStateTrigger("Joystick")).whileTrue(manipulatorSim.score("Coral")); + return this; + } + + /** + * The joystick state to run. Should be inaccessible when not set. + * + * @return the joystick state to run. + */ + private Command joystickState() { + final CommandXboxController xbox = ((CommandXboxController) config.getJoystick()); + return drive( + () -> new ChassisSpeeds( + MathUtil.applyDeadband( + xbox.getLeftY() * -config.chassis.maxLinearVelocity.in(MetersPerSecond), + config.joystickDeadband), + MathUtil.applyDeadband( + xbox.getLeftX() * -config.chassis.maxLinearVelocity.in(MetersPerSecond), + config.joystickDeadband), + MathUtil.applyDeadband( + xbox.getRightX() * -config.chassis.maxAngularVelocity.in(RadiansPerSecond), + config.joystickDeadband)), + false); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/ReefscapeNavGrid.json b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/ReefscapeNavGrid.json new file mode 100644 index 0000000..27fec13 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/ReefscapeNavGrid.json @@ -0,0 +1,1656 @@ +{ + "field_size": { + "x": 17.548, + "y": 8.052 + }, + "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, 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+ 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 + ] + ] +} \ No newline at end of file diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/ReefscapeOpponentManager.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/ReefscapeOpponentManager.java new file mode 100644 index 0000000..0da19a1 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/ReefscapeOpponentManager.java @@ -0,0 +1,97 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim; + +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.util.Units; +import swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager; + +public class ReefscapeOpponentManager extends OpponentManager { + public ReefscapeOpponentManager() { + super(true); // Default Starting and queening poses. + super + /// All reef scoring poses + .addScoringPose("Reef", "Reef South Left", PoseConstants.REEF_SOUTH_LEFT_POSE) + .addScoringPose("Reef", "Reef South Right", PoseConstants.REEF_SOUTH_RIGHT_POSE) + .addScoringPose("Reef", "Reef Southeast Left", PoseConstants.REEF_SOUTHEAST_LEFT_POSE) + .addScoringPose("Reef", "Reef Southeast Right", PoseConstants.REEF_SOUTHEAST_RIGHT_POSE) + .addScoringPose("Reef", "Reef Northeast Left", PoseConstants.REEF_NORTHEAST_LEFT_POSE) + .addScoringPose("Reef", "Reef Northeast Right", PoseConstants.REEF_NORTHEAST_RIGHT_POSE) + .addScoringPose("Reef", "Reef North Left", PoseConstants.REEF_NORTH_LEFT_POSE) + .addScoringPose("Reef", "Reef North Right", PoseConstants.REEF_NORTH_RIGHT_POSE) + .addScoringPose("Reef", "Reef Northwest Left", PoseConstants.REEF_NORTHWEST_LEFT_POSE) + .addScoringPose("Reef", "Reef Northwest Right", PoseConstants.REEF_NORTHWEST_RIGHT_POSE) + .addScoringPose("Reef", "Reef Southwest Left", PoseConstants.REEF_SOUTHWEST_LEFT_POSE) + .addScoringPose("Reef", "Reef Southwest Right", PoseConstants.REEF_SOUTHWEST_RIGHT_POSE) + /// Barge scoring pose + .addScoringPose("Barge", "Net", PoseConstants.BARGE_NET_POSE) + /// Coral Station Poses + .addCollectingPose( + "Left Station", "Left", PoseConstants.LEFT_STATION_POSE.plus(PoseConstants.SLOT_OFFSET_LEFT)) + .addCollectingPose( + "Left Station", "Center", PoseConstants.LEFT_STATION_POSE.plus(PoseConstants.SLOT_OFFSET_RIGHT)) + .addCollectingPose( + "Left Station", "Right", PoseConstants.LEFT_STATION_POSE.plus(PoseConstants.SLOT_OFFSET_RIGHT)) + .addCollectingPose( + "Right Station", "Left", PoseConstants.RIGHT_STATION_POSE.plus(PoseConstants.SLOT_OFFSET_LEFT)) + .addCollectingPose("Right Station", "Center", PoseConstants.RIGHT_STATION_POSE) + .addCollectingPose( + "Right Station", + "Right", + PoseConstants.RIGHT_STATION_POSE.plus(PoseConstants.SLOT_OFFSET_RIGHT)); + } + + /// Its end of the season, so I just copied my constants here and added them as such. + /// Typically, it would probably just be a new Pose2d()... + private static class PoseConstants { + public static final Transform2d STATION_OFFSET = + new Transform2d(Units.inchesToMeters(-17), Units.inchesToMeters(0), Rotation2d.kZero); + public static final Transform2d SLOT_OFFSET_LEFT = new Transform2d( + Units.inchesToMeters(0), + Units.inchesToMeters(24), // Added several times to achieve all 5 poses. + Rotation2d.kZero); + public static final Transform2d SLOT_OFFSET_RIGHT = new Transform2d( + Units.inchesToMeters(0), + Units.inchesToMeters(-30), // Added several times to achieve all 5 poses. + Rotation2d.kZero); + public static final Pose2d BARGE_NET_POSE = new Pose2d(7.5, 2, Rotation2d.fromDegrees(0)); + public static final Pose2d LEFT_STATION_CENTER_POSE = new Pose2d( + Units.inchesToMeters(33.526), Units.inchesToMeters(291.176), Rotation2d.fromDegrees(125.989)); + public static final Pose2d RIGHT_STATION_CENTER_POSE = + new Pose2d(Units.inchesToMeters(33.526), Units.inchesToMeters(25.824), Rotation2d.fromDegrees(234.011)); + public static final Pose2d LEFT_STATION_POSE = LEFT_STATION_CENTER_POSE.plus(STATION_OFFSET); + public static final Pose2d RIGHT_STATION_POSE = RIGHT_STATION_CENTER_POSE.plus(STATION_OFFSET); + public static final Pose2d SOUTH_FACE_POSE = + new Pose2d(Units.inchesToMeters(144.003), Units.inchesToMeters(158.500), Rotation2d.fromDegrees(0)); + public static final Pose2d SOUTHWEST_FACE_POSE = + new Pose2d(Units.inchesToMeters(160.373), Units.inchesToMeters(186.857), Rotation2d.fromDegrees(300)); + public static final Pose2d NORTHWEST_FACE_POSE = + new Pose2d(Units.inchesToMeters(193.116), Units.inchesToMeters(186.858), Rotation2d.fromDegrees(240)); + public static final Pose2d NORTH_FACE_POSE = + new Pose2d(Units.inchesToMeters(209.489), Units.inchesToMeters(158.502), Rotation2d.fromDegrees(180)); + public static final Pose2d NORTHEAST_FACE_POSE = + new Pose2d(Units.inchesToMeters(193.118), Units.inchesToMeters(130.145), Rotation2d.fromDegrees(120)); + public static final Pose2d SOUTHEAST_FACE_POSE = + new Pose2d(Units.inchesToMeters(160.375), Units.inchesToMeters(130.144), Rotation2d.fromDegrees(60)); + public static final Transform2d BRANCH_OFFSET_LEFT = new Transform2d( + Units.inchesToMeters(-28), // Offset away from the reef. + Units.inchesToMeters(13 / 2.0), // Offset to left branch. + Rotation2d.kZero); + public static final Transform2d BRANCH_OFFSET_RIGHT = new Transform2d( + Units.inchesToMeters(-28), // Offset away from the reef. + Units.inchesToMeters(-13 / 2.0), // Offset to the right branch. + Rotation2d.kZero); + public static final Pose2d REEF_NORTH_LEFT_POSE = NORTH_FACE_POSE.plus(BRANCH_OFFSET_LEFT); + public static final Pose2d REEF_NORTH_RIGHT_POSE = NORTH_FACE_POSE.plus(BRANCH_OFFSET_RIGHT); + public static final Pose2d REEF_NORTHEAST_LEFT_POSE = NORTHEAST_FACE_POSE.plus(BRANCH_OFFSET_LEFT); + public static final Pose2d REEF_NORTHEAST_RIGHT_POSE = NORTHEAST_FACE_POSE.plus(BRANCH_OFFSET_RIGHT); + public static final Pose2d REEF_NORTHWEST_LEFT_POSE = NORTHWEST_FACE_POSE.plus(BRANCH_OFFSET_LEFT); + public static final Pose2d REEF_NORTHWEST_RIGHT_POSE = NORTHWEST_FACE_POSE.plus(BRANCH_OFFSET_RIGHT); + public static final Pose2d REEF_SOUTH_LEFT_POSE = SOUTH_FACE_POSE.plus(BRANCH_OFFSET_LEFT); + public static final Pose2d REEF_SOUTH_RIGHT_POSE = SOUTH_FACE_POSE.plus(BRANCH_OFFSET_RIGHT); + public static final Pose2d REEF_SOUTHEAST_LEFT_POSE = SOUTHEAST_FACE_POSE.plus(BRANCH_OFFSET_LEFT); + public static final Pose2d REEF_SOUTHEAST_RIGHT_POSE = SOUTHEAST_FACE_POSE.plus(BRANCH_OFFSET_RIGHT); + public static final Pose2d REEF_SOUTHWEST_LEFT_POSE = SOUTHWEST_FACE_POSE.plus(BRANCH_OFFSET_LEFT); + public static final Pose2d REEF_SOUTHWEST_RIGHT_POSE = SOUTHWEST_FACE_POSE.plus(BRANCH_OFFSET_RIGHT); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/SuperKitBot.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/SuperKitBot.java new file mode 100644 index 0000000..ce62452 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/opponentsim/SuperKitBot.java @@ -0,0 +1,217 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.Pair; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import swervelib.simulation.ironmaple.simulation.IntakeSimulation; +import swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent; +import swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnFly; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly; + +import java.util.Objects; + +import static edu.wpi.first.units.Units.*; + +public class SuperKitBot extends SmartOpponent { + /** + * A SmartOpponent for FRC Reefscape. This robot breaks rules, hence "Super" KitBot. + * + * @param name the opponent name. Typically just "SuperKitBot 1". + * Names should not be the same. + * @param alliance the opponents {@link DriverStation.Alliance}. + */ + public SuperKitBot(String name, DriverStation.Alliance alliance) { + /// All Options should be set in the constructor. + super(new SmartOpponentConfig() + .withName(name) + .withAlliance(alliance) + .withManager(Arena2025Reefscape.getInstance().getOpponentManager()) + .withScoringPoseWeights("Net", 10) + .withChassisConfig(SmartOpponentConfig.ChassisConfig.Presets.SimpleSquareChassis.getConfig() + .withBumperHeight(Inches.of(38)) + .withBumperWidth(Inches.of(28)) + .withTrackLength(Inches.of(28)) + .withTrackWidth(Inches.of(18))) + .withAutoEnable()); + /// Adds a new separate subsystem for the manipulator, this allows better manual control support. + this.manipulatorSim + /// Adds an intake to the manipulatorSim; you can add as many as you want with + // .addIntakeSimulation(String name, IntakeSimulation) + .addIntakeSimulation( + "Intake", + // Our new intake sim. + IntakeSimulation.InTheFrameIntake( + // This one focuses on coral. + "Coral", + // Our driveSim so the intake can tell if we collected a piece. + drivetrainSim.getDriveTrainSimulation(), + // How long the intake is from the center of the selected side. + Inches.of(20), + // Which side of the robot the intake is on. + IntakeSimulation.IntakeSide.FRONT, + // Max game piece capacity. + 1)) + .addProjectileSimulation( + "Algae", + () -> new ReefscapeAlgaeOnFly( + drivetrainSim.getActualPoseInSimulationWorld().getTranslation(), // Opponent Pose + new Translation2d(Inches.of(0), Inches.of(-18)), // Pose on bot + drivetrainSim.getActualSpeedsRobotRelative(), // Robot Relative opponent speeds + drivetrainSim.getActualPoseInSimulationWorld().getRotation(), // Shooter heading + Meters.of(2.5), // Shooter Height + MetersPerSecond.of(2), // Shooter speed + Degrees.of(20))) // Shooter angle + .addProjectileSimulation("Reef L1", () -> newCoral(Meters.of(.7))) + .addProjectileSimulation("Reef L2", () -> newCoral(Meters.of(1))) + .addProjectileSimulation("Reef L3", () -> newCoral(Meters.of(1.5))) + .addProjectileSimulation("Reef L4", () -> newCoral(Meters.of(3), Degrees.of(-75))); + + System.out.println("Projectile Simulation Started: " + manipulatorSim.getProjectileSimulations().toString()); + } + + /** + * Creates a new CoralOnTheFly with static variables for the reef. + * + * @param height initial coral height. + * @return the new {@link ReefscapeCoralOnFly}. + */ + private ReefscapeCoralOnFly newCoral(Distance height) { + return newCoral(height, Degrees.of(-15)); + } + + /** + * Creates a new CoralOnTheFly with static variables for the reef. + * + * @param height initial coral height. + * @param angle initial coral angle. + * @return the new {@link ReefscapeCoralOnFly}. + */ + private ReefscapeCoralOnFly newCoral(Distance height, Angle angle) { + return new ReefscapeCoralOnFly( + // Obtain robot position from drive simulation + drivetrainSim.getActualPoseInSimulationWorld().getTranslation(), + // The scoring mechanism is installed at (x, y) (meters) on the robot + new Translation2d(Inches.of(20), Inches.of(0)), + // Obtain robot speed from drive simulation + drivetrainSim.getActualSpeedsRobotRelative(), + // Obtain robot facing from drive simulation + drivetrainSim.getActualPoseInSimulationWorld().getRotation(), + // The height at which the coral is ejected + height, + // The initial speed of the coral + MetersPerSecond.of(2), + // The coral is ejected at a 35-degree slope + angle); + } + + /** + * The collect state to run. + * + * @return a runnable that runs the state. + */ + @Override + protected Command collectState() { + final Pair target = getCollectTarget(); + if (target == null) return Commands.none(); + return pathfind(target, MetersPerSecond.of(8)) + .andThen(manipulatorSim.intake("Intake").withTimeout(0.5)) + .finallyDo(() -> setState("Score")) + .withTimeout(12); + } + + /** + * Gets a random reef level to score. + * + * @return a random reef level to score. + */ + private Command scoreReef() { + // Random integer from 0-4; + final int target = (int) (Math.random() * 4); + return switch (target) { + case 1 -> manipulatorSim.score("Reef L2"); + case 2 -> manipulatorSim.score("Reef L3"); + case 3 -> manipulatorSim.score("Reef L4"); + default -> manipulatorSim.score("Reef L1"); + }; + } + + /** + * The score state to run. + * + * @return a runnable that runs the state. + */ + @Override + protected Command scoreState() { + final Pair target = getScoringTarget(); + if (target == null) return Commands.none(); + return pathfind(target, MetersPerSecond.of(8)) + .andThen(Commands.waitSeconds(0.5)) + .andThen(isCoralTarget() ? scoreReef() : manipulatorSim.score("Algae")) + .andThen(Commands.waitSeconds(0.2)) + .finallyDo(() -> setState("Collect")) + .withTimeout(12); + } + + /** + * Whether the current target is coral. + * + * @return whether the current target is coral. + */ + private boolean isCoralTarget() { + return !Objects.equals(target.getFirst(), "Barge Net"); + } + + /** + * SuperKitBot Specific joystick method. Has button bindings too. + * + * @param xboxController the controller to use. + * @return this, for chaining. + */ + public SuperKitBot withXboxController(CommandXboxController xboxController) { + config.withJoystick(xboxController); + config.withState("Joystick", this::joystickState); + config.withBehavior( + "Player", + startingState("Joystick").andThen(startingState("Joystick").ignoringDisable(true))); + config.updateBehaviorChooser(); + /// Enable Manipulator control + xboxController.leftBumper().and(config.isStateTrigger("Joystick")).whileTrue(manipulatorSim.intake("Intake")); + xboxController.rightBumper().and(config.isStateTrigger("Joystick")).onTrue(manipulatorSim.score("Reef L1")); + xboxController.b().and(config.isStateTrigger("Joystick")).onTrue(manipulatorSim.score("Reef L2")); + xboxController.x().and(config.isStateTrigger("Joystick")).onTrue(manipulatorSim.score("Reef L3")); + xboxController.y().and(config.isStateTrigger("Joystick")).onTrue(manipulatorSim.score("Reef L4")); + xboxController.a().and(config.isStateTrigger("Joystick")).onTrue(manipulatorSim.score("Algae")); + return this; + } + + /** + * The joystick state to run. Should be inaccessible when not set. + * + * @return the joystick state to run. + */ + private Command joystickState() { + final CommandXboxController xbox = ((CommandXboxController) config.getJoystick()); + return drive( + () -> new ChassisSpeeds( + MathUtil.applyDeadband( + xbox.getLeftY() * -config.chassis.maxLinearVelocity.in(MetersPerSecond), + config.joystickDeadband), + MathUtil.applyDeadband( + xbox.getLeftX() * -config.chassis.maxLinearVelocity.in(MetersPerSecond), + config.joystickDeadband), + MathUtil.applyDeadband( + xbox.getRightX() * -config.chassis.maxAngularVelocity.in(RadiansPerSecond), + config.joystickDeadband)), + false); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java b/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java index aeb3218..76759d1 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.wpilibj.DriverStation; + import java.util.Optional; public class FieldMirroringUtils { diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java b/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java index 9618877..78db638 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/LegacyFieldMirroringUtils2024.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.wpilibj.DriverStation; + import java.util.Optional; import java.util.function.Supplier; diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java index 52ffbf9..c1d1508 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/GeometryConvertor.java @@ -8,7 +8,9 @@ import org.dyn4j.geometry.Transform; import org.dyn4j.geometry.Vector2; -/** utils to convert between WPILIB and dyn4j geometry classes */ +/** + * utils to convert between WPILIB and dyn4j geometry classes + */ public class GeometryConvertor { public static Vector2 toDyn4jVector2(Translation2d wpilibTranslation2d) { return new Vector2(wpilibTranslation2d.getX(), wpilibTranslation2d.getY()); diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java index 9ade923..5a592d1 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/MapleCommonMath.java @@ -2,6 +2,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; + import java.util.Random; public class MapleCommonMath { @@ -10,7 +11,7 @@ public class MapleCommonMath { /** * using the random number generator of a fixed seed, generate the next random normal variable * - * @param mean the center of the distribution + * @param mean the center of the distribution * @param stdDev the standard deviation of the distribution * @return the next random variable x from the distribution */ @@ -27,7 +28,7 @@ public static double generateRandomNormal(double mean, double stdDev) { * *

    Constrains the magnitude of a value.

    * - * @param value the value to constrain + * @param value the value to constrain * @param maxMagnitude the maximum allowed magnitude * @return the constrained value */ diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java index 0a31e76..6b2c850 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/mathutils/SwerveStateProjection.java @@ -8,7 +8,7 @@ public class SwerveStateProjection { /** * Projects the swerve module speed onto the direction of the current swerve facing. * - * @param swerveSpeed The current speed and direction of the swerve module. + * @param swerveSpeed The current speed and direction of the swerve module. * @param currentSwerveFacing The desired direction to project onto. * @return The projected speed in the direction of currentSwerveFacing. */ From a7235feedd5e6265ee213a74d3f3e239b2e4628a Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sun, 11 Jan 2026 17:11:45 -0600 Subject: [PATCH 07/62] Fixed maplesime oppo --- examples/clock_drive_drivebase/build.gradle | 2 +- .../vendordeps/PathplannerLib-2026.1.2.json | 38 ++ ...eta-1.json => Phoenix5-replay-5.36.0.json} | 44 +- .../vendordeps/Phoenix6-replay-26.1.0.json} | 114 ++-- .../vendordeps/REVLib.json | 20 +- .../vendordeps/Studica-2026.0.0-beta.json | 71 --- .../vendordeps/StudicaLib.json | 71 --- .../vendordeps/ThriftyLib.json | 20 - .../vendordeps/WPILibNewCommands.json | 76 +-- .../vendordeps/PathplannerLib-2026.1.2.json | 38 ++ .../vendordeps/Phoenix5-replay-5.36.0.json} | 44 +- .../vendordeps/Phoenix6-replay-26.1.0.json} | 114 ++-- .../vendordeps/REVLib.json | 20 +- .../vendordeps/Studica-2026.0.0-beta.json | 71 --- .../vendordeps/StudicaLib.json | 71 --- .../vendordeps/ThriftyLib.json | 20 - .../vendordeps/WPILibNewCommands.json | 76 +-- .../vendordeps/PathplannerLib-2026.1.2.json | 38 ++ .../vendordeps/Phoenix5-replay-5.36.0.json} | 44 +- ...eta-1.json => Phoenix6-replay-26.1.0.json} | 114 ++-- .../vendordeps/REVLib.json | 20 +- .../vendordeps/Studica-2026.0.0-beta.json | 71 --- .../vendordeps/StudicaLib.json | 71 --- .../vendordeps/ThriftyLib.json | 20 - .../vendordeps/WPILibNewCommands.json | 76 +-- .../field_oriented_drivebase/build.gradle | 2 +- .../vendordeps/PathplannerLib-2026.1.2.json | 38 ++ ...eta-1.json => Phoenix5-replay-5.36.0.json} | 44 +- ...eta-1.json => Phoenix6-replay-26.1.0.json} | 114 ++-- examples/full_example/vendordeps/REVLib.json | 20 +- .../vendordeps/Studica-2026.0.0-beta.json | 71 --- .../full_example/vendordeps/StudicaLib.json | 71 --- .../full_example/vendordeps/ThriftyLib.json | 20 - .../vendordeps/WPILibNewCommands.json | 76 +-- .../robot_relative_drivebase/build.gradle | 2 +- .../vendordeps/PathplannerLib-2026.1.2.json | 38 ++ .../Phoenix5-replay-5.36.0-beta-1.json | 221 -------- .../vendordeps/Phoenix5-replay-5.36.0.json | 221 ++++++++ .../Phoenix6-replay-26.0.0-beta-1.json | 453 ---------------- .../vendordeps/Phoenix6-replay-26.1.0.json | 497 ++++++++++++++++++ .../vendordeps/REVLib.json | 20 +- .../vendordeps/Studica-2026.0.0-beta.json | 71 --- .../vendordeps/StudicaLib.json | 71 --- .../vendordeps/ThriftyLib.json | 20 - .../vendordeps/WPILibNewCommands.json | 76 +-- .../vendordeps/PathplannerLib-2026.1.2.json | 38 ++ .../Phoenix5-replay-5.36.0-beta-1.json | 221 -------- .../vendordeps/Phoenix5-replay-5.36.0.json | 221 ++++++++ .../Phoenix6-replay-26.0.0-beta-1.json | 453 ---------------- .../vendordeps/Phoenix6-replay-26.1.0.json | 497 ++++++++++++++++++ vendordep/vendordeps/REVLib.json | 20 +- .../vendordeps/Studica-2026.0.0-beta.json | 71 --- vendordep/vendordeps/StudicaLib.json | 71 --- vendordep/vendordeps/ThriftyLib.json | 20 - vendordep/vendordeps/WPILibNewCommands.json | 76 +-- .../opponentsim/OpponentManager.java | 3 +- .../simulation/opponentsim/SmartOpponent.java | 11 +- 57 files changed, 2367 insertions(+), 2845 deletions(-) create mode 100644 examples/clock_drive_drivebase/vendordeps/PathplannerLib-2026.1.2.json rename examples/clock_drive_drivebase/vendordeps/{Phoenix5-replay-5.36.0-beta-1.json => Phoenix5-replay-5.36.0.json} (86%) rename examples/{drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json => clock_drive_drivebase/vendordeps/Phoenix6-replay-26.1.0.json} (83%) delete mode 100644 examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/clock_drive_drivebase/vendordeps/StudicaLib.json delete mode 100644 examples/clock_drive_drivebase/vendordeps/ThriftyLib.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib-2026.1.2.json rename examples/{drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json => drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0.json} (86%) rename examples/{clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json => drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.1.0.json} (83%) delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json delete mode 100644 examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib-2026.1.2.json rename examples/{drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json => drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0.json} (86%) rename examples/drivebase_with_PhotonVision/vendordeps/{Phoenix6-replay-26.0.0-beta-1.json => Phoenix6-replay-26.1.0.json} (83%) delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json delete mode 100644 examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json create mode 100644 examples/full_example/vendordeps/PathplannerLib-2026.1.2.json rename examples/full_example/vendordeps/{Phoenix5-replay-5.36.0-beta-1.json => Phoenix5-replay-5.36.0.json} (86%) rename examples/full_example/vendordeps/{Phoenix6-replay-26.0.0-beta-1.json => Phoenix6-replay-26.1.0.json} (83%) delete mode 100644 examples/full_example/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/full_example/vendordeps/StudicaLib.json delete mode 100644 examples/full_example/vendordeps/ThriftyLib.json create mode 100644 examples/robot_relative_drivebase/vendordeps/PathplannerLib-2026.1.2.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json create mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json create mode 100644 examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.1.0.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/StudicaLib.json delete mode 100644 examples/robot_relative_drivebase/vendordeps/ThriftyLib.json create mode 100644 vendordep/vendordeps/PathplannerLib-2026.1.2.json delete mode 100644 vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json create mode 100644 vendordep/vendordeps/Phoenix5-replay-5.36.0.json delete mode 100644 vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json create mode 100644 vendordep/vendordeps/Phoenix6-replay-26.1.0.json delete mode 100644 vendordep/vendordeps/Studica-2026.0.0-beta.json delete mode 100644 vendordep/vendordeps/StudicaLib.json delete mode 100644 vendordep/vendordeps/ThriftyLib.json diff --git a/examples/clock_drive_drivebase/build.gradle b/examples/clock_drive_drivebase/build.gradle index 4233229..faa789c 100644 --- a/examples/clock_drive_drivebase/build.gradle +++ b/examples/clock_drive_drivebase/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } java { diff --git a/examples/clock_drive_drivebase/vendordeps/PathplannerLib-2026.1.2.json b/examples/clock_drive_drivebase/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0.json similarity index 86% rename from examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename to examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0.json index 4a78551..0e799ed 100644 --- a/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json +++ b/examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "fileName": "Phoenix5-replay-5.36.0.json", "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", + "version": "5.36.0", + "frcYear": "2026", "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", "requires": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" } ], "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" }, { "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + "offlineFileName": "Phoenix5-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -55,7 +55,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -69,7 +69,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -85,7 +85,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -98,7 +98,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -111,7 +111,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "wpiapi-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -140,7 +140,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "api-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -156,7 +156,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -172,7 +172,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -204,7 +204,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.1.0.json similarity index 83% rename from examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json rename to examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.1.0.json index 5312c86..e49c760 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.0.0-beta-1.json +++ b/examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.1.0.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "fileName": "Phoenix6-replay-26.1.0.json", "name": "CTRE-Phoenix (v6) Replay", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", + "version": "26.1.0", + "frcYear": "2026", "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" + "version": "26.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -48,7 +48,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "api-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -62,7 +62,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -76,7 +76,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -118,7 +118,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -132,7 +146,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -146,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -160,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -174,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -188,7 +216,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -202,7 +230,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -218,7 +246,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -231,7 +259,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -244,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "wpiapi-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -260,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, @@ -276,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -292,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -340,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -356,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -369,10 +397,26 @@ ], "simMode": "swsim" }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -388,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -404,7 +448,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -420,7 +464,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -436,7 +480,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/clock_drive_drivebase/vendordeps/REVLib.json b/examples/clock_drive_drivebase/vendordeps/REVLib.json index 0f666c9..4f96af8 100644 --- a/examples/clock_drive_drivebase/vendordeps/REVLib.json +++ b/examples/clock_drive_drivebase/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json b/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json deleted file mode 100644 index c5d48c7..0000000 --- a/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0-beta.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/StudicaLib.json b/examples/clock_drive_drivebase/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/examples/clock_drive_drivebase/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json b/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json deleted file mode 100644 index 1e59797..0000000 --- a/examples/clock_drive_drivebase/vendordeps/ThriftyLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "ThriftyLib.json", - "name": "ThriftyLib", - "version": "2026.0.0", - "frcYear": "2026beta", - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": [ - "https://docs.home.thethriftybot.com" - ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", - "javaDependencies": [ - { - "groupId": "com.thethriftybot.frc", - "artifactId": "ThriftyLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json b/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json index 7ebc954..69348e4 100644 --- a/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json +++ b/examples/clock_drive_drivebase/vendordeps/WPILibNewCommands.json @@ -1,39 +1,39 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", - "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": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib-2026.1.2.json b/examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0.json similarity index 86% rename from examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename to examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0.json index 4a78551..0e799ed 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0-beta-1.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "fileName": "Phoenix5-replay-5.36.0.json", "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", + "version": "5.36.0", + "frcYear": "2026", "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", "requires": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" } ], "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" }, { "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + "offlineFileName": "Phoenix5-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -55,7 +55,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -69,7 +69,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -85,7 +85,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -98,7 +98,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -111,7 +111,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "wpiapi-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -140,7 +140,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "api-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -156,7 +156,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -172,7 +172,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -204,7 +204,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.1.0.json similarity index 83% rename from examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json rename to examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.1.0.json index 5312c86..e49c760 100644 --- a/examples/clock_drive_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/Phoenix6-replay-26.1.0.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "fileName": "Phoenix6-replay-26.1.0.json", "name": "CTRE-Phoenix (v6) Replay", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", + "version": "26.1.0", + "frcYear": "2026", "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" + "version": "26.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -48,7 +48,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "api-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -62,7 +62,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -76,7 +76,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -118,7 +118,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -132,7 +146,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -146,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -160,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -174,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -188,7 +216,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -202,7 +230,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -218,7 +246,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -231,7 +259,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -244,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "wpiapi-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -260,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, @@ -276,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -292,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -340,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -356,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -369,10 +397,26 @@ ], "simMode": "swsim" }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -388,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -404,7 +448,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -420,7 +464,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -436,7 +480,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json b/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json index 0f666c9..4f96af8 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json b/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json deleted file mode 100644 index c5d48c7..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0-beta.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json b/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json b/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json deleted file mode 100644 index 1e59797..0000000 --- a/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "ThriftyLib.json", - "name": "ThriftyLib", - "version": "2026.0.0", - "frcYear": "2026beta", - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": [ - "https://docs.home.thethriftybot.com" - ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", - "javaDependencies": [ - { - "groupId": "com.thethriftybot.frc", - "artifactId": "ThriftyLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json b/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json index 7ebc954..69348e4 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json +++ b/examples/drivebase_with_PathPlanner/vendordeps/WPILibNewCommands.json @@ -1,39 +1,39 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", - "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": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib-2026.1.2.json b/examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0.json similarity index 86% rename from examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename to examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0.json index 4a78551..0e799ed 100644 --- a/examples/drivebase_with_PathPlanner/vendordeps/Phoenix5-replay-5.36.0-beta-1.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix5-replay-5.36.0.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "fileName": "Phoenix5-replay-5.36.0.json", "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", + "version": "5.36.0", + "frcYear": "2026", "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", "requires": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" } ], "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" }, { "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + "offlineFileName": "Phoenix5-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -55,7 +55,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -69,7 +69,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -85,7 +85,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -98,7 +98,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -111,7 +111,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "wpiapi-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -140,7 +140,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "api-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -156,7 +156,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -172,7 +172,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -204,7 +204,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.1.0.json similarity index 83% rename from examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json rename to examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.1.0.json index 5312c86..e49c760 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.0.0-beta-1.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/Phoenix6-replay-26.1.0.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "fileName": "Phoenix6-replay-26.1.0.json", "name": "CTRE-Phoenix (v6) Replay", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", + "version": "26.1.0", + "frcYear": "2026", "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" + "version": "26.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -48,7 +48,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "api-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -62,7 +62,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -76,7 +76,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -118,7 +118,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -132,7 +146,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -146,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -160,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -174,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -188,7 +216,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -202,7 +230,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -218,7 +246,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -231,7 +259,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -244,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "wpiapi-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -260,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, @@ -276,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -292,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -340,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -356,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -369,10 +397,26 @@ ], "simMode": "swsim" }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -388,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -404,7 +448,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -420,7 +464,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -436,7 +480,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json b/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json index 0f666c9..4f96af8 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json b/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json deleted file mode 100644 index c5d48c7..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0-beta.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json b/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json b/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json deleted file mode 100644 index 1e59797..0000000 --- a/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "ThriftyLib.json", - "name": "ThriftyLib", - "version": "2026.0.0", - "frcYear": "2026beta", - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": [ - "https://docs.home.thethriftybot.com" - ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", - "javaDependencies": [ - { - "groupId": "com.thethriftybot.frc", - "artifactId": "ThriftyLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json b/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json index 7ebc954..69348e4 100644 --- a/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json +++ b/examples/drivebase_with_PhotonVision/vendordeps/WPILibNewCommands.json @@ -1,39 +1,39 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", - "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": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/build.gradle b/examples/field_oriented_drivebase/build.gradle index 4233229..faa789c 100644 --- a/examples/field_oriented_drivebase/build.gradle +++ b/examples/field_oriented_drivebase/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } java { diff --git a/examples/full_example/vendordeps/PathplannerLib-2026.1.2.json b/examples/full_example/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/examples/full_example/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/full_example/vendordeps/Phoenix5-replay-5.36.0.json similarity index 86% rename from examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json rename to examples/full_example/vendordeps/Phoenix5-replay-5.36.0.json index 4a78551..0e799ed 100644 --- a/examples/full_example/vendordeps/Phoenix5-replay-5.36.0-beta-1.json +++ b/examples/full_example/vendordeps/Phoenix5-replay-5.36.0.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-replay-5.36.0-beta-1.json", + "fileName": "Phoenix5-replay-5.36.0.json", "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", + "version": "5.36.0", + "frcYear": "2026", "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", "requires": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" } ], "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" }, { "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-beta-latest.json" + "offlineFileName": "Phoenix5-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -55,7 +55,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -69,7 +69,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -85,7 +85,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -98,7 +98,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -111,7 +111,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "wpiapi-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -140,7 +140,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "api-cpp-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -156,7 +156,7 @@ { "groupId": "com.ctre.phoenix.replay", "artifactId": "cci-replay", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -172,7 +172,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -204,7 +204,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/full_example/vendordeps/Phoenix6-replay-26.1.0.json similarity index 83% rename from examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json rename to examples/full_example/vendordeps/Phoenix6-replay-26.1.0.json index 5312c86..e49c760 100644 --- a/examples/full_example/vendordeps/Phoenix6-replay-26.0.0-beta-1.json +++ b/examples/full_example/vendordeps/Phoenix6-replay-26.1.0.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-replay-26.0.0-beta-1.json", + "fileName": "Phoenix6-replay-26.1.0.json", "name": "CTRE-Phoenix (v6) Replay", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", + "version": "26.1.0", + "frcYear": "2026", "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", "conflictsWith": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" + "version": "26.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -48,7 +48,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "api-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -62,7 +62,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -76,7 +76,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -118,7 +118,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -132,7 +146,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -146,7 +174,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -160,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -174,7 +202,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -188,7 +216,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -202,7 +230,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -218,7 +246,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -231,7 +259,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -244,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "wpiapi-cpp-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPIReplay", "headerClassifier": "headers", "sharedLibrary": true, @@ -260,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.replay", "artifactId": "tools-replay", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Replay", "headerClassifier": "headers", "sharedLibrary": true, @@ -276,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -292,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -340,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -356,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -369,10 +397,26 @@ ], "simMode": "swsim" }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -388,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -404,7 +448,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -420,7 +464,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -436,7 +480,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/full_example/vendordeps/REVLib.json b/examples/full_example/vendordeps/REVLib.json index 0f666c9..4f96af8 100644 --- a/examples/full_example/vendordeps/REVLib.json +++ b/examples/full_example/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/examples/full_example/vendordeps/Studica-2026.0.0-beta.json b/examples/full_example/vendordeps/Studica-2026.0.0-beta.json deleted file mode 100644 index c5d48c7..0000000 --- a/examples/full_example/vendordeps/Studica-2026.0.0-beta.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/StudicaLib.json b/examples/full_example/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/examples/full_example/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/full_example/vendordeps/ThriftyLib.json b/examples/full_example/vendordeps/ThriftyLib.json deleted file mode 100644 index 1e59797..0000000 --- a/examples/full_example/vendordeps/ThriftyLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "ThriftyLib.json", - "name": "ThriftyLib", - "version": "2026.0.0", - "frcYear": "2026beta", - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": [ - "https://docs.home.thethriftybot.com" - ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", - "javaDependencies": [ - { - "groupId": "com.thethriftybot.frc", - "artifactId": "ThriftyLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/examples/full_example/vendordeps/WPILibNewCommands.json b/examples/full_example/vendordeps/WPILibNewCommands.json index 7ebc954..69348e4 100644 --- a/examples/full_example/vendordeps/WPILibNewCommands.json +++ b/examples/full_example/vendordeps/WPILibNewCommands.json @@ -1,39 +1,39 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", - "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": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/build.gradle b/examples/robot_relative_drivebase/build.gradle index 4233229..faa789c 100644 --- a/examples/robot_relative_drivebase/build.gradle +++ b/examples/robot_relative_drivebase/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } java { diff --git a/examples/robot_relative_drivebase/vendordeps/PathplannerLib-2026.1.2.json b/examples/robot_relative_drivebase/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json deleted file mode 100644 index 4a78551..0000000 --- a/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0-beta-1.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "fileName": "Phoenix5-replay-5.36.0-beta-1.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", - "requires": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-beta-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.36.0-beta-1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "cci-replay", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "wpiapi-cpp-replay", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix_WPIReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "api-cpp-replay", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "cci-replay", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixCCIReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0.json b/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0.json new file mode 100644 index 0000000..0e799ed --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/Phoenix5-replay-5.36.0.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0", + "frcYear": "2026", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json deleted file mode 100644 index 5312c86..0000000 --- a/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.0.0-beta-1.json +++ /dev/null @@ -1,453 +0,0 @@ -{ - "fileName": "Phoenix6-replay-26.0.0-beta-1.json", - "name": "CTRE-Phoenix (v6) Replay", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", - "conflictsWith": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "api-cpp-replay", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "tools-replay", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.0.0-beta-1", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "wpiapi-cpp-replay", - "version": "26.0.0-beta-1", - "libName": "CTRE_Phoenix6_WPIReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "tools-replay", - "version": "26.0.0-beta-1", - "libName": "CTRE_PhoenixTools_Replay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "26.0.0-beta-1", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.1.0.json b/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.1.0.json new file mode 100644 index 0000000..e49c760 --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/Phoenix6-replay-26.1.0.json @@ -0,0 +1,497 @@ +{ + "fileName": "Phoenix6-replay-26.1.0.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.1.0", + "frcYear": "2026", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.1.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.1.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.1.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.1.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.1.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/REVLib.json b/examples/robot_relative_drivebase/vendordeps/REVLib.json index 0f666c9..4f96af8 100644 --- a/examples/robot_relative_drivebase/vendordeps/REVLib.json +++ b/examples/robot_relative_drivebase/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json b/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json deleted file mode 100644 index c5d48c7..0000000 --- a/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0-beta.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/StudicaLib.json b/examples/robot_relative_drivebase/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/examples/robot_relative_drivebase/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json b/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json deleted file mode 100644 index 1e59797..0000000 --- a/examples/robot_relative_drivebase/vendordeps/ThriftyLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "ThriftyLib.json", - "name": "ThriftyLib", - "version": "2026.0.0", - "frcYear": "2026beta", - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": [ - "https://docs.home.thethriftybot.com" - ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", - "javaDependencies": [ - { - "groupId": "com.thethriftybot.frc", - "artifactId": "ThriftyLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json b/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json index 7ebc954..69348e4 100644 --- a/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json +++ b/examples/robot_relative_drivebase/vendordeps/WPILibNewCommands.json @@ -1,39 +1,39 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", - "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": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/PathplannerLib-2026.1.2.json b/vendordep/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/vendordep/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json b/vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json deleted file mode 100644 index 4a78551..0000000 --- a/vendordep/vendordeps/Phoenix5-replay-5.36.0-beta-1.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "fileName": "Phoenix5-replay-5.36.0-beta-1.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json", - "requires": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-beta-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.36.0-beta-1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "cci-replay", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - 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}, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix5-replay-5.36.0.json b/vendordep/vendordeps/Phoenix5-replay-5.36.0.json new file mode 100644 index 0000000..0e799ed --- /dev/null +++ b/vendordep/vendordeps/Phoenix5-replay-5.36.0.json @@ -0,0 +1,221 @@ +{ + "fileName": "Phoenix5-replay-5.36.0.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0", + "frcYear": "2026", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", + "requires": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-replay-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", + "offlineFileName": "Phoenix6-frc2026-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "api-cpp-replay", + "version": "5.36.0", + "libName": "CTRE_PhoenixReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.replay", + "artifactId": "cci-replay", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json b/vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json deleted file mode 100644 index 5312c86..0000000 --- a/vendordep/vendordeps/Phoenix6-replay-26.0.0-beta-1.json +++ /dev/null @@ -1,453 +0,0 @@ -{ - "fileName": "Phoenix6-replay-26.0.0-beta-1.json", - "name": "CTRE-Phoenix (v6) Replay", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json", - "conflictsWith": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { 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"groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.0.0-beta-1", - "libName": "CTRE_PhoenixTools", - 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"artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/Phoenix6-replay-26.1.0.json b/vendordep/vendordeps/Phoenix6-replay-26.1.0.json new file mode 100644 index 0000000..e49c760 --- /dev/null +++ b/vendordep/vendordeps/Phoenix6-replay-26.1.0.json @@ -0,0 +1,497 @@ +{ + "fileName": "Phoenix6-replay-26.1.0.json", + "name": "CTRE-Phoenix (v6) Replay", + "version": "26.1.0", + "frcYear": "2026", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json", + "conflictsWith": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "api-cpp-replay", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.1.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "wpiapi-cpp-replay", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPIReplay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.replay", + "artifactId": "tools-replay", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools_Replay", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.1.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.1.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.1.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.1.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.1.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.1.0", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.1.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.1.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.1.0", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.1.0", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.1.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/REVLib.json b/vendordep/vendordeps/REVLib.json index 0f666c9..4f96af8 100644 --- a/vendordep/vendordeps/REVLib.json +++ b/vendordep/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/vendordep/vendordeps/Studica-2026.0.0-beta.json b/vendordep/vendordeps/Studica-2026.0.0-beta.json deleted file mode 100644 index c5d48c7..0000000 --- a/vendordep/vendordeps/Studica-2026.0.0-beta.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/StudicaLib.json b/vendordep/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/vendordep/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/vendordep/vendordeps/ThriftyLib.json b/vendordep/vendordeps/ThriftyLib.json deleted file mode 100644 index 1e59797..0000000 --- a/vendordep/vendordeps/ThriftyLib.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "fileName": "ThriftyLib.json", - "name": "ThriftyLib", - "version": "2026.0.0", - "frcYear": "2026beta", - "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": [ - "https://docs.home.thethriftybot.com" - ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json", - "javaDependencies": [ - { - "groupId": "com.thethriftybot.frc", - "artifactId": "ThriftyLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [], - "cppDependencies": [] -} diff --git a/vendordep/vendordeps/WPILibNewCommands.json b/vendordep/vendordeps/WPILibNewCommands.json index 7ebc954..69348e4 100644 --- a/vendordep/vendordeps/WPILibNewCommands.json +++ b/vendordep/vendordeps/WPILibNewCommands.json @@ -1,39 +1,39 @@ { - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", - "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": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "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": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java index 11b4b2d..e7c36c0 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/OpponentManager.java @@ -8,6 +8,7 @@ import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.CommandScheduler; import swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar; import java.util.*; @@ -81,7 +82,7 @@ public OpponentManager(boolean withDefaults) { * @return this, for chaining. */ public OpponentManager withDefaults() { - PathfindingCommand.warmupCommand().schedule(); + CommandScheduler.getInstance().schedule(PathfindingCommand.warmupCommand()); this .withDefaultInitialPoses() .withDefaultQueeningPoses(); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java index ee920ef..79f17da 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/opponentsim/SmartOpponent.java @@ -25,6 +25,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; @@ -122,13 +123,13 @@ public SmartOpponent(SmartOpponentConfig config) { + "'s Behaviors", config.updateBehaviorChooser()); /// Run behavior command when changed. - config.getBehaviorChooser().onChange(Command::schedule); + config.getBehaviorChooser().onChange(a -> CommandScheduler.getInstance().schedule(a)); /// Finally, add our simulation SimulatedArena.getInstance().addDriveTrainSimulation(drivetrainSim.getDriveTrainSimulation()); if (config.isAutoEnable) { RobotModeTriggers.teleop() .onTrue(Commands.runOnce( - () -> config.getBehaviorChooser().getSelected().schedule())); + () -> CommandScheduler.getInstance().schedule(config.getBehaviorChooser().getSelected()))); RobotModeTriggers.disabled().onTrue(standbyState()); } /// If a manager is set register with it @@ -212,18 +213,18 @@ protected Command startingState(String nextState) { public void simulationPeriodic() { // If command not in progress and standby isn't the desired state. Or if a restartInterrupt occurred, restarting the current state. if (!config.commandInProgress && !Objects.equals("Standby", config.desiredState)) { - runState(config.desiredState, false).schedule(); + CommandScheduler.getInstance().schedule(runState(config.desiredState, false)); } // If restart requested, do that now. if (restartInterrupt) { - runState(config.desiredState, true).schedule(); + CommandScheduler.getInstance().schedule(runState(config.desiredState, true)); notMovingTimer.restart(); restartInterrupt = false; } // If we are very stuck reload from start. if (notMovingTimer.hasElapsed(5)) { drivetrainSim.setSimulationWorldPose(config.initialPose); - runState(config.desiredState, true).schedule(); + CommandScheduler.getInstance().schedule(runState(config.desiredState, true)); } // If the timer is not running and a command is running and the opponent is not moving, start the timer. if (!notMovingTimer.isRunning() && config.commandInProgress && !isMoving(notMovingThreshold)) { From 6d67b1b3ca343e931c6e438df5542d1923a027bb Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sun, 11 Jan 2026 17:13:28 -0600 Subject: [PATCH 08/62] Update the wpilib --- vendordep/build.gradle | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/vendordep/build.gradle b/vendordep/build.gradle index ad96031..c13d431 100644 --- a/vendordep/build.gradle +++ b/vendordep/build.gradle @@ -4,13 +4,13 @@ plugins { id 'google-test' id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0' id 'edu.wpi.first.NativeUtils' version '2026.0.1' - id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" // Version supplied here + id "edu.wpi.first.GradleRIO" version "2026.1.1" // Version supplied here id 'edu.wpi.first.GradleJni' version '1.1.0' id 'edu.wpi.first.GradleVsCode' version '2.1.0' id "com.diffplug.spotless" version "6.11.0" } -ext.wpilibVersion = "2026.1.1-beta-1" // and again here, thanks gradle.... +ext.wpilibVersion = "2026.1.1" // and again here, thanks gradle.... ext.releasePath = "$buildDir/maven" ext.pubVersion = System.getenv("releaseVersion") ?: System.getenv("releaseName") ?: "test" From eecaba9a61f3f62f4105284771368097698d5d6d Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Sun, 11 Jan 2026 23:48:47 -0700 Subject: [PATCH 09/62] made changes --- .../simulation/ironmaple/simulation/Goal.java | 86 ++-- .../simulation/IntakeSimulation.java | 84 ++-- .../ironmaple/simulation/SimulatedArena.java | 95 ++-- .../crescendo2024/CrescendoAmp.java | 3 +- .../crescendo2024/CrescendoSpeaker.java | 3 +- .../rebuilt2026/Arena2026Rebuilt.java | 419 ++++++++++++++++++ .../rebuilt2026/RebuiltFuelOnField.java | 25 ++ .../rebuilt2026/RebuiltFuelOnFly.java | 62 +++ .../rebuilt2026/RebuiltHub.java | 123 +++++ .../rebuilt2026/RebuiltOutpost.java | 196 ++++++++ .../ReefscapeBargeSimulation.java | 3 +- .../ReefscapeProcessorSimulation.java | 3 +- .../reefscape2025/ReefscapeReefBranch.java | 3 +- .../ironmaple/utils/FieldMirroringUtils.java | 8 + 14 files changed, 974 insertions(+), 139 deletions(-) create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java create mode 100644 yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java index 42d5327..4ca3343 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java @@ -1,18 +1,18 @@ package swervelib.simulation.ironmaple.simulation; +import static edu.wpi.first.units.Units.Degrees; + import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Distance; -import org.dyn4j.geometry.Rectangle; -import org.dyn4j.geometry.Vector2; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; import java.util.List; - -import static edu.wpi.first.units.Units.Degrees; +import org.dyn4j.geometry.Rectangle; +import org.dyn4j.geometry.Vector2; /** * @@ -35,6 +35,11 @@ public abstract class Goal implements SimulatedArena.Simulatable { protected Rotation3d pieceAngle = null; protected Angle pieceAngleTolerance = Angle.ofBaseUnits(15, Degrees); + protected final double minZ; + protected final double maxZ; + + protected final boolean allowGrounded; + /** * * @@ -52,14 +57,15 @@ public static Rotation3d flipRotation(Rotation3d toFlip) { * *

    Creates a goal object

    * - * @param arena The host arena of this goal - * @param xDimension The x dimension of the default box collider. - * @param yDimension The y dimension of the default box collider. - * @param height The height or z dimension of the default box collider. + * @param arena The host arena of this goal + * @param xDimension The x dimension of the default box collider. + * @param yDimension The y dimension of the default box collider. + * @param height The height or z dimension of the default box collider. * @param gamePieceType the string game piece type to be handled by this goal. - * @param position The position of this goal. - * @param isBlue Wether this is a blue goal or a red one. - * @param max How many pieces can be scored in this goal. + * @param position The position of this goal. + * @param isBlue Wether this is a blue goal or a red one. + * @param max How many pieces can be scored in this goal. + * @param allowsGrounded Wether or not grounded pieces can be scored in this goal */ public Goal( SimulatedArena arena, @@ -69,7 +75,8 @@ public Goal( String gamePieceType, Translation3d position, boolean isBlue, - int max) { + int max, + boolean allowGrounded) { xyBox = new Rectangle(xDimension.in(Units.Meters), yDimension.in(Units.Meters)); this.height = height; @@ -80,6 +87,11 @@ public Goal( this.elevation = position.getMeasureZ(); this.isBlue = isBlue; + this.allowGrounded = allowGrounded; + + minZ = elevation.in(Units.Meters); + maxZ = minZ + height.in(Units.Meters); + xyBox.translate(new Vector2(position.getX(), position.getY())); } @@ -88,13 +100,14 @@ public Goal( * *

    Creates a goal object with no scoring max.

    * - * @param arena The host arena of this goal. - * @param xDimension The x dimension of the default box collider. - * @param yDimension The y dimension of the default box collider. - * @param height The height or z dimension of the default box collider. + * @param arena The host arena of this goal. + * @param xDimension The x dimension of the default box collider. + * @param yDimension The y dimension of the default box collider. + * @param height The height or z dimension of the default box collider. * @param gamePieceType the string game piece type to be handled by this goal. - * @param position The position of this goal. - * @param isBlue Wether this is a blue goal or a red one. + * @param position The position of this goal. + * @param isBlue Wether this is a blue goal or a red one. + * @param allowsGrounded Wether or not grounded pieces can be scored in this goal */ public Goal( SimulatedArena arena, @@ -103,8 +116,9 @@ public Goal( Distance height, String gamePieceType, Translation3d position, - boolean isBlue) { - this(arena, xDimension, yDimension, height, gamePieceType, position, isBlue, 99999); + boolean isBlue, + boolean allowsGrounded) { + this(arena, xDimension, yDimension, height, gamePieceType, position, isBlue, 99999, allowsGrounded); } /** @@ -118,7 +132,7 @@ public void simulationSubTick(int subTickNum) { /// Use list filtering for more efficient bulk checking. // Get all pieces of our type as a list. arena.getGamePiecesByType(gamePieceType).stream() - .filter(gamePiece -> !checkGrounded(gamePiece)) + .filter(gamePiece -> checkGrounded(gamePiece)) .filter(this::checkValidity) .limit(max - gamePieceCount) // Only score what we can .forEach( @@ -134,7 +148,7 @@ public void simulationSubTick(int subTickNum) { * *

    Sets the angle to be used when checking game piece rotation. * - * @param angle The angle that pieces should have when interacting with this goal + * @param angle The angle that pieces should have when interacting with this goal * @param angleTolerance The tolerance to be used in checking said angle. */ public void setNeededAngle(Rotation3d angle, Angle angleTolerance) { @@ -176,20 +190,20 @@ protected boolean checkValidity(GamePiece gamePiece) { /** * * - *

    Checks whether the submitted game piece is grounded

    + *

    Checks whether the submitted game piece is grounded and if this is acceptable

    * * @param gamePiece The game piece to have its groundedness checked. - * @return Whether the piece is grounded. + * @return Whether the piece is acceptable for this goal. */ protected boolean checkGrounded(GamePiece gamePiece) { - return gamePiece.isGrounded(); + return allowGrounded || !gamePiece.isGrounded(); } /** * * *

    Checks wether or not the submitted game piece has a rotation able to be scored in this goal

    - *

    + * * By default the rotation needed and tolerance may be set using the {@link Goal#setNeededAngle(Rotation3d, Angle)} * function. However rotation checks may be handled differently by some children making this not apply. Additionally * be aware that this function only supports pitch and yaw, not role. If support for roll is needed a custom @@ -208,13 +222,13 @@ protected boolean checkRotation(GamePiece gamePiece) { flipRotation(gamePiece.getPose3d().getRotation()).minus(pieceAngle); return new Rotation3d(Degrees.of(0), normalDiff.getMeasureZ(), normalDiff.getMeasureZ()) - .getMeasureAngle() - .in(Degrees) - < pieceAngleTolerance.in(Degrees) + .getMeasureAngle() + .in(Degrees) + < pieceAngleTolerance.in(Degrees) || new Rotation3d(Degrees.of(0), flippedDiff.getMeasureZ(), flippedDiff.getMeasureZ()) - .getMeasureAngle() - .in(Degrees) - < pieceAngleTolerance.in(Degrees); + .getMeasureAngle() + .in(Degrees) + < pieceAngleTolerance.in(Degrees); } /** @@ -228,8 +242,6 @@ protected boolean checkRotation(GamePiece gamePiece) { protected boolean checkCollision(GamePiece gamePiece) { // Call our values just once. var pose = gamePiece.getPose3d(); - double minZ = elevation.in(Units.Meters); - double maxZ = minZ + height.in(Units.Meters); return xyBox.contains(new Vector2(pose.getX(), pose.getY())) && pose.getZ() >= minZ && pose.getZ() <= maxZ; } @@ -238,7 +250,7 @@ protected boolean checkCollision(GamePiece gamePiece) { * * *

    Function to check wether the velocity of potential game pieces is acceptable.

    - *

    + * * The default implementation of this function always returns true so any velocity checks will need to be * implemented by children classes. * @@ -273,7 +285,7 @@ public boolean isFull() { * * *

    Adds points when a piece has been successfully scored in this goal

    - *

    + * * Since this function is the only trigger called when a piece is scored it may handle other small things outside of * adding points. */ @@ -285,7 +297,7 @@ public boolean isFull() { *

    Displays game pieces to advantage scope if applicable.

    * * @param drawList a list of {@link Pose3d} objects used to visualize the positions of the game pieces on - * AdvantageScope + * AdvantageScope */ public abstract void draw(List drawList); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java index dab313d..5988a2d 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java @@ -1,7 +1,17 @@ package swervelib.simulation.ironmaple.simulation; +import static edu.wpi.first.units.Units.Meters; + import edu.wpi.first.math.MathUtil; import edu.wpi.first.units.measure.Distance; +import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack; + +import java.util.ArrayDeque; +import java.util.Objects; +import java.util.Queue; +import java.util.function.Predicate; import org.dyn4j.collision.CollisionBody; import org.dyn4j.collision.Fixture; import org.dyn4j.dynamics.Body; @@ -13,16 +23,6 @@ import org.dyn4j.geometry.Vector2; import org.dyn4j.world.ContactCollisionData; import org.dyn4j.world.listener.ContactListener; -import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; -import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; -import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack; - -import java.util.ArrayDeque; -import java.util.Objects; -import java.util.Queue; -import java.util.function.Predicate; - -import static edu.wpi.first.units.Units.Meters; /** * @@ -43,9 +43,9 @@ *

    A game piece is collected if the following conditions are met: * *

      - *
    • 1. The type of the game piece ({@link swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation#type}) + *
    • 1. The type of the game piece ({@link org.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation#type}) * matches {@link #targetedGamePieceType}. - *
    • 2. The {@link swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation} is in contact with the intake + *
    • 2. The {@link org.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation} is in contact with the intake * (and not other parts of the robot). *
    • 3. The intake is turned on via {@link #startIntake()}. *
    • 4. The number of game pieces in the intake ({@link #gamePiecesInIntakeCount}) is less than {@link #capacity}. @@ -79,10 +79,10 @@ public enum IntakeSide { *

      This typically represents an In-The-Frame (ITF) Intake. * * @param targetedGamePieceType the type of game pieces that this intake can collect - * @param driveTrainSimulation the chassis to which this intake is attached - * @param width the width of the intake - * @param side the side of the chassis where the intake is attached - * @param capacity the maximum number of game pieces that the intake can hold + * @param driveTrainSimulation the chassis to which this intake is attached + * @param width the width of the intake + * @param side the side of the chassis where the intake is attached + * @param capacity the maximum number of game pieces that the intake can hold */ public static IntakeSimulation InTheFrameIntake( String targetedGamePieceType, @@ -101,11 +101,11 @@ public static IntakeSimulation InTheFrameIntake( *

      This typically represents an Over-The-Bumper (OTB) Intake. * * @param targetedGamePieceType the type of game pieces that this intake can collect - * @param driveTrainSimulation the chassis to which this intake is attached - * @param width the valid width of the intake - * @param lengthExtended the length the intake extends out from the chassis when activated - * @param side the side of the chassis where the intake is attached - * @param capacity the maximum number of game pieces that the intake can hold + * @param driveTrainSimulation the chassis to which this intake is attached + * @param width the valid width of the intake + * @param lengthExtended the length the intake extends out from the chassis when activated + * @param side the side of the chassis where the intake is attached + * @param capacity the maximum number of game pieces that the intake can hold * @return a new instance of {@link IntakeSimulation} that extends over the bumper */ public static IntakeSimulation OverTheBumperIntake( @@ -154,9 +154,9 @@ private static Rectangle getIntakeRectangle( *

      This constructor initializes an intake with a custom shape that is used when the intake is fully extended. * * @param targetedGamePieceType the type of game pieces that this intake can collect - * @param driveTrainSimulation the chassis to which this intake is attached - * @param shape the shape of the intake when fully extended, represented as a {@link Convex} object - * @param capacity the maximum number of game pieces that the intake can hold + * @param driveTrainSimulation the chassis to which this intake is attached + * @param shape the shape of the intake when fully extended, represented as a {@link Convex} object + * @param capacity the maximum number of game pieces that the intake can hold */ public IntakeSimulation( String targetedGamePieceType, @@ -257,6 +257,22 @@ public boolean addGamePieceToIntake() { return toReturn; } + /** + * + * + *

      Adds a number of game pieces to the intake.

      + * + * If the number of pieces added would drive the intake above capacity the intake will only add pieces up to max. + * + * @param piecesToAdd The number of pieces to add too the intake. + * @return Wether or not all game pieces could be added to the intake. Just because this returns false does not mean + * that no pieces were added. + */ + public boolean addGamePiecesToIntake(int piecesToAdd) { + boolean toReturn = gamePiecesInIntakeCount + piecesToAdd <= capacity; + gamePiecesInIntakeCount = Math.max(gamePiecesInIntakeCount + piecesToAdd, capacity); + return toReturn; + } /** * @@ -318,28 +334,22 @@ private void flagGamePieceForRemoval(GamePieceOnFieldSimulation gamePiece) { /* functions not used */ @Override - public void persist(ContactCollisionData collision, Contact oldContact, Contact newContact) { - } + public void persist(ContactCollisionData collision, Contact oldContact, Contact newContact) {} @Override - public void end(ContactCollisionData collision, Contact contact) { - } + public void end(ContactCollisionData collision, Contact contact) {} @Override - public void destroyed(ContactCollisionData collision, Contact contact) { - } + public void destroyed(ContactCollisionData collision, Contact contact) {} @Override - public void collision(ContactCollisionData collision) { - } + public void collision(ContactCollisionData collision) {} @Override - public void preSolve(ContactCollisionData collision, Contact contact) { - } + public void preSolve(ContactCollisionData collision, Contact contact) {} @Override - public void postSolve(ContactCollisionData collision, SolvedContact contact) { - } + public void postSolve(ContactCollisionData collision, SolvedContact contact) {} } /** @@ -405,7 +415,7 @@ public boolean isRunning() { * intake, and the intake is turned on, and it is the target game piece. * * @param customIntakeCondition a {@link Predicate} representing the custom condition for intake eligibility of game - * pieces on the field + * pieces on the field */ public void setCustomIntakeCondition(Predicate customIntakeCondition) { this.customIntakeCondition = customIntakeCondition; diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java index cf916a4..fc04e28 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -1,9 +1,15 @@ package swervelib.simulation.ironmaple.simulation; +import static edu.wpi.first.units.Units.Seconds; + import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.networktables.*; +import edu.wpi.first.networktables.BooleanPublisher; +import edu.wpi.first.networktables.BooleanSubscriber; +import edu.wpi.first.networktables.DoublePublisher; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.DriverStation; @@ -11,25 +17,22 @@ import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import org.dyn4j.dynamics.Body; -import org.dyn4j.dynamics.BodyFixture; -import org.dyn4j.geometry.Convex; -import org.dyn4j.geometry.Geometry; -import org.dyn4j.geometry.MassType; -import org.dyn4j.world.PhysicsWorld; -import org.dyn4j.world.World; import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery; -import swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager; -import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape; +import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt; import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; import java.util.*; - -import static edu.wpi.first.units.Units.Seconds; +import org.dyn4j.dynamics.Body; +import org.dyn4j.dynamics.BodyFixture; +import org.dyn4j.geometry.Convex; +import org.dyn4j.geometry.Geometry; +import org.dyn4j.geometry.MassType; +import org.dyn4j.world.PhysicsWorld; +import org.dyn4j.world.World; /** * @@ -57,9 +60,7 @@ *
    */ public abstract class SimulatedArena { - /** - * Whether to allow the simulation to run a real robot This feature is HIGHLY RECOMMENDED to be turned OFF - */ + /** Whether to allow the simulation to run a real robot This feature is HIGHLY RECOMMENDED to be turned OFF */ public static boolean ALLOW_CREATION_ON_REAL_ROBOT = false; protected int redScore = 0; @@ -92,7 +93,6 @@ public abstract class SimulatedArena { Boolean shouldPublishMatchBreakdown = true; private static SimulatedArena instance = null; - protected OpponentManager opponentManager; /** * @@ -109,7 +109,7 @@ public static SimulatedArena getInstance() { throw new IllegalStateException( "MapleSim is running on a real robot! (If you would actually want that, set SimulatedArena.ALLOW_CREATION_ON_REAL_ROBOT to true)."); - if (instance == null) instance = new Arena2025Reefscape(); + if (instance == null) instance = new Arena2026Rebuilt(); return instance; } @@ -128,22 +128,17 @@ public static SimulatedArena getInstance() { * @param newInstance the new simulation arena instance to override the current one */ public static void overrideInstance(SimulatedArena newInstance) { - if (instance != null) instance = new Arena2025Reefscape(); + if (instance != null) instance = new Arena2026Rebuilt(); instance = newInstance; } - /** - * The number of sub-ticks the simulator will run in each robot period. - */ + /** The number of sub-ticks the simulator will run in each robot period. */ private static int SIMULATION_SUB_TICKS_IN_1_PERIOD = 5; public static int getSimulationSubTicksIn1Period() { return SIMULATION_SUB_TICKS_IN_1_PERIOD; } - - /** - * The period length of each sub-tick, in seconds. - */ + /** The period length of each sub-tick, in seconds. */ private static Time SIMULATION_DT = Seconds.of(TimedRobot.kDefaultPeriod / SIMULATION_SUB_TICKS_IN_1_PERIOD); public static Time getSimulationDt() { @@ -174,32 +169,13 @@ public int getScore(Alliance allianceColor) { return getScore(allianceColor == Alliance.Blue); } - /** - * Adds an OpponentManager to the SimulatedArena. - * - * @param opponentManager the OpponentManager to use. - */ - protected void withOpponentManager(OpponentManager opponentManager) { - this.opponentManager = opponentManager; - } - - /** - * Gets the current {@link OpponentManager}. Use casting for your Arena, some arenas may override with castless - * methods. - * - * @return the {@link OpponentManager} in use. - */ - public OpponentManager getOpponentManager() { - return opponentManager; - } - /** * * *

    Adds to the score of the specified team

    * * @param isBlue Wether to add to the blue or red team score. - * @param toAdd How many points to add. + * @param toAdd How many points to add. */ public void addToScore(boolean isBlue, int toAdd) { if (isBlue) blueScore += toAdd; @@ -225,10 +201,10 @@ public void addToScore(boolean isBlue, int toAdd) { * *

    It is also recommended to keep the simulation frequency above 200 Hz for accurate simulation results. * - * @param robotPeriod the time between two calls of {@link #simulationPeriodic()}, usually obtained from - * {@link TimedRobot#getPeriod()} + * @param robotPeriod the time between two calls of {@link #simulationPeriodic()}, usually obtained from + * {@link TimedRobot#getPeriod()} * @param simulationSubTicksPerPeriod the number of Iterations, or {@link #simulationSubTick(int)} that the - * simulation runs per each call to {@link #simulationPeriodic()} + * simulation runs per each call to {@link #simulationPeriodic()} */ public static synchronized void overrideSimulationTimings(Time robotPeriod, int simulationSubTicksPerPeriod) { SIMULATION_SUB_TICKS_IN_1_PERIOD = simulationSubTicksPerPeriod; @@ -314,7 +290,7 @@ public synchronized void addCustomSimulation(Simulatable simulatable) { *

    The intake simulation should be bound to an {@link AbstractDriveTrainSimulation} and becomes part of its * collision space. * - *

    This method immediately starts the {@link swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener}, + *

    This method immediately starts the {@link org.ironmaple.simulation.IntakeSimulation.GamePieceContactListener}, * which listens for contact between the intake and any game piece. * * @param intakeSimulation the intake simulation to be registered @@ -407,8 +383,8 @@ protected void publishBreakdown() { *

    replaces or adds a value to the match scoring breakdown published to network tables

    * * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown - * @param valueKey The name of the value to be added - * @param value The value to be added + * @param valueKey The name of the value to be added + * @param value The value to be added */ public void replaceValueInMatchBreakDown(boolean isBlueTeam, String valueKey, Double value) { if (isBlueTeam) blueScoringBreakdown.put(valueKey, value); @@ -434,8 +410,8 @@ public void setupValueForMatchBreakdown(String valueKey) { *

    replaces or adds a value to the match scoring breakdown published to network tables

    * * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown - * @param valueKey The name of the value to be added - * @param value The value to be added + * @param valueKey The name of the value to be added + * @param value The value to be added */ public void replaceValueInMatchBreakDown(boolean isBlueTeam, String valueKey, Integer value) { replaceValueInMatchBreakDown(isBlueTeam, valueKey, (double) value); @@ -448,8 +424,8 @@ public void replaceValueInMatchBreakDown(boolean isBlueTeam, String valueKey, In * be defaulted to 0 and then added too * * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown - * @param ValueKey The name of the value to be added too - * @param toAdd how much to be added to specified value + * @param ValueKey The name of the value to be added too + * @param toAdd how much to be added to specified value */ public void addValueToMatchBreakdown(boolean isBlueTeam, String ValueKey, Double toAdd) { if (isBlueTeam) { @@ -468,8 +444,8 @@ public void addValueToMatchBreakdown(boolean isBlueTeam, String ValueKey, Double * be defaulted to 0 and then added too * * @param isBlueTeam Wether to add to the blue teams match breakdown or the red teams match breakdown - * @param valueKey The name of the value to be added too - * @param toAdd how much to be added to specified value + * @param valueKey The name of the value to be added too + * @param toAdd how much to be added to specified value */ public void addValueToMatchBreakdown(boolean isBlueTeam, String valueKey, int toAdd) { addValueToMatchBreakdown(isBlueTeam, valueKey, (double) toAdd); @@ -671,7 +647,7 @@ public synchronized Set gamePieceLaunched() { * *
      *
    • The type is determined in the constructor of {@link GamePieceOnFieldSimulation}. - *
    • For example, {@link swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField} has the + *
    • For example, {@link org.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField} has the * type "Note". *
    * @@ -707,8 +683,7 @@ public synchronized Pose3d[] getGamePiecesArrayByType(String type) { */ public synchronized List getGamePiecesByType(String type) { final List gamePiecesPoses = new ArrayList<>(this.gamePieces); - gamePiecesPoses.stream().filter( - gamePiece -> !Objects.equals(gamePiece.getType(), type)); + gamePiecesPoses.stream().filter(gamePiece -> !Objects.equals(gamePiece.getType(), type)); return gamePiecesPoses; } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java index 56cf8ea..d40a7a7 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java @@ -43,7 +43,8 @@ public CrescendoAmp(Arena2024Crescendo arena, boolean isBlue) { Centimeters.of(46), "Note", isBlue ? blueAmpPose : redAmpPose, - isBlue); + isBlue, + false); crescendoArena = arena; diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java index 6e9b872..c3f8fa7 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java @@ -43,7 +43,8 @@ public CrescendoSpeaker(Arena2024Crescendo arena, boolean isBlue) { Centimeters.of(100), "Note", isBlue ? blueSpeakerPose : redSpeakerPose, - isBlue); + isBlue, + false); crescendoArena = arena; StructPublisher speakerPosePublisher = NetworkTableInstance.getDefault() diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java new file mode 100644 index 0000000..ea04913 --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java @@ -0,0 +1,419 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026; + +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.networktables.BooleanPublisher; +import edu.wpi.first.networktables.DoublePublisher; +import edu.wpi.first.units.Units; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import swervelib.simulation.ironmaple.simulation.SimulatedArena; +import swervelib.simulation.ironmaple.simulation.SimulatedArena.FieldMap; + +import java.util.List; +import org.dyn4j.dynamics.Settings; + +public class Arena2026Rebuilt extends SimulatedArena { + + protected boolean shouldClock = true; + + protected double clock = 0; + protected boolean blueIsOnClock = Math.random() < 0.5; + + protected DoublePublisher phaseClockPublisher = + genericInfoTable.getDoubleTopic("Time left in current phase").publish(); + + protected BooleanPublisher redActivePublisher = + redTable.getBooleanTopic("Red is active").publish(); + protected BooleanPublisher blueActivePublisher = + blueTable.getBooleanTopic("Blue is active").publish(); + + protected RebuiltHub blueHub; + protected RebuiltHub redHub; + + protected RebuiltOutpost blueOutpost; + protected RebuiltOutpost redOutpost; + + protected boolean isInEfficiencyMode = true; + + protected static Translation2d centerPieceBottomRightCorner = new Translation2d(7.35737, 1.724406); + protected static Translation2d redDepotBottomRightCorner = new Translation2d(0.02, 5.53); + protected static Translation2d blueDepotBottomRightCorner = new Translation2d(16.0274, 1.646936); + + /** the obstacles on the 2024 competition field */ + public static final class RebuiltFieldObstaclesMap extends FieldMap { + private static final double FIELD_WIDTH = 16.54; + + public RebuiltFieldObstaclesMap(boolean AddRampCollider) { + super.addBorderLine(new Translation2d(0, 0), new Translation2d(0, 8.052)); + + // red wall + super.addBorderLine(new Translation2d(16.540988, 0), new Translation2d(16.540988, 8.052)); + + // upper walls + super.addBorderLine(new Translation2d(16.540988, 8.052), new Translation2d(0, 8.052)); + + // lower walls + super.addBorderLine(new Translation2d(0, 0), new Translation2d(16.540988, 0)); + + // Trench Walls (47 inch height, 12 inch width) + double trenchWallDistX = + Inches.of(120.0).in(Meters) + Inches.of(47.0 / 2).in(Meters); + + double trenchWallDistY = Inches.of(73.0).in(Meters) + + Inches.of(47.0 / 2).in(Meters) + + Inches.of(6).in(Meters); + + super.addRectangularObstacle( + Inches.of(53).in(Meters), + Inches.of(12).in(Meters), + new Pose2d(8.27 - trenchWallDistX, 4.035 - trenchWallDistY, Rotation2d.kZero)); + super.addRectangularObstacle( + Inches.of(53).in(Meters), + Inches.of(12).in(Meters), + new Pose2d(8.27 + trenchWallDistX, 4.035 - trenchWallDistY, Rotation2d.kZero)); + super.addRectangularObstacle( + Inches.of(53).in(Meters), + Inches.of(12).in(Meters), + new Pose2d(8.27 - trenchWallDistX, 4.035 + trenchWallDistY, Rotation2d.kZero)); + super.addRectangularObstacle( + Inches.of(53).in(Meters), + Inches.of(12).in(Meters), + new Pose2d(8.27 - trenchWallDistX, 4.035 - trenchWallDistY, Rotation2d.kZero)); + + // poles of the tower + super.addRectangularObstacle( + Inches.of(2).in(Meters), + Inches.of(47).in(Meters), + new Pose2d(new Translation2d(Inches.of(42), Inches.of(159)), new Rotation2d())); + + super.addRectangularObstacle( + Inches.of(2).in(Meters), + Inches.of(47).in(Meters), + new Pose2d(new Translation2d(Inches.of(651 - 42), Inches.of(170)), new Rotation2d())); + + // Colliders to describe the hub plus ramps + if (AddRampCollider) { + super.addRectangularObstacle( + Inches.of(47).in(Meters), + Inches.of(217).in(Meters), + new Pose2d(RebuiltHub.blueHubPose.toTranslation2d(), new Rotation2d())); + + super.addRectangularObstacle( + Inches.of(47).in(Meters), + Inches.of(217).in(Meters), + new Pose2d(RebuiltHub.redHubPose.toTranslation2d(), new Rotation2d())); + } + + // Colliders to describe just the hub + else { + super.addRectangularObstacle( + Inches.of(47).in(Meters), + Inches.of(47).in(Meters), + new Pose2d(RebuiltHub.blueHubPose.toTranslation2d(), new Rotation2d())); + + super.addRectangularObstacle( + Inches.of(47).in(Meters), + Inches.of(47).in(Meters), + new Pose2d(RebuiltHub.redHubPose.toTranslation2d(), new Rotation2d())); + } + } + } + /** + * + * + *

    Creates an Arena for the 2026 FRC game rebuilt

    + * + *

    This will create an Arena with the ramp areas marked as inaccessible. If you would like to change that use + * {@link #Arena2026Rebuilt(boolean)}. Additionally due to performance issues the arena will not spawn all fuel by + * default. If you would like to change this use {@link #setEfficiencyMode(boolean)} + */ + public Arena2026Rebuilt() { + this(true); + } + + /** + * + * + *

    Creates an Arena for the 2026 FRC game rebuilt

    + * + *

    Due to the nature of maple sim they can not be fully simulated and so ether must be non existent or treated as + * full colliders. This behavior can be changed with the AddRampCollider variable. Additionally due to performance + * issues the arena will not spawn all fuel by default. If you would like to change this use + * {@link #setEfficiencyMode(boolean)} + * + * @param AddRampCollider Whether or not the ramps should be added as colliders. + */ + public Arena2026Rebuilt(boolean AddRampCollider) { + super(new RebuiltFieldObstaclesMap(AddRampCollider)); + + Settings settings = physicsWorld.getSettings(); + + // settings.setVelocityConstraintSolverIterations(3); + // settings.setPositionConstraintSolverIterations(2); + settings.setMinimumAtRestTime(0.02); + + physicsWorld.setSettings(settings); + + blueHub = new RebuiltHub(this, true); + super.addCustomSimulation(blueHub); + + redHub = new RebuiltHub(this, false); + super.addCustomSimulation(redHub); + + blueOutpost = new RebuiltOutpost(this, true); + super.addCustomSimulation(blueOutpost); + + redOutpost = new RebuiltOutpost(this, false); + super.addCustomSimulation(redOutpost); + } + + /** + * + * + *

    Generates a random number within a range centered on 0 with a variance set by the parameter.

    + * + * @param variance the length of range used to generate the random number. + * @return A random number in range. + */ + public static double randomInRange(double variance) { + return (Math.random() - 0.5) * variance; + } + + /** + * + * + *

    Adds a game piece too the arena with a certain random variance.

    + * + * This method is useful for certain spawners like the return cutes on the hub to prevent the game pieces from being + * returned to the exact same position every time. + * + * @param info the info of the game piece + * @param robotPosition the position of the robot (not the shooter) at the time of launching the game piece + * @param shooterPositionOnRobot the translation from the shooter's position to the robot's center, in the robot's + * frame of reference + * @param chassisSpeedsFieldRelative the field-relative velocity of the robot chassis when launching the game piece, + * influencing the initial velocity of the game piece + * @param shooterFacing the direction in which the shooter is facing at launch + * @param initialHeight the initial height of the game piece when launched, i.e., the height of the shooter from the + * ground + * @param launchingSpeed the speed at which the game piece is launch + * @param shooterAngle the pitch angle of the shooter when launching + * @param xVariance The max amount of variance that should be added too the x coordinate of the game piece. + * @param yVariance The max amount of variance that should be added too the y coordinate of the game piece. + * @param yawVariance The max amount of variance that should be added too the yaw of the game piece. + * @param speedVariance The max amount of variance that should be added too the speed of the game piece. + * @param pitchVariance The max amount of variance that should be added too the pitch of the game piece. + */ + public void addPieceWithVariance( + Translation2d piecePose, + Rotation2d yaw, + Distance height, + LinearVelocity speed, + Angle pitch, + double xVariance, + double yVariance, + double yawVariance, + double speedVariance, + double pitchVariance) { + addGamePieceProjectile(new RebuiltFuelOnFly( + piecePose.plus(new Translation2d(randomInRange(xVariance), randomInRange(yVariance))), + new Translation2d(), + new ChassisSpeeds(), + yaw.plus(Rotation2d.fromDegrees(randomInRange(yawVariance))), + height, + speed.plus(MetersPerSecond.of(randomInRange(speedVariance))), + Degrees.of(pitch.in(Degrees) + randomInRange(pitchVariance)))); + } + + @Override + public void placeGamePiecesOnField() { + blueOutpost.reset(); + redOutpost.reset(); + + for (int x = 0; x < 12; x += 1) { + for (int y = 0; y < 30; y += isInEfficiencyMode ? 3 : 1) { + addGamePiece(new RebuiltFuelOnField(centerPieceBottomRightCorner.plus( + new Translation2d(Inches.of(5.991 * x), Inches.of(5.95 * y))))); + } + } + + boolean isOnBlue = !DriverStation.getAlliance().isEmpty() + && DriverStation.getAlliance().get() == Alliance.Blue; + + if (isOnBlue || !isInEfficiencyMode) { + for (int x = 0; x < 4; x++) { + for (int y = 0; y < 6; y++) { + addGamePiece(new RebuiltFuelOnField(blueDepotBottomRightCorner.plus( + new Translation2d(Inches.of(5.991 * x), Inches.of(5.95 * y))))); + } + } + } + + if (!isOnBlue || !isInEfficiencyMode) { + for (int x = 0; x < 4; x++) { + for (int y = 0; y < 6; y++) { + addGamePiece(new RebuiltFuelOnField(redDepotBottomRightCorner.plus( + new Translation2d(Inches.of(5.991 * x), Inches.of(5.95 * y))))); + } + } + } + + setupValueForMatchBreakdown("CurrentFuelInOutpost"); + setupValueForMatchBreakdown("TotalFuelInOutpost"); + setupValueForMatchBreakdown("TotalFuelInHub"); + setupValueForMatchBreakdown("WastedFuel"); + } + + @Override + public synchronized List getGamePiecesPosesByType(String type) { + List poses = super.getGamePiecesPosesByType(type); + + blueOutpost.draw(poses); + redOutpost.draw(poses); + + return poses; + } + + @Override + public void simulationSubTick(int tickNum) { + + clock -= getSimulationDt().in(Units.Seconds); + + if (clock <= 0) { + clock = 25; + blueIsOnClock = !blueIsOnClock; + } + + super.simulationSubTick(tickNum); + + blueActivePublisher.set(isActive(true)); + redActivePublisher.set(isActive(false)); + + phaseClockPublisher.set((shouldClock || DriverStation.isAutonomous() ? clock : null)); + } + + /** + * + * + *

    Returns wether the specified team currently has an active HUB

    + * + * This function returns true during autonomous or when shouldClock (set by {@link #setShouldRunClock(boolean)}) is + * false. + * + * @param isBlue Wether to check the blue or red alliance. + * @return Wether the specified alliance's HUB is currently active + */ + public boolean isActive(boolean isBlue) { + if (isBlue) { + return blueIsOnClock || DriverStation.isAutonomous() || !shouldClock; + } else { + return !blueIsOnClock || DriverStation.isAutonomous() || !shouldClock; + } + } + + /** + * + * + *

    Used to determine wether the arena should time which goal is active.

    + * + * When this is set too false both goals will always be set to active. Ths can be useful for testing or too simulate + * endgame. + * + * @param shouldRunClock + */ + public void setShouldRunClock(boolean shouldRunClock) { + shouldClock = shouldRunClock; + } + + /** + * + * + *

    Dumps game pieces from the specified outpost.

    + * + * This function will dump up to 24 game pieces, dependent on how many game pieces are currently stored in the + * outpost. For more manual control of the game pieces in the outpost use {@link #outpostThrow(boolean, Rotation2d, + * Angle, LinearVelocity)}. To have a human player attempt to throw a game piece into the hub use + * {@link #outpostThrowForGoal(boolean)}. + * + * @param isBlue wether to dump the blue or red outpost + */ + public void outpostDump(boolean isBlue) { + (isBlue ? blueOutpost : redOutpost).dump(); + } + + /** + * + * + *

    Attempts too throw a game piece at the specified goal.

    + * + *

    This method comes with variance built in (to simulate human inconsistency) and will therefore only hit about + * half the time. Additionally if the hub does not have game pieces stored this method will not do anything. If you + * would like to manually control how the human player throws game pieces use {@link #outpostThrow(boolean, + * Rotation2d, Angle, LinearVelocity)} + * + * @param isBlue whether too throw for the blue or red HUB. + */ + public void outpostThrowForGoal(boolean isBlue) { + (isBlue ? blueOutpost : redOutpost).throwForGoal(); + } + + /** + * + * + *

    Throws a game piece from the outpost at the specified angle and speed.

    + * + *

    This method comes with variance built in (to simulate human inconsistency). Additionally if the hub does not + * have game pieces stored this method will not do anything. If you would like to have the human player throw at the + * hub use {@link #outpostThrowForGoal(boolean)} + * + * @param isBlue Wether too throw from the blue or red OUTPOST. + * @param throwYaw The yaw at which too throw the ball. + * @param throwPitch The pitch at which too throw the ball. + * @param speed The speed at which too throw the ball. + */ + public void outpostThrow(boolean isBlue, Rotation2d throwYaw, Angle throwPitch, LinearVelocity speed) { + (isBlue ? blueOutpost : redOutpost).throwFuel(throwYaw, throwPitch, speed); + } + + /** + * + * + *

    Determines wether the arena is in efficiency mode

    + * + *

    For changes too take effect call {@link #resetFieldForAuto()}.

    + * + *

    Efficiency mode reduces the amount of game pieces on the field too increase performance. MapleSim was not + * designed with 400 game pieces in mind and so can struggle with the large number of game pieces present in + * rebuilt. + * + * @param efficiencyMode Wether efficiency mode should be on or off. + */ + public void setEfficiencyMode(boolean efficiencyMode) { + isInEfficiencyMode = efficiencyMode; + } + + /** + * + * + *

    Returns wether or not the arena is in Efficiency mode

    + * + * For more information see {@link #setEfficiencyMode(boolean)} + * + * @return Wether or not the Arena is in efficiency mode. + */ + public boolean getEfficiencyMode() { + return isInEfficiencyMode; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java new file mode 100644 index 0000000..31714bf --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java @@ -0,0 +1,25 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026; + +import static edu.wpi.first.units.Units.*; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo; + +import org.dyn4j.geometry.Circle; + +/** + * + * + *

    Represents an Fuel in the 2026 rebuilt game.

    +*/ +public class RebuiltFuelOnField extends GamePieceOnFieldSimulation { + public static final GamePieceInfo REBUILT_FUEL_INFO = new GamePieceInfo( + "Fuel", new Circle(Centimeters.of(7.5).in(Meters)), Centimeter.of(15), Kilograms.of(2.13), 1.8, 5, 0.8); + + public RebuiltFuelOnField(Translation2d initialPosition) { + super(REBUILT_FUEL_INFO, new Pose2d(initialPosition, new Rotation2d())); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java new file mode 100644 index 0000000..608201c --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java @@ -0,0 +1,62 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026; + +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; +import swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnField; + +/** + * + * + *

    Represents an FUEL launched into the air.

    + * + *

    This class models a {@link RebuiltFuelOnField} launched into the air. + * + *

    The simulation will determine if the FUEL hits its target—the HUB. + * + *

    The user can specify a callback using {@link #setHitNetCallBack(Runnable)}, which will be triggered when the FUEL + * hits the HUB. + */ +public class RebuiltFuelOnFly extends GamePieceProjectile { + private static Runnable hitNetCallBack = () -> {}; + + /** + * + * + *

    Specifies a callback for when any fuel launched into the air hits the hub.

    + * + * @param callBack a {@link Runnable} to be invoked when an fuel hits the hub + */ + public static void setHitNetCallBack(Runnable callBack) { + hitNetCallBack = callBack; + } + + public RebuiltFuelOnFly( + Translation2d robotPosition, + Translation2d shooterPositionOnRobot, + ChassisSpeeds chassisSpeeds, + Rotation2d shooterFacing, + Distance initialHeight, + LinearVelocity launchingSpeed, + Angle shooterAngle) { + super( + RebuiltFuelOnField.REBUILT_FUEL_INFO, + robotPosition, + shooterPositionOnRobot, + chassisSpeeds, + shooterFacing, + initialHeight, + launchingSpeed, + shooterAngle); + + super.withTouchGroundHeight(Inches.of(3).in(Meters)); + super.enableBecomesGamePieceOnFieldAfterTouchGround(); + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java new file mode 100644 index 0000000..36a685e --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java @@ -0,0 +1,123 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026; + +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.MetersPerSecond; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import swervelib.simulation.ironmaple.simulation.Goal; +import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; +import swervelib.simulation.ironmaple.utils.FieldMirroringUtils; + +import java.util.*; + +/** + * + * + *

    Simulates a HUBs on the field.

    + * + *

    This class simulates the HUBs on the field where FUELs can be scored. Whether it + * is active can be determined by using {@link Arena2026Rebuilt#isActive(boolean)} + */ +public class RebuiltHub extends Goal { + + protected static final Translation3d blueHubPose = new Translation3d(4.5974, 4.034536, 1.5748); + protected static final Translation3d redHubPose = new Translation3d(11.938, 4.034536, 1.5748); + protected static final Pose3d[] blueShootPoses = { + new Pose3d( + blueHubPose.plus(new Translation3d(0.5969, 0.447675, -0.5)), + new Rotation3d(Degrees.of(0), Degrees.of(-15), Degrees.of(33.75))), + new Pose3d( + blueHubPose.plus(new Translation3d(0.5969, 0.149225, -0.5)), + new Rotation3d(Degrees.of(0), Degrees.of(-15), Degrees.of(11.25))), + new Pose3d( + blueHubPose.plus(new Translation3d(0.5969, -0.149225, -0.5)), + new Rotation3d(Degrees.of(0), Degrees.of(-15), Degrees.of(11.25))), + new Pose3d( + blueHubPose.plus(new Translation3d(0.5969, -0.447675, -0.5)), + new Rotation3d(Degrees.of(0), Degrees.of(-15), Degrees.of(-33.75))) + }; + + public static final double GoalRadius = 0.5969; + static final Random rng = new Random(); + + public static final Pose3d[] redShootPoses = Arrays.stream(blueShootPoses) + .map(FieldMirroringUtils::flip) + .map((Pose3d toRotate) -> { + return toRotate.rotateBy(new Rotation3d(Rotation2d.fromDegrees(180))); + }) + .toArray(Pose3d[]::new); + + StructPublisher posePublisher; + protected final Arena2026Rebuilt arena; + + /** + * + * + *

    Creates an HUB of the specified color.

    + * + * @param arena The host arena of this HUB. + * @param isBlue Wether this is the blue HUB or the red one. + */ + public RebuiltHub(Arena2026Rebuilt arena, boolean isBlue) { + super( + arena, + Inches.of(47), + Inches.of(47), + Inches.of(10), + "Fuel", + isBlue ? blueHubPose : redHubPose, + isBlue, + false); + + this.arena = arena; + StructPublisher HubPosePublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueHub" : "RedHub", Pose3d.struct) + .publish(); + HubPosePublisher.set(new Pose3d(position, new Rotation3d())); + } + + @Override + protected boolean checkVel(GamePiece gamePiece) { + return gamePiece.getVelocity3dMPS().getZ() < 0; + } + + @Override + protected boolean checkCollision(GamePiece GamePiece) { + System.out.println(Math.pow(GamePiece.getPose3d().getX() - position.getX(), 2) + + Math.pow(GamePiece.getPose3d().getY() - position.getY(), 2) + + Math.pow(GamePiece.getPose3d().getZ() - position.getZ(), 2)); + return Math.pow(GamePiece.getPose3d().getX() - position.getX(), 2) + + Math.pow(GamePiece.getPose3d().getY() - position.getY(), 2) + + Math.pow(GamePiece.getPose3d().getZ() - position.getZ(), 2) + < Math.pow(GoalRadius, 2); + } + + @Override + protected void addPoints() { + arena.addValueToMatchBreakdown(isBlue, "TotalFuelInHub", 1); + arena.addValueToMatchBreakdown(isBlue, "WastedFuel", arena.isActive(isBlue) ? 0 : 1); + arena.addToScore(isBlue, arena.isActive(isBlue) ? 1 : 0); + + Pose3d shootPose = isBlue ? blueShootPoses[rng.nextInt(4)] : redShootPoses[rng.nextInt(4)]; + + arena.addPieceWithVariance( + shootPose.getTranslation().toTranslation2d(), + new Rotation2d(shootPose.getRotation().getZ()), + shootPose.getMeasureZ(), + MetersPerSecond.of(2), + shootPose.getRotation().getMeasureY(), + 0, + 0.02, + 15, + 0.2, + 5); + } + + @Override + public void draw(List drawList) { + return; + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java new file mode 100644 index 0000000..8986dab --- /dev/null +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java @@ -0,0 +1,196 @@ +package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026; + +import static edu.wpi.first.units.Units.Centimeters; +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.LinearVelocity; +import swervelib.simulation.ironmaple.simulation.Goal; + +import java.util.*; + +/** + * + * + *

    Simulates a OUTPOSTs on the field.

    + * + *

    This class simulates a outpost on the field where fuel can be scored. It has a store of fuel which can be added + * too by scoring in it. This fuel can then be dumped via {@link #dump()} or + * {@link Arena2026Rebuilt#outpostDump(boolean)}, thrown at the goal via {@link #throwForGoal()} or + * {@link Arena2026Rebuilt#outpostThrowForGoal(boolean)}, or thrown with specific parameters via + * {@link #throwFuel(Rotation2d, Angle, LinearVelocity)} or {@link Arena2026Rebuilt#outpostThrow(boolean, Rotation2d, + * Angle, LinearVelocity)}, + */ +public class RebuiltOutpost extends Goal { + + protected static final Translation3d redOutpostPose = new Translation3d(16.621, 7.403338, 0); + protected static final Translation3d redLaunchPose = new Translation3d(16, 8.2, 0); + protected static final Translation3d redDumpPose = new Translation3d(16.421, 7.2, 0); + + protected static final Translation3d blueOutpostPose = new Translation3d(0, 0.665988, 0); + protected static final Translation3d blueDumpPose = new Translation3d(0.2, 0.665988, 0); + protected static final Translation3d blueLaunchPose = new Translation3d(0.665988, -0.254, 0); + + protected static final Translation3d redRenderPose = new Translation3d(16.640988, 7.7, 0.844502); + protected static final Translation3d blueRenderPose = new Translation3d(-0.12, 0.325, 0.844502); + + StructPublisher posePublisher; + + protected Arena2026Rebuilt arena; + + /** + * + * + *

    Creates an outpost of the specified color.

    + * + * @param arena The host arena of this outpost. + * @param isBlue Wether this is the blue outpost or the red one. + */ + public RebuiltOutpost(Arena2026Rebuilt arena, boolean isBlue) { + super( + arena, + Centimeters.of(3), + Inches.of(21), + Centimeters.of(10), + "Fuel", + isBlue ? blueOutpostPose : redOutpostPose, + isBlue, + true); + + this.arena = arena; + gamePieceCount = 24; + + StructPublisher OutpostPublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueOutpost" : "RedOutpost", Pose3d.struct) + .publish(); + + StructPublisher OutpostThrowPublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueOutpostThrow" : "RedOutpostThrow", Pose3d.struct) + .publish(); + StructPublisher OutpostDumpPublisher = NetworkTableInstance.getDefault() + .getStructTopic(isBlue ? "BlueOutpostDump" : "RedOutpostDump", Pose3d.struct) + .publish(); + + OutpostPublisher.set(new Pose3d(position, new Rotation3d())); + OutpostDumpPublisher.set(new Pose3d(isBlue ? blueDumpPose : redDumpPose, new Rotation3d())); + OutpostThrowPublisher.set(new Pose3d(isBlue ? blueLaunchPose : redLaunchPose, new Rotation3d())); + } + + @Override + protected void addPoints() { + arena.addValueToMatchBreakdown(isBlue, "TotalFuelInOutpost", 1); + this.gamePieceCount++; + } + + @Override + public void simulationSubTick(int subTickNum) { + super.simulationSubTick(subTickNum); + arena.replaceValueInMatchBreakDown(isBlue, "CurrentFuelInOutpost", gamePieceCount); + } + + @Override + public void draw(List drawList) { + + int count = 0; + for (int col = 0; col < 5 && count < gamePieceCount; col++) { + for (int row = 0; row < 5 && count < gamePieceCount; row++) { + count++; + if (isBlue) { + drawList.add(new Pose3d( + blueRenderPose.plus( + new Translation3d(Inches.of(-6 * col), Inches.of(6 * row), Inches.of(1.3 * col))), + new Rotation3d())); + } else { + drawList.add(new Pose3d( + redRenderPose.plus( + new Translation3d(Inches.of(6 * col), Inches.of(-6 * row), Inches.of(1.3 * col))), + new Rotation3d())); + } + } + } + } + + /** Resets the outposts internal fuel counter too 24. */ + public void reset() { + gamePieceCount = 24; + } + + /** + * + * + *

    Attempts too throw a game piece at the specified goal.

    + * + *

    This method comes with variance built in (to simulate human inconsistency) and will therefore only hit about + * half the time. Additionally if the hub does not have game pieces stored this method will not do anything. If you + * would like to manually control how the human player throws game pieces use {@link #outpostThrow(boolean, + * Rotation2d, Angle, LinearVelocity)} + */ + public void throwForGoal() { + throwFuel( + isBlue ? Rotation2d.fromDegrees(45) : Rotation2d.fromDegrees(220), + Degrees.of(75), + MetersPerSecond.of(11.2)); + } + + /** + * + * + *

    Dumps game pieces from the specified outpost.

    + * + * This function will dump up to 24 game pieces, dependent on how many game pieces are currently stored in the + * outpost. For more manual control of the game pieces in the outpost use {@link #outpostThrow(boolean, Rotation2d, + * Angle, LinearVelocity)}. To have a human player attempt to throw a game piece into the hub use + * {@link #outpostThrowForGoal(boolean)}. + */ + public void dump() { + for (int i = 0; i < 24 && gamePieceCount > 0; i++) { + gamePieceCount--; + this.arena.addPieceWithVariance( + isBlue ? blueDumpPose.toTranslation2d() : redDumpPose.toTranslation2d(), + new Rotation2d(), + Meters.of(1.7), + isBlue ? MetersPerSecond.of(2) : MetersPerSecond.of(-2), + Degrees.of(0), + 0, + 0.2, + 5, + 0.2, + 5.0); + } + } + + /** + * + * + *

    Throws a game piece from the outpost at the specified angle and speed.

    + * + *

    This method comes with variance built in (to simulate human inconsistency). Additionally if the hub does not + * have game pieces stored this method will not do anything. If you would like to have the human player throw at the + * hub use {@link #outpostThrowForGoal(boolean)} + * + * @param throwYaw The yaw at which too throw the ball. + * @param throwPitch The pitch at which too throw the ball. + */ + public void throwFuel(Rotation2d yaw, Angle pitch, LinearVelocity speed) { + if (gamePieceCount > 0) { + gamePieceCount--; + arena.addPieceWithVariance( + isBlue ? blueLaunchPose.toTranslation2d() : redLaunchPose.toTranslation2d(), + yaw, + Meters.of(1.7), + speed, + pitch, + 0, + 0, + 15, + 2, + 5); + } + } +} diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java index 728ca35..afe13a9 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java @@ -44,7 +44,8 @@ public ReefscapeBargeSimulation(Arena2025Reefscape arena, boolean isBlue) { Centimeters.of(100), "Algae", isBlue ? blueBargePose : redBargePose, - isBlue); + isBlue, + false); StructPublisher heldAlgaePublisher = NetworkTableInstance.getDefault() .getStructTopic(isBlue ? "BlueBarge" : "RedBarge", Pose3d.struct) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java index 08f0fff..229eb5b 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java @@ -43,7 +43,8 @@ public ReefscapeProcessorSimulation(Arena2025Reefscape arena, boolean isBlue) { Centimeters.of(100), "Algae", isBlue ? blueProcessorPose : redProcessorPose, - isBlue); + isBlue, + true); StructPublisher heldAlgaePublisher = NetworkTableInstance.getDefault() .getStructTopic(isBlue ? "BlueProcessor" : "RedProcessor", Pose3d.struct) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java index cbe3668..9beb6d2 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefBranch.java @@ -110,7 +110,8 @@ public ReefscapeReefBranch(Arena2025Reefscape arena, boolean isBlue, int level, "Coral", getPoseOfBranchAt(isBlue, level, column), isBlue, - level == 0 ? 2 : 1); + level == 0 ? 2 : 1, + false); if (level == 1 || level == 2) { if (isBlue) { diff --git a/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java b/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java index 76759d1..2c0f9ae 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java +++ b/yagsl/java/swervelib/simulation/ironmaple/utils/FieldMirroringUtils.java @@ -1,6 +1,7 @@ package swervelib.simulation.ironmaple.utils; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; @@ -28,6 +29,13 @@ public static Translation2d flip(Translation2d translation) { return new Translation2d(FIELD_WIDTH - translation.getX(), FIELD_HEIGHT - translation.getY()); } + public static Pose3d flip(Pose3d toFlip) { + return new Pose3d( + new Translation3d(FIELD_WIDTH - toFlip.getX(), FIELD_HEIGHT - toFlip.getY(), toFlip.getZ()), + toFlip.getRotation()); + } + + public static Translation3d toCurrentAllianceTranslation(Translation3d translation3dAtBlueSide) { final Translation2d translation3dAtCurrentAlliance = toCurrentAllianceTranslation(translation3dAtBlueSide.toTranslation2d()); From 745470964609136c40855d6f07e1edc35061dc20 Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Mon, 12 Jan 2026 00:06:12 -0700 Subject: [PATCH 10/62] fixed issue --- .../ironmaple/simulation/SimulatedArena.java | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java index fc04e28..28b926c 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -22,6 +22,7 @@ import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile; import swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery; +import swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager; import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt; import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; @@ -93,6 +94,7 @@ public abstract class SimulatedArena { Boolean shouldPublishMatchBreakdown = true; private static SimulatedArena instance = null; + protected OpponentManager opponentManager; /** * @@ -169,6 +171,27 @@ public int getScore(Alliance allianceColor) { return getScore(allianceColor == Alliance.Blue); } + + /** + * Adds an OpponentManager to the SimulatedArena. + * + * @param opponentManager the OpponentManager to use. + */ + protected void withOpponentManager(OpponentManager opponentManager) { + this.opponentManager = opponentManager; + } + + /** + * Gets the current {@link OpponentManager}. Use casting for your Arena, some arenas may override with castless + * methods. + * + * @return the {@link OpponentManager} in use. + */ + public OpponentManager getOpponentManager() { + return opponentManager; + } + + /** * * From 2ec8861de3200702d86368b373998302bf53cd5c Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Mon, 12 Jan 2026 02:06:20 -0700 Subject: [PATCH 11/62] clock update --- .../rebuilt2026/Arena2026Rebuilt.java | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java index ea04913..0b432ca 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java @@ -289,19 +289,23 @@ public synchronized List getGamePiecesPosesByType(String type) { @Override public void simulationSubTick(int tickNum) { - clock -= getSimulationDt().in(Units.Seconds); + if (shouldClock && !DriverStation.isAutonomous() && DriverStation.isEnabled()) { + clock -= getSimulationDt().in(Units.Seconds); - if (clock <= 0) { + if (clock <= 0) { + clock = 25; + blueIsOnClock = !blueIsOnClock; + } + } else { clock = 25; - blueIsOnClock = !blueIsOnClock; } + phaseClockPublisher.set((clock)); + super.simulationSubTick(tickNum); blueActivePublisher.set(isActive(true)); redActivePublisher.set(isActive(false)); - - phaseClockPublisher.set((shouldClock || DriverStation.isAutonomous() ? clock : null)); } /** From a250e20b3a465d05646080cc8fe7569197185c3c Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Mon, 12 Jan 2026 12:28:47 -0600 Subject: [PATCH 12/62] Update yagsl.json --- vendordep/yagsl.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index 9433483..4e30d1e 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -2,7 +2,7 @@ "fileName": "yagsl-${version}.json", "name": "YAGSL", "version": "${version}", - "frcYear": "2026beta", + "frcYear": "2026", "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", "mavenUrls": [ "https://yet-another-software-suite.github.io/YAGSL/releases/", From b89407b2c65f161fddb8376ebb2837fa5d3a83fd Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Mon, 12 Jan 2026 16:46:55 -0600 Subject: [PATCH 13/62] Updated vendordep json to point to full 2026 vdeps. Included reduxlib, thriftylib, and studica. Signed-off-by: thenetworkgrinch --- .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + .../vendordeps/ReduxLib-2026.1.1.json | 69 ++ .../vendordeps/Studica-2026.0.0.json | 71 ++ .../vendordeps/StudicaLib-2026.0.0.json | 71 ++ .../vendordeps/ThriftyLib-2026.0.0.json | 18 + vendordep/vendordeps/ReduxLib-2026.1.1.json | 69 ++ vendordep/vendordeps/Studica-2026.0.0.json | 71 ++ vendordep/vendordeps/StudicaLib-2026.0.0.json | 71 ++ vendordep/vendordeps/ThriftyLib-2026.0.0.json | 18 + vendordep/yagsl.json | 30 +- .../swervelib/encoders/CanAndMagSwerve.java | 226 ++-- .../encoders/ThriftyNovaEncoderSwerve.java | 282 ++--- .../java/swervelib/imu/CanandgyroSwerve.java | 282 ++--- yagsl/java/swervelib/imu/NavX3Swerve.java | 342 +++--- yagsl/java/swervelib/imu/NavXSwerve.java | 336 ++--- .../swervelib/motors/ThriftyNovaSwerve.java | 1078 ++++++++--------- .../swervelib/parser/json/DeviceJson.java | 66 +- .../swervelib/parser/json/ModuleJson.java | 12 +- 41 files changed, 3162 insertions(+), 1324 deletions(-) create mode 100644 examples/clock_drive_drivebase/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0.json create mode 100644 examples/clock_drive_drivebase/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/clock_drive_drivebase/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 examples/drivebase_only_2026/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json create mode 100644 examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 examples/field_oriented_drivebase/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0.json create mode 100644 examples/field_oriented_drivebase/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/field_oriented_drivebase/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 examples/full_example/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/full_example/vendordeps/Studica-2026.0.0.json create mode 100644 examples/full_example/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/full_example/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 examples/robot_relative_drivebase/vendordeps/ReduxLib-2026.1.1.json create mode 100644 examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0.json create mode 100644 examples/robot_relative_drivebase/vendordeps/StudicaLib-2026.0.0.json create mode 100644 examples/robot_relative_drivebase/vendordeps/ThriftyLib-2026.0.0.json create mode 100644 vendordep/vendordeps/ReduxLib-2026.1.1.json create mode 100644 vendordep/vendordeps/Studica-2026.0.0.json create mode 100644 vendordep/vendordeps/StudicaLib-2026.0.0.json create mode 100644 vendordep/vendordeps/ThriftyLib-2026.0.0.json diff --git a/examples/clock_drive_drivebase/vendordeps/ReduxLib-2026.1.1.json b/examples/clock_drive_drivebase/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0.json b/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/clock_drive_drivebase/vendordeps/StudicaLib-2026.0.0.json b/examples/clock_drive_drivebase/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/clock_drive_drivebase/vendordeps/ThriftyLib-2026.0.0.json b/examples/clock_drive_drivebase/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/clock_drive_drivebase/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/drivebase_only_2026/vendordeps/ReduxLib-2026.1.1.json b/examples/drivebase_only_2026/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2026.1.1.json b/examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0.json b/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib-2026.0.0.json b/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib-2026.0.0.json b/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/drivebase_with_PathPlanner/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2026.1.1.json b/examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0.json b/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib-2026.0.0.json b/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib-2026.0.0.json b/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/drivebase_with_PhotonVision/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/field_oriented_drivebase/vendordeps/ReduxLib-2026.1.1.json b/examples/field_oriented_drivebase/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0.json b/examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/field_oriented_drivebase/vendordeps/StudicaLib-2026.0.0.json b/examples/field_oriented_drivebase/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/field_oriented_drivebase/vendordeps/ThriftyLib-2026.0.0.json b/examples/field_oriented_drivebase/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/field_oriented_drivebase/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/full_example/vendordeps/ReduxLib-2026.1.1.json b/examples/full_example/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/full_example/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/full_example/vendordeps/Studica-2026.0.0.json b/examples/full_example/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/full_example/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/full_example/vendordeps/StudicaLib-2026.0.0.json b/examples/full_example/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/full_example/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/full_example/vendordeps/ThriftyLib-2026.0.0.json b/examples/full_example/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/full_example/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/examples/robot_relative_drivebase/vendordeps/ReduxLib-2026.1.1.json b/examples/robot_relative_drivebase/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0.json b/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/robot_relative_drivebase/vendordeps/StudicaLib-2026.0.0.json b/examples/robot_relative_drivebase/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/examples/robot_relative_drivebase/vendordeps/ThriftyLib-2026.0.0.json b/examples/robot_relative_drivebase/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/examples/robot_relative_drivebase/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/vendordep/vendordeps/ReduxLib-2026.1.1.json b/vendordep/vendordeps/ReduxLib-2026.1.1.json new file mode 100644 index 0000000..3dba1cb --- /dev/null +++ b/vendordep/vendordeps/ReduxLib-2026.1.1.json @@ -0,0 +1,69 @@ +{ + "fileName": "ReduxLib-2026.1.1.json", + "name": "ReduxLib", + "version": "2026.1.1", + "frcYear": "2026", + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "mavenUrls": [ + "https://maven.reduxrobotics.com/" + ], + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", + "javaDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-java", + "version": "2026.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-cpp", + "version": "2026.1.1", + "libName": "ReduxLib", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + }, + { + "groupId": "com.reduxrobotics.frc", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordep/vendordeps/Studica-2026.0.0.json b/vendordep/vendordeps/Studica-2026.0.0.json new file mode 100644 index 0000000..7a1f3bb --- /dev/null +++ b/vendordep/vendordeps/Studica-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica.json", + "name": "Studica", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/vendordep/vendordeps/StudicaLib-2026.0.0.json b/vendordep/vendordeps/StudicaLib-2026.0.0.json new file mode 100644 index 0000000..7447f74 --- /dev/null +++ b/vendordep/vendordeps/StudicaLib-2026.0.0.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.0", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.0", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/vendordep/vendordeps/ThriftyLib-2026.0.0.json b/vendordep/vendordeps/ThriftyLib-2026.0.0.json new file mode 100644 index 0000000..56ff85e --- /dev/null +++ b/vendordep/vendordeps/ThriftyLib-2026.0.0.json @@ -0,0 +1,18 @@ +{ + "fileName": "ThriftyLib-2026.0.0.json", + "name": "ThriftyLib", + "version": "2026.0.0", + "frcYear": "2026", + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "mavenUrls": ["https://docs.home.thethriftybot.com"], + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.thethriftybot.frc", + "artifactId": "ThriftyLib-java", + "version": "2026.0.0" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index 4e30d1e..245e884 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -22,6 +22,12 @@ } ], "requires": [ + { + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "errorMessage": "ReduxLib is required!", + "offlineFileName": "ReduxLib.json", + "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json" + }, { "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "errorMessage": "REVLib is required!", @@ -29,28 +35,34 @@ "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json" }, { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Phoenix6 is required!", - "offlineFileName": "Phoenix6-replay-26.0.0-beta-1", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-replay-26.1.0.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" }, { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "errorMessage": "Phoenix5 is required!", - "offlineFileName": "Phoenix5-replay-5.36.0-beta-1.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix5-replay-5.36.0.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json" }, { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", "errorMessage": "Studica is required!", "offlineFileName": "StudicaLib.json", - "onlineUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json" + "onlineUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json" + }, + { + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "errorMessage": "Studica is required!", + "offlineFileName": "Studica.json", + "onlineUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json" }, { "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "errorMessage": "ThriftyLib is required!", "offlineFileName": "ThriftyLib.json", - "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" + "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json" } ], "jniDependencies": [], diff --git a/yagsl/java/swervelib/encoders/CanAndMagSwerve.java b/yagsl/java/swervelib/encoders/CanAndMagSwerve.java index 2a25f1c..5ed9e90 100644 --- a/yagsl/java/swervelib/encoders/CanAndMagSwerve.java +++ b/yagsl/java/swervelib/encoders/CanAndMagSwerve.java @@ -1,115 +1,115 @@ package swervelib.encoders; -//import com.reduxrobotics.sensors.canandmag.Canandmag; -//import com.reduxrobotics.sensors.canandmag.CanandmagSettings; -// -///** -// * HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus. -// */ -//public class CanAndMagSwerve extends SwerveAbsoluteEncoder -//{ -// -// /** -// * The {@link Canandmag} representing the CANandMag on the CAN bus. -// */ -// public Canandmag encoder; -// /** -// * The {@link Canandmag} settings object to use. -// */ -// public CanandmagSettings settings; -// -// /** -// * Create the {@link Canandmag} -// * -// * @param canid The CAN ID whenever the CANandMag is operating on the CANBus. -// */ -// public CanAndMagSwerve(int canid) -// { -// encoder = new Canandmag(canid); -// settings = new CanandmagSettings(); -// } -// -// @Override -// public void close() -// { -// encoder.close(); -// } -// -// /** -// * Reset the encoder to factory defaults. -// *

    -// * This will not clear the stored zero offset. -// */ -// @Override -// public void factoryDefault() -// { -// encoder.resetFactoryDefaults(false); -// } -// -// /** -// * Clear sticky faults on the encoder. -// */ -// @Override -// public void clearStickyFaults() -// { -// encoder.clearStickyFaults(); -// } -// -// /** -// * Configure the CANandMag to read from [0, 360) per second. -// * -// * @param inverted Whether the encoder is inverted. -// */ -// @Override -// public void configure(boolean inverted) -// { -// settings.setInvertDirection(inverted); -// encoder.setSettings(settings); -// } -// -// /** -// * Get the absolute position of the encoder. -// * -// * @return Absolute position in degrees from [0, 360). -// */ -// @Override -// public double getAbsolutePosition() -// { -// return encoder.getAbsPosition() * 360; -// } -// -// /** -// * Get the instantiated absolute encoder Object. -// * -// * @return Absolute encoder object. -// */ -// @Override -// public Object getAbsoluteEncoder() -// { -// return encoder; -// } -// -// /** -// * Cannot set the offset of the CANandMag. -// * -// * @param offset the offset the Absolute Encoder uses as the zero point. -// * @return true if setting the zero point succeeded, false otherwise -// */ -// @Override -// public boolean setAbsoluteEncoderOffset(double offset) -// { -// settings.setZeroOffset(offset); -// return encoder.setSettings(settings); -// } -// -// /** -// * Get the velocity in degrees/sec. -// * -// * @return velocity in degrees/sec. -// */ -// @Override -// public double getVelocity() -// { -// return encoder.getVelocity() * 360; -// } -//} +import com.reduxrobotics.sensors.canandmag.Canandmag; +import com.reduxrobotics.sensors.canandmag.CanandmagSettings; + +/** + * HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus. + */ +public class CanAndMagSwerve extends SwerveAbsoluteEncoder +{ + + /** + * The {@link Canandmag} representing the CANandMag on the CAN bus. + */ + public Canandmag encoder; + /** + * The {@link Canandmag} settings object to use. + */ + public CanandmagSettings settings; + + /** + * Create the {@link Canandmag} + * + * @param canid The CAN ID whenever the CANandMag is operating on the CANBus. + */ + public CanAndMagSwerve(int canid) + { + encoder = new Canandmag(canid); + settings = new CanandmagSettings(); + } + + @Override + public void close() + { + encoder.close(); + } + + /** + * Reset the encoder to factory defaults. + *

    + * This will not clear the stored zero offset. + */ + @Override + public void factoryDefault() + { + encoder.resetFactoryDefaults(false); + } + + /** + * Clear sticky faults on the encoder. + */ + @Override + public void clearStickyFaults() + { + encoder.clearStickyFaults(); + } + + /** + * Configure the CANandMag to read from [0, 360) per second. + * + * @param inverted Whether the encoder is inverted. + */ + @Override + public void configure(boolean inverted) + { + settings.setInvertDirection(inverted); + encoder.setSettings(settings); + } + + /** + * Get the absolute position of the encoder. + * + * @return Absolute position in degrees from [0, 360). + */ + @Override + public double getAbsolutePosition() + { + return encoder.getAbsPosition() * 360; + } + + /** + * Get the instantiated absolute encoder Object. + * + * @return Absolute encoder object. + */ + @Override + public Object getAbsoluteEncoder() + { + return encoder; + } + + /** + * Cannot set the offset of the CANandMag. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return true if setting the zero point succeeded, false otherwise + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + settings.setZeroOffset(offset); + return encoder.setSettings(settings); + } + + /** + * Get the velocity in degrees/sec. + * + * @return velocity in degrees/sec. + */ + @Override + public double getVelocity() + { + return encoder.getVelocity() * 360; + } +} diff --git a/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java b/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java index 7cdfdd6..70b8f25 100644 --- a/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java +++ b/yagsl/java/swervelib/encoders/ThriftyNovaEncoderSwerve.java @@ -1,141 +1,141 @@ -//package swervelib.encoders; -// -// -//import com.thethriftybot.devices.ThriftyNova; -//import com.thethriftybot.devices.ThriftyNova.EncoderType; -//import com.thethriftybot.devices.ThriftyNova.ExternalEncoder; -//import com.thethriftybot.util.Conversion; -//import com.thethriftybot.util.Conversion.PositionUnit; -//import com.thethriftybot.util.Conversion.VelocityUnit; -//import swervelib.motors.SwerveMotor; -//import swervelib.motors.ThriftyNovaSwerve; -// -///** -// * Thrifty Nova absolute encoder, attached through the data port. -// */ -//public class ThriftyNovaEncoderSwerve extends SwerveAbsoluteEncoder -//{ -// -// /** -// * The absolute encoder is directly interfaced through the Thrifty Nova motor. -// */ -// protected ThriftyNova motor; -// /** -// * Inversion state of the attached encoder. -// */ -// protected boolean inverted = false; -// /** -// * Offset of the absolute encoder. -// */ -// protected double offset = 0.0; -// /** -// * Position conversion object for the motor encoder -// */ -// private Conversion positionConversion; -// /** -// * Velocity conversion object for the motor encoder -// */ -// private Conversion velocityConversion; -// -// /** -// * Create the {@link ThriftyNovaEncoderSwerve} object as an absolute encoder from the {@link ThriftyNovaSwerve} -// * motor. -// * -// * @param motor {@link SwerveMotor} through which to interface with the attached encoder . -// * @param encoderType the type of encoder to use (options: "REV_ENCODER", "REDUX_ENCODER", "SRX_MAG_ENCODER") -// */ -// public ThriftyNovaEncoderSwerve(SwerveMotor motor, String encoderType) -// { -// this.motor = (ThriftyNova) motor.getMotor(); -// velocityConversion = new Conversion(VelocityUnit.DEGREES_PER_SEC, EncoderType.ABS); -// positionConversion = new Conversion(PositionUnit.DEGREES, EncoderType.ABS); -// ExternalEncoder externalEncoderType = ExternalEncoder.valueOf(encoderType); -// this.motor.setExternalEncoder(externalEncoderType); -// setAbsoluteEncoderOffset(offset); -// if (ExternalEncoder.REDUX_ENCODER == externalEncoderType) { -// this.motor.setAbsoluteWrapping(true); -// } -// } -// -// @Override -// public void close() -// { -// // ThriftyNova encoder gets closed with the motor -// // I don't think an encoder getting closed should -// // close the entire motor so i will keep this empty -// } -// -// /** -// * Set factory default. -// */ -// @Override -// public void factoryDefault() -// { -// } -// -// /** -// * Clear sticky faults. -// */ -// @Override -// public void clearStickyFaults() -// { -// } -// -// /** -// * Configure the absolute encoder. -// * -// * @param inverted Whether the encoder is inverted. -// */ -// @Override -// public void configure(boolean inverted) -// { -// this.inverted = inverted; -// } -// -// /** -// * Get the absolute position of the encoder. -// * -// * @return Absolute position in degrees from [0, 360). -// */ -// @Override -// public double getAbsolutePosition() -// { -// double rawMotor = motor.getPositionAbs(); -// double convertedPosition = positionConversion.fromMotor(rawMotor); -// return convertedPosition * (inverted ? -1.0 : 1.0); -// } -// -// /** -// * Get the instantiated absolute encoder Object. -// */ -// @Override -// public Object getAbsoluteEncoder() -// { -// return null; -// } -// -// /** -// * Set the absolute encoder offset. -// * -// * @param offset offset in degrees from [0, 360). -// * @return true if successful. -// */ -// @Override -// public boolean setAbsoluteEncoderOffset(double offset) -// { -// this.offset = offset; -// motor.setAbsOffset((int) offset); -// return true; -// } -// -// /** -// * Get the absolute encoder velocity. WARNING: Angular velocity is generally not measurable at high speeds. -// * -// * @return Velocity in degrees per second. -// */ -// @Override -// public double getVelocity() -// { -// return velocityConversion.fromMotor(motor.getVelocity()) * (inverted ? -1.0 : 1.0); -// } -//} +package swervelib.encoders; + + +import com.thethriftybot.devices.ThriftyNova; +import com.thethriftybot.devices.ThriftyNova.EncoderType; +import com.thethriftybot.devices.ThriftyNova.ExternalEncoder; +import com.thethriftybot.util.Conversion; +import com.thethriftybot.util.Conversion.PositionUnit; +import com.thethriftybot.util.Conversion.VelocityUnit; +import swervelib.motors.SwerveMotor; +import swervelib.motors.ThriftyNovaSwerve; + +/** + * Thrifty Nova absolute encoder, attached through the data port. + */ +public class ThriftyNovaEncoderSwerve extends SwerveAbsoluteEncoder +{ + + /** + * The absolute encoder is directly interfaced through the Thrifty Nova motor. + */ + protected ThriftyNova motor; + /** + * Inversion state of the attached encoder. + */ + protected boolean inverted = false; + /** + * Offset of the absolute encoder. + */ + protected double offset = 0.0; + /** + * Position conversion object for the motor encoder + */ + private Conversion positionConversion; + /** + * Velocity conversion object for the motor encoder + */ + private Conversion velocityConversion; + + /** + * Create the {@link ThriftyNovaEncoderSwerve} object as an absolute encoder from the {@link ThriftyNovaSwerve} + * motor. + * + * @param motor {@link SwerveMotor} through which to interface with the attached encoder . + * @param encoderType the type of encoder to use (options: "REV_ENCODER", "REDUX_ENCODER", "SRX_MAG_ENCODER") + */ + public ThriftyNovaEncoderSwerve(SwerveMotor motor, String encoderType) + { + this.motor = (ThriftyNova) motor.getMotor(); + velocityConversion = new Conversion(VelocityUnit.DEGREES_PER_SEC, EncoderType.ABS); + positionConversion = new Conversion(PositionUnit.DEGREES, EncoderType.ABS); + ExternalEncoder externalEncoderType = ExternalEncoder.valueOf(encoderType); + this.motor.setExternalEncoder(externalEncoderType); + setAbsoluteEncoderOffset(offset); + if (ExternalEncoder.REDUX_ENCODER == externalEncoderType) { + this.motor.setAbsoluteWrapping(true); + } + } + + @Override + public void close() + { + // ThriftyNova encoder gets closed with the motor + // I don't think an encoder getting closed should + // close the entire motor so i will keep this empty + } + + /** + * Set factory default. + */ + @Override + public void factoryDefault() + { + } + + /** + * Clear sticky faults. + */ + @Override + public void clearStickyFaults() + { + } + + /** + * Configure the absolute encoder. + * + * @param inverted Whether the encoder is inverted. + */ + @Override + public void configure(boolean inverted) + { + this.inverted = inverted; + } + + /** + * Get the absolute position of the encoder. + * + * @return Absolute position in degrees from [0, 360). + */ + @Override + public double getAbsolutePosition() + { + double rawMotor = motor.getPositionAbs(); + double convertedPosition = positionConversion.fromMotor(rawMotor); + return convertedPosition * (inverted ? -1.0 : 1.0); + } + + /** + * Get the instantiated absolute encoder Object. + */ + @Override + public Object getAbsoluteEncoder() + { + return null; + } + + /** + * Set the absolute encoder offset. + * + * @param offset offset in degrees from [0, 360). + * @return true if successful. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + this.offset = offset; + motor.setAbsOffset((int) offset); + return true; + } + + /** + * Get the absolute encoder velocity. WARNING: Angular velocity is generally not measurable at high speeds. + * + * @return Velocity in degrees per second. + */ + @Override + public double getVelocity() + { + return velocityConversion.fromMotor(motor.getVelocity()) * (inverted ? -1.0 : 1.0); + } +} diff --git a/yagsl/java/swervelib/imu/CanandgyroSwerve.java b/yagsl/java/swervelib/imu/CanandgyroSwerve.java index fc5b331..9991418 100644 --- a/yagsl/java/swervelib/imu/CanandgyroSwerve.java +++ b/yagsl/java/swervelib/imu/CanandgyroSwerve.java @@ -1,144 +1,144 @@ package swervelib.imu; import static edu.wpi.first.units.Units.RotationsPerSecond; -// -//import com.reduxrobotics.sensors.canandgyro.Canandgyro; -//import edu.wpi.first.math.geometry.Rotation3d; -//import edu.wpi.first.math.geometry.Translation3d; -//import edu.wpi.first.units.measure.MutAngularVelocity; -//import java.util.Optional; -// -///** -// * SwerveIMU interface for the Boron {@link Canandgyro} by Redux Robotics -// */ -//public class CanandgyroSwerve extends SwerveIMU -//{ -// -// /** -// * Wait time for status frames to show up. -// */ -// public static double STATUS_TIMEOUT_SECONDS = 0.04; -// /** -// * Boron {@link Canandgyro} by Redux Robotics. -// */ -// private final Canandgyro imu; -// /** -// * Mutable {@link MutAngularVelocity} for readings. -// */ -// private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, RotationsPerSecond); -// /** -// * Offset for the Boron {@link Canandgyro}. -// */ -// private Rotation3d offset = new Rotation3d(); -// /** -// * Inversion for the gyro -// */ -// private boolean invertedIMU = false; -// -// /** -// * Generate the SwerveIMU for {@link Canandgyro}. -// * -// * @param canid CAN ID for the Boron {@link Canandgyro} -// */ -// public CanandgyroSwerve(int canid) -// { -// imu = new Canandgyro(canid); -// } -// -// @Override -// public void close() -// { -// imu.close(); -// } -// -// /** -// * Reset {@link Canandgyro} to factory default. -// */ -// @Override -// public void factoryDefault() -// { -// imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS); -// } -// -// /** -// * Clear sticky faults on {@link Canandgyro}. -// */ -// @Override -// public void clearStickyFaults() -// { -// imu.clearStickyFaults(); -// } -// -// /** -// * Set the gyro offset. -// * -// * @param offset gyro offset as a {@link Rotation3d}. -// */ -// public void setOffset(Rotation3d offset) -// { -// this.offset = offset; -// } -// -// /** -// * Set the gyro to invert its default direction -// * -// * @param invertIMU invert gyro direction -// */ -// public void setInverted(boolean invertIMU) -// { -// invertedIMU = invertIMU; -// } -// -// /** -// * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. -// * -// * @return {@link Rotation3d} from the IMU. -// */ -// @Override -// public Rotation3d getRawRotation3d() -// { -// Rotation3d reading = imu.getRotation3d(); -// return invertedIMU ? reading.unaryMinus() : reading; -// } -// -// /** -// * Fetch the {@link Rotation3d} from the IMU. Robot relative. -// * -// * @return {@link Rotation3d} from the IMU. -// */ -// @Override -// public Rotation3d getRotation3d() -// { -// return getRawRotation3d().rotateBy(offset.unaryMinus()); -// } -// -// /** -// * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns -// * empty. -// * -// * @return {@link Translation3d} of the acceleration as an {@link Optional}. -// */ -// @Override -// public Optional getAccel() -// { -// -// return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0)); -// } -// -// @Override -// public MutAngularVelocity getYawAngularVelocity() -// { -// return yawVel.mut_setMagnitude(imu.getAngularVelocityYaw()); -// } -// -// /** -// * Get the instantiated {@link Canandgyro} IMU object. -// * -// * @return IMU object. -// */ -// @Override -// public Object getIMU() -// { -// return imu; -// } -//} + +import com.reduxrobotics.sensors.canandgyro.Canandgyro; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.units.measure.MutAngularVelocity; +import java.util.Optional; + +/** + * SwerveIMU interface for the Boron {@link Canandgyro} by Redux Robotics + */ +public class CanandgyroSwerve extends SwerveIMU +{ + + /** + * Wait time for status frames to show up. + */ + public static double STATUS_TIMEOUT_SECONDS = 0.04; + /** + * Boron {@link Canandgyro} by Redux Robotics. + */ + private final Canandgyro imu; + /** + * Mutable {@link MutAngularVelocity} for readings. + */ + private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, RotationsPerSecond); + /** + * Offset for the Boron {@link Canandgyro}. + */ + private Rotation3d offset = new Rotation3d(); + /** + * Inversion for the gyro + */ + private boolean invertedIMU = false; + + /** + * Generate the SwerveIMU for {@link Canandgyro}. + * + * @param canid CAN ID for the Boron {@link Canandgyro} + */ + public CanandgyroSwerve(int canid) + { + imu = new Canandgyro(canid); + } + + @Override + public void close() + { + imu.close(); + } + + /** + * Reset {@link Canandgyro} to factory default. + */ + @Override + public void factoryDefault() + { + imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS); + } + + /** + * Clear sticky faults on {@link Canandgyro}. + */ + @Override + public void clearStickyFaults() + { + imu.clearStickyFaults(); + } + + /** + * Set the gyro offset. + * + * @param offset gyro offset as a {@link Rotation3d}. + */ + public void setOffset(Rotation3d offset) + { + this.offset = offset; + } + + /** + * Set the gyro to invert its default direction + * + * @param invertIMU invert gyro direction + */ + public void setInverted(boolean invertIMU) + { + invertedIMU = invertIMU; + } + + /** + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRawRotation3d() + { + Rotation3d reading = imu.getRotation3d(); + return invertedIMU ? reading.unaryMinus() : reading; + } + + /** + * Fetch the {@link Rotation3d} from the IMU. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRotation3d() + { + return getRawRotation3d().rotateBy(offset.unaryMinus()); + } + + /** + * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns + * empty. + * + * @return {@link Translation3d} of the acceleration as an {@link Optional}. + */ + @Override + public Optional getAccel() + { + + return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0)); + } + + @Override + public MutAngularVelocity getYawAngularVelocity() + { + return yawVel.mut_setMagnitude(imu.getAngularVelocityYaw()); + } + + /** + * Get the instantiated {@link Canandgyro} IMU object. + * + * @return IMU object. + */ + @Override + public Object getIMU() + { + return imu; + } +} diff --git a/yagsl/java/swervelib/imu/NavX3Swerve.java b/yagsl/java/swervelib/imu/NavX3Swerve.java index 34cb84b..c38698c 100644 --- a/yagsl/java/swervelib/imu/NavX3Swerve.java +++ b/yagsl/java/swervelib/imu/NavX3Swerve.java @@ -1,174 +1,168 @@ -//package swervelib.imu; -// -//import static edu.wpi.first.units.Units.Degree; -//import static edu.wpi.first.units.Units.DegreesPerSecond; -//import static edu.wpi.first.units.Units.Milliseconds; -// -//import com.studica.frc.AHRS; -//import com.studica.frc.AHRS.NavXComType; -//import com.studica.frc.Navx; -//import edu.wpi.first.math.geometry.Rotation3d; -//import edu.wpi.first.math.geometry.Translation3d; -//import edu.wpi.first.units.measure.MutAngularVelocity; -//import edu.wpi.first.wpilibj.Alert; -//import edu.wpi.first.wpilibj.Alert.AlertType; -//import edu.wpi.first.wpilibj.Timer; -//import java.util.Optional; -// -///** -// * Communicates with the NavX({@link AHRS}) as the IMU. -// */ -//public class NavX3Swerve extends SwerveIMU -//{ -// -// /** -// * Mutable {@link MutAngularVelocity} for readings. -// */ -// private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond); -// /** -// * NavX IMU. -// */ -// private Navx imu; -// /** -// * Offset for the NavX. -// */ -// private Rotation3d offset = new Rotation3d(); -// /** -// * An {@link Alert} for if there is an error instantiating the NavX. -// */ -// private Alert navXError; -// /** -// * Inversion state of the {@link AHRS}. -// */ -// private boolean inverted = false; -// -// /** -// * Constructor for the NavX({@link com.studica.frc.Navx}) swerve. -// * -// * @param canid CAN ID of the NavX3. -// */ -// public NavX3Swerve(int canid) -// { -// navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); -// try -// { -// imu = new Navx(canid); -// for(int i = 0; i < 4; i++) -// { -// if (imu.start() == 0) -// break; -// Timer.delay(Milliseconds.of(5)); -// } -// -// } catch (RuntimeException ex) -// { -// navXError.setText("Error instantiating NavX: " + ex.getMessage()); -// navXError.set(true); -// } -// } -// -// @Override -// public void close() -// { -//// imu.close(); -// } -// -// /** -// * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be -// * too slow. -// */ -// @Override -// public void factoryDefault() -// { -// // gyro.reset(); // Reported to be slow -// offset = new Rotation3d(Degree.of(imu.getRoll()), Degree.of(imu.getPitch()), Degree.of(imu.getYaw())); -// } -// -// /** -// * Clear sticky faults on IMU. -// */ -// @Override -// public void clearStickyFaults() -// { -// } -// -// /** -// * Set the gyro offset. -// * -// * @param offset gyro offset as a {@link Rotation3d}. -// */ -// public void setOffset(Rotation3d offset) -// { -// this.offset = offset; -// } -// -// /** -// * Set the gyro to invert its default direction -// * -// * @param invertIMU invert gyro direction -// */ -// public void setInverted(boolean invertIMU) -// { -// inverted = invertIMU; -//// setOffset(getRawRotation3d()); -// } -// -// private Rotation3d negate(Rotation3d rot) { -// return new Rotation3d(-rot.getX(), -rot.getY(), -rot.getZ()); -// } -// -// /** -// * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. -// * -// * @return {@link Rotation3d} from the IMU. -// */ -// @Override -// public Rotation3d getRawRotation3d() -// { -// Rotation3d rotation = new Rotation3d(Degree.of(imu.getRoll()), Degree.of(imu.getPitch()), Degree.of(imu.getYaw())); -// return inverted ? negate(rotation) : rotation; -// } -// -// /** -// * Fetch the {@link Rotation3d} from the IMU. Robot relative. -// * -// * @return {@link Rotation3d} from the IMU. -// */ -// @Override -// public Rotation3d getRotation3d() -// { -// return getRawRotation3d().rotateBy(offset.unaryMinus()); -// } -// -// /** -// * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns -// * empty. -// * -// * @return {@link Translation3d} of the acceleration as an {@link Optional}. -// */ -// @Override -// public Optional getAccel() -// { -// return Optional.empty(); -// } -// -// @Override -// public MutAngularVelocity getYawAngularVelocity() -// { -// // x, y, z -// float[] angularVelocity = {0,0,0}; -// imu.getAngularVel(angularVelocity); -// return yawVel.mut_setMagnitude(angularVelocity[2]); -// } -// -// /** -// * Get the instantiated NavX({@link AHRS}) IMU object. -// * -// * @return IMU object. -// */ -// @Override -// public Object getIMU() -// { -// return imu; -// } -//} +package swervelib.imu; + +import static edu.wpi.first.units.Units.Degree; +import static edu.wpi.first.units.Units.DegreesPerSecond; +import static edu.wpi.first.units.Units.Milliseconds; + +import com.studica.frc.AHRS; +import com.studica.frc.AHRS.NavXComType; +import com.studica.frc.Navx; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.MutAngularVelocity; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.Timer; +import java.util.Optional; + +/** + * Communicates with the NavX({@link AHRS}) as the IMU. + */ +public class NavX3Swerve extends SwerveIMU +{ + + /** + * Mutable {@link MutAngularVelocity} for readings. + */ + private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond); + /** + * NavX IMU. + */ + private Navx imu; + /** + * Offset for the NavX. + */ + private Rotation3d offset = new Rotation3d(); + /** + * An {@link Alert} for if there is an error instantiating the NavX. + */ + private Alert navXError; + /** + * Inversion state of the {@link AHRS}. + */ + private boolean inverted = false; + + /** + * Constructor for the NavX({@link com.studica.frc.Navx}) swerve. + * + * @param canid CAN ID of the NavX3. + */ + public NavX3Swerve(int canid) + { + navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); + try + { + imu = new Navx(canid); + + } catch (RuntimeException ex) + { + navXError.setText("Error instantiating NavX: " + ex.getMessage()); + navXError.set(true); + } + } + + @Override + public void close() + { +// imu.close(); + } + + /** + * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be + * too slow. + */ + @Override + public void factoryDefault() + { + // gyro.reset(); // Reported to be slow + offset = imu.getRotation3d(); + } + + /** + * Clear sticky faults on IMU. + */ + @Override + public void clearStickyFaults() + { + } + + /** + * Set the gyro offset. + * + * @param offset gyro offset as a {@link Rotation3d}. + */ + public void setOffset(Rotation3d offset) + { + this.offset = offset; + } + + /** + * Set the gyro to invert its default direction + * + * @param invertIMU invert gyro direction + */ + public void setInverted(boolean invertIMU) + { + inverted = invertIMU; +// setOffset(getRawRotation3d()); + } + + private Rotation3d negate(Rotation3d rot) { + return new Rotation3d(-rot.getX(), -rot.getY(), -rot.getZ()); + } + + /** + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRawRotation3d() + { + Rotation3d rotation = imu.getRotation3d(); + return inverted ? negate(rotation) : rotation; + } + + /** + * Fetch the {@link Rotation3d} from the IMU. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRotation3d() + { + return getRawRotation3d().rotateBy(offset.unaryMinus()); + } + + /** + * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns + * empty. + * + * @return {@link Translation3d} of the acceleration as an {@link Optional}. + */ + @Override + public Optional getAccel() + { + return Optional.empty(); + } + + @Override + public MutAngularVelocity getYawAngularVelocity() + { + // x, y, z + AngularVelocity[] angularVelocity = imu.getAngularVel(); + return yawVel.mut_replace(angularVelocity[2]); + } + + /** + * Get the instantiated NavX({@link AHRS}) IMU object. + * + * @return IMU object. + */ + @Override + public Object getIMU() + { + return imu; + } +} diff --git a/yagsl/java/swervelib/imu/NavXSwerve.java b/yagsl/java/swervelib/imu/NavXSwerve.java index 1331719..071f3a1 100644 --- a/yagsl/java/swervelib/imu/NavXSwerve.java +++ b/yagsl/java/swervelib/imu/NavXSwerve.java @@ -1,168 +1,168 @@ -//package swervelib.imu; -// -//import static edu.wpi.first.units.Units.DegreesPerSecond; -// -//import com.studica.frc.AHRS; -//import com.studica.frc.AHRS.NavXComType; -//import edu.wpi.first.math.geometry.Rotation3d; -//import edu.wpi.first.math.geometry.Translation3d; -//import edu.wpi.first.units.measure.MutAngularVelocity; -//import edu.wpi.first.wpilibj.Alert; -//import edu.wpi.first.wpilibj.Alert.AlertType; -//import java.util.Optional; -// -///** -// * Communicates with the NavX({@link AHRS}) as the IMU. -// */ -//public class NavXSwerve extends SwerveIMU -//{ -// -// /** -// * Mutable {@link MutAngularVelocity} for readings. -// */ -// private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond); -// /** -// * NavX IMU. -// */ -// private AHRS imu; -// /** -// * Offset for the NavX. -// */ -// private Rotation3d offset = new Rotation3d(); -// /** -// * An {@link Alert} for if there is an error instantiating the NavX. -// */ -// private Alert navXError; -// /** -// * Inversion state of the {@link AHRS}. -// */ -// private boolean inverted = false; -// -// /** -// * Constructor for the NavX({@link AHRS}) swerve. -// * -// * @param port Serial Port to connect to. -// */ -// public NavXSwerve(NavXComType port) -// { -// navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); -// try -// { -// /* Communicate w/navX-MXP via the MXP SPI Bus. */ -// /* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */ -// /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */ -// imu = new AHRS(port); -// factoryDefault(); -// } catch (RuntimeException ex) -// { -// navXError.setText("Error instantiating NavX: " + ex.getMessage()); -// navXError.set(true); -// } -// } -// -// @Override -// public void close() -// { -// imu.close(); -// } -// -// /** -// * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be -// * too slow. -// */ -// @Override -// public void factoryDefault() -// { -// // gyro.reset(); // Reported to be slow -// offset = imu.getRotation3d(); -// } -// -// /** -// * Clear sticky faults on IMU. -// */ -// @Override -// public void clearStickyFaults() -// { -// } -// -// /** -// * Set the gyro offset. -// * -// * @param offset gyro offset as a {@link Rotation3d}. -// */ -// public void setOffset(Rotation3d offset) -// { -// this.offset = offset; -// } -// -// /** -// * Set the gyro to invert its default direction -// * -// * @param invertIMU invert gyro direction -// */ -// public void setInverted(boolean invertIMU) -// { -// inverted = invertIMU; -//// setOffset(getRawRotation3d()); -// } -// -// private Rotation3d negate(Rotation3d rot) { -// return new Rotation3d(-rot.getX(), -rot.getY(), -rot.getZ()); -// } -// -// /** -// * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. -// * -// * @return {@link Rotation3d} from the IMU. -// */ -// @Override -// public Rotation3d getRawRotation3d() -// { -// return inverted ? negate(imu.getRotation3d()) : imu.getRotation3d(); -// } -// -// /** -// * Fetch the {@link Rotation3d} from the IMU. Robot relative. -// * -// * @return {@link Rotation3d} from the IMU. -// */ -// @Override -// public Rotation3d getRotation3d() -// { -// return getRawRotation3d().rotateBy(offset.unaryMinus()); -// } -// -// /** -// * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns -// * empty. -// * -// * @return {@link Translation3d} of the acceleration as an {@link Optional}. -// */ -// @Override -// public Optional getAccel() -// { -// return Optional.of( -// new Translation3d( -// imu.getWorldLinearAccelX(), -// imu.getWorldLinearAccelY(), -// imu.getWorldLinearAccelZ()) -// .times(9.81)); -// } -// -// @Override -// public MutAngularVelocity getYawAngularVelocity() -// { -// return yawVel.mut_setMagnitude(imu.getRate()); -// } -// -// /** -// * Get the instantiated NavX({@link AHRS}) IMU object. -// * -// * @return IMU object. -// */ -// @Override -// public Object getIMU() -// { -// return imu; -// } -//} +package swervelib.imu; + +import static edu.wpi.first.units.Units.DegreesPerSecond; + +import com.studica.frc.AHRS; +import com.studica.frc.AHRS.NavXComType; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.units.measure.MutAngularVelocity; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import java.util.Optional; + +/** + * Communicates with the NavX({@link AHRS}) as the IMU. + */ +public class NavXSwerve extends SwerveIMU +{ + + /** + * Mutable {@link MutAngularVelocity} for readings. + */ + private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond); + /** + * NavX IMU. + */ + private AHRS imu; + /** + * Offset for the NavX. + */ + private Rotation3d offset = new Rotation3d(); + /** + * An {@link Alert} for if there is an error instantiating the NavX. + */ + private Alert navXError; + /** + * Inversion state of the {@link AHRS}. + */ + private boolean inverted = false; + + /** + * Constructor for the NavX({@link AHRS}) swerve. + * + * @param port Serial Port to connect to. + */ + public NavXSwerve(NavXComType port) + { + navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); + try + { + /* Communicate w/navX-MXP via the MXP SPI Bus. */ + /* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */ + /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */ + imu = new AHRS(port); + factoryDefault(); + } catch (RuntimeException ex) + { + navXError.setText("Error instantiating NavX: " + ex.getMessage()); + navXError.set(true); + } + } + + @Override + public void close() + { + imu.close(); + } + + /** + * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be + * too slow. + */ + @Override + public void factoryDefault() + { + // gyro.reset(); // Reported to be slow + offset = imu.getRotation3d(); + } + + /** + * Clear sticky faults on IMU. + */ + @Override + public void clearStickyFaults() + { + } + + /** + * Set the gyro offset. + * + * @param offset gyro offset as a {@link Rotation3d}. + */ + public void setOffset(Rotation3d offset) + { + this.offset = offset; + } + + /** + * Set the gyro to invert its default direction + * + * @param invertIMU invert gyro direction + */ + public void setInverted(boolean invertIMU) + { + inverted = invertIMU; +// setOffset(getRawRotation3d()); + } + + private Rotation3d negate(Rotation3d rot) { + return new Rotation3d(-rot.getX(), -rot.getY(), -rot.getZ()); + } + + /** + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRawRotation3d() + { + return inverted ? negate(imu.getRotation3d()) : imu.getRotation3d(); + } + + /** + * Fetch the {@link Rotation3d} from the IMU. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRotation3d() + { + return getRawRotation3d().rotateBy(offset.unaryMinus()); + } + + /** + * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns + * empty. + * + * @return {@link Translation3d} of the acceleration as an {@link Optional}. + */ + @Override + public Optional getAccel() + { + return Optional.of( + new Translation3d( + imu.getWorldLinearAccelX(), + imu.getWorldLinearAccelY(), + imu.getWorldLinearAccelZ()) + .times(9.81)); + } + + @Override + public MutAngularVelocity getYawAngularVelocity() + { + return yawVel.mut_setMagnitude(imu.getRate()); + } + + /** + * Get the instantiated NavX({@link AHRS}) IMU object. + * + * @return IMU object. + */ + @Override + public Object getIMU() + { + return imu; + } +} diff --git a/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java b/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java index bd9f6a4..f7f471e 100644 --- a/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java +++ b/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java @@ -1,539 +1,539 @@ -//// Copyright (c) FIRST and other WPILib contributors. -//// Open Source Software; you can modify and/or share it under the terms of -//// the WPILib BSD license file in the root directory of this project. -// -//package swervelib.motors; -// -//import com.thethriftybot.devices.ThriftyNova; -//import com.thethriftybot.devices.ThriftyNova.CurrentType; -//import com.thethriftybot.devices.ThriftyNova.EncoderType; -//import com.thethriftybot.devices.ThriftyNova.PIDSlot; -//import com.thethriftybot.util.Conversion; -//import com.thethriftybot.util.Conversion.PositionUnit; -//import com.thethriftybot.util.Conversion.VelocityUnit; -//import java.util.List; -//import java.util.Optional; -//import java.util.function.Supplier; -// -// -//import edu.wpi.first.math.controller.PIDController; -//import edu.wpi.first.math.system.plant.DCMotor; -//import edu.wpi.first.wpilibj.DataLogManager; -//import edu.wpi.first.wpilibj.RobotBase; -//import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -//import swervelib.encoders.SwerveAbsoluteEncoder; -//import swervelib.parser.PIDFConfig; -//import swervelib.telemetry.SwerveDriveTelemetry; -//import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity; -// -///** -// * An implementation of {@link ThriftyNova} as a {@link SwerveMotor}. -// */ -//public class ThriftyNovaSwerve extends SwerveMotor -//{ -// -// /** -// * {@link DCMotor} for simulation and calculations. -// */ -// private final DCMotor simMotor; -// /** -// * Closed-loop PID controller. -// */ -// public PIDController pid; -// /** -// * ThriftyNova Instance. -// */ -// private ThriftyNova motor; -// /** -// * Factory default already occurred. -// */ -// private boolean factoryDefaultOccurred = false; -// /** -// * Position conversion object for the motor encoder -// */ -// private Conversion positionConversion; -// /** -// * Velocity conversion object for the motor encoder -// */ -// private Conversion velocityConversion; -// /** -// * The position conversion factor for the encoder -// */ -// private double positionConversionFactor = 1.0; -// /** -// * The position conversion factor for the encoder -// */ -// private double velocityConversionFactor = 1.0 / 60.0; -// /** -// * Absolute encoder attached to the SparkMax (if exists) -// */ -// private Optional absoluteEncoder = Optional.empty(); -// /** -// * Supplier for the velocity of the motor controller. -// */ -// private Supplier velocity; -// /** -// * Supplier for the position of the motor controller. -// */ -// private Supplier position; -// -// /** -// * Initialize the swerve motor. -// * -// * @param motor The SwerveMotor as a ThriftyNova object. -// * @param isDriveMotor Is the motor being initialized a drive motor? -// * @param motorType {@link DCMotor} controlled by the {@link ThriftyNova} -// */ -// public ThriftyNovaSwerve(ThriftyNova motor, boolean isDriveMotor, DCMotor motorType) -// { -// this.motor = motor; -// this.isDriveMotor = isDriveMotor; -// this.simMotor = motorType; -// factoryDefaults(); -// clearStickyFaults(); -// -// motor.usePIDSlot(PIDSlot.SLOT0); -// pid = new PIDController(0, 0, 0); -// motor.pid0.setPID(pid); -// -// if (isDriveMotor) -// { -// positionConversion = new Conversion(PositionUnit.ROTATIONS, EncoderType.INTERNAL); -// velocityConversion = new Conversion(VelocityUnit.ROTATIONS_PER_SEC, EncoderType.INTERNAL); -// } else -// { -// positionConversion = new Conversion(PositionUnit.ROTATIONS, EncoderType.INTERNAL); -// velocityConversion = new Conversion(VelocityUnit.ROTATIONS_PER_SEC, EncoderType.INTERNAL); -// } -// -// position = this::getConvertedPosition; -// velocity = this::getConvertedVelocity; -// } -// -// /** -// * Initialize the {@link SwerveMotor} as a {@link ThriftyNova} connected to a Brushless Motor. -// * -// * @param id CAN ID of the ThriftyNova. -// * @param isDriveMotor Is the motor being initialized a drive motor? -// * @param motor {@link DCMotor} controlled by the {@link ThriftyNova} -// */ -// public ThriftyNovaSwerve(int id, boolean isDriveMotor, DCMotor motor) -// { -// this(new ThriftyNova(id), isDriveMotor, motor); -// } -// -// /** -// * Close the motor controller and release any resources it may have acquired. -// * -// * @throws RuntimeException If an exception is thrown while closing the motor. -// */ -// @Override -// public void close() { -// try { -// motor.close(); -// } catch (Exception e) { -// throw new RuntimeException(e); -// } -// } -// -// private double getConvertedPosition() { -// double motorPosition = motor.getPosition(); -// double convertedPosition = motorPosition / positionConversionFactor; -// return convertedPosition; -// } -// -// /** -// * Get the velocity of the motor in meters per second or degrees per second after conversion. -// * -// * @return velocity in meters per second or degrees per second. -// */ -// private double getConvertedVelocity() { -// double motorVelocity = motor.getVelocity(); -// double convertedVelocity = motorVelocity / velocityConversionFactor; -// -// return convertedVelocity; -// } -// -// /** -// * Set factory defaults on the motor controller. -// */ -// @Override -// public void factoryDefaults() -// { -// // Factory defaults from https://docs.thethriftybot.com/thrifty-nova/gqCPUYXcVoOZ4KW3DqIr/software-resources/configure-controller-settings/factory-default -// if (!factoryDefaultOccurred) -// { -// if (RobotBase.isReal()) -// { -// motor.factoryReset(); -// } -// factoryDefaultOccurred = true; -// } -// } -// -// /** -// * Clear the sticky faults on the motor controller. -// */ -// @Override -// public void clearStickyFaults() -// { -// if (RobotBase.isReal()) { -// motor.clearErrors(); -// } -// } -// -// /** -// * Set the absolute encoder to be a compatible absolute encoder. -// * -// * @param encoder The encoder to use. -// * @return The {@link SwerveMotor} for easy instantiation. -// */ -// @Override -// public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) -// { -// if (encoder == null) -// { -// motor.useEncoderType(EncoderType.INTERNAL); -// position = this::getConvertedPosition; -// velocity = this::getConvertedVelocity; -// } -// else -// { -// absoluteEncoder = Optional.of(encoder); -// position = absoluteEncoder.get()::getAbsolutePosition; -// velocity = absoluteEncoder.get()::getVelocity; -// motor.useEncoderType(EncoderType.ABS); -// } -// return this; -// } -// -// /** -// * Configure the integrated encoder for the ThriftyNova swerve module. Sets the conversion -// * factors for position and velocity, and configures the CAN status frames. -// * -// * @param positionConversionFactor The conversion factor to apply for position. -// */ -// @Override -// public void configureIntegratedEncoder(double positionConversionFactor) -// { -// this.positionConversionFactor = positionConversionFactor; -// this.velocityConversionFactor = positionConversionFactor; -// -// motor.useEncoderType(EncoderType.INTERNAL); -// configureCANStatusFrames(0.25, 0.01, 0.01, 0.02, 0.20); -// } -// -// /** -// * Set the CAN status frames. -// * -// * @param fault Fault transmission rate -// * @param sensor Sensor transmission rate -// * @param quadSensor External quad encoder transmission rate -// * @param control Control frame transmission rate -// * @param current Current feedback transmission rate -// */ -// public void configureCANStatusFrames( -// double fault, double sensor, double quadSensor, double control, double current) -// { -// if (RobotBase.isReal()) -// { -// motor.canFreq.setFault(fault); -// motor.canFreq.setSensor(sensor); -// motor.canFreq.setQuadSensor(quadSensor); -// motor.canFreq.setControl(control); -// motor.canFreq.setCurrent(current); -// checkErrors("Configuring CAN status frames failed: "); -// } -// } -// -// /** -// * Configure the PIDF values for the closed loop controller. 0 is disabled or off. -// * -// * @param config Configuration class holding the PIDF values. -// */ -// @Override -// public void configurePIDF(PIDFConfig config) -// { -// if (RobotBase.isReal()) -// { -// motor.pid0.setP(config.p).setI(config.i).setD(config.d); -// motor.usePIDSlot(PIDSlot.SLOT0); -// checkErrors("Configuring PIDF failed: "); -// } -// } -// -// /** -// * Configure the PID wrapping for the position closed loop controller. -// * -// * @param minInput Minimum PID input. -// * @param maxInput Maximum PID input. -// */ -// @Override -// public void configurePIDWrapping(double minInput, double maxInput) -// { -// // Do nothing -// } -// -// /** -// * Disable PID Wrapping on the motor. -// */ -// @Override -// public void disablePIDWrapping() -// { -// // Do nothing -// } -// -// /** -// * Set the idle mode. -// * -// * @param isBrakeMode Set the brake mode. -// */ -// @Override -// public void setMotorBrake(boolean isBrakeMode) -// { -// if (RobotBase.isReal()) { -// motor.setBrakeMode(isBrakeMode); -// checkErrors("Setting motor brake mode failed: "); -// } -// } -// -// /** -// * Set the motor to be inverted. -// * -// * @param inverted State of inversion. -// */ -// @Override -// public void setInverted(boolean inverted) -// { -// if (RobotBase.isReal()) { -// motor.setInverted(inverted); -// checkErrors("Setting motor inversion failed: "); -// } -// } -// -// /** -// * Save the configurations from flash to EEPROM. -// */ -// @Override -// public void burnFlash() -// { -// // Do nothing -// } -// -// /** -// * Set the percentage output. -// * -// * @param percentOutput percent out for the motor controller. -// */ -// @Override -// public void set(double percentOutput) -// { -// motor.setPercent(percentOutput); -// } -// -// /** -// * Set the closed loop PID controller reference point. -// * -// * @param setpoint Setpoint in MPS or Angle in degrees. -// * @param feedforward Feedforward in volt-meter-per-second or kV. -// */ -// @Override -// public void setReference(double setpoint, double feedforward) -// { -// setReference(setpoint, feedforward, getPosition()); -// } -// -// /** -// * Set the closed loop PID controller reference point. -// * -// * @param setpoint Setpoint in meters per second or angle in degrees. -// * @param feedforward Feedforward in volt-meter-per-second or kV. -// * @param position Only used on the angle motor, the position of the motor in degrees. -// */ -// @Override -// public void setReference(double setpoint, double feedforward, double position) -// { -// if (RobotBase.isReal()) { -// if (isDriveMotor) -// { -// double convertedSetpoint = setpoint / velocityConversionFactor; -// double motorSetpoint = velocityConversion.toMotor(convertedSetpoint); -// motor.setVelocity(motorSetpoint, feedforward); -// } else -// { -// double convertedSetpoint = absoluteEncoder.map(it -> setpoint).orElse(setpoint / positionConversionFactor); -// double motorSetpoint = positionConversion.toMotor(convertedSetpoint); -// motor.setPosition(motorSetpoint); -// } -// } -// } -// -// /** -// * Get the voltage output of the motor controller. -// * -// * @return Voltage output. -// */ -// @Override -// public double getVoltage() -// { -// return motor.getVoltage(); -// } -// -// /** -// * Set the voltage of the motor. -// * -// * @param voltage Voltage to set. -// */ -// @Override -// public void setVoltage(double voltage) -// { -// motor.setVoltage(voltage); -// } -// -// /** -// * Get the voltage output of the motor controller. -// * -// * @return Voltage output. -// */ -// @Override -// public double getAppliedOutput() -// { -// return motor.getStatorCurrent(); -// } -// -// /** -// * Get the velocity of the integrated encoder. -// * -// * @return velocity in Meters Per Second, or Degrees per Second. -// */ -// @Override -// public double getVelocity() -// { -// return velocity.get(); -// } -// -// /** -// * Get the position of the integrated encoder. -// * -// * @return Position in Meters or Degrees. -// */ -// @Override -// public double getPosition() -// { -// return position.get(); -// } -// -// /** -// * Set the integrated encoder position. -// * -// * @param position Integrated encoder position. Should be angle in degrees or meters. -// */ -// @Override -// public void setPosition(double position) -// { -// if (!absoluteEncoder.isPresent()) -// { -// double convertedPosition = position / positionConversionFactor; -// double motorPosition = positionConversion.toMotor(convertedPosition); -// motor.setEncoderPosition(motorPosition); -// } -// } -// -// /** -// * Set the voltage compensation for the swerve module motor. -// * -// * @param nominalVoltage Nominal voltage for operation to output to. -// */ -// @Override -// public void setVoltageCompensation(double nominalVoltage) -// { -// motor.setVoltageCompensation(nominalVoltage); -// } -// -// /** -// * Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with -// * voltage compensation. This is useful to protect the motor from current spikes. -// * -// * @param currentLimit Current limit in AMPS at free speed. -// */ -// @Override -// public void setCurrentLimit(int currentLimit) -// { -// if (RobotBase.isReal()) { -// motor.setMaxCurrent(CurrentType.STATOR, currentLimit); -// checkErrors("Setting current limit failed: "); -// } -// } -// -// /** -// * Set the maximum rate the open/closed loop output can change by. -// * -// * @param rampRate Time in seconds to go from 0 to full throttle. -// */ -// @Override -// public void setLoopRampRate(double rampRate) -// { -// if (RobotBase.isReal()) { -// motor.setRampUp(rampRate); -// motor.setRampDown(rampRate); -// checkErrors("Setting loop ramp rate failed: "); -// } -// } -// -// /** -// * Get the motor object from the module. -// * -// * @return Motor object. -// */ -// @Override -// public Object getMotor() -// { -// return motor; -// } -// -// /** -// * Queries whether the absolute encoder is directly attached to the motor controller. -// * -// * @return connected absolute encoder state. -// */ -// @Override -// public boolean usingExternalFeedbackSensor() -// { -// return absoluteEncoder.isPresent(); -// } -// -// /** -// * Checks for errors in the motor and logs them if any are found. -// * -// * @param message the message to prepend to the log and print statement -// */ -// private void checkErrors(String message) -// { -// if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal()) -// { -// List errors = motor.getErrors(); -// if (errors.size() > 0) -// { -// for (ThriftyNova.Error error : errors) -// { -// if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.MACHINE.ordinal()) { -// System.out.println(this.getClass().getSimpleName() + ": " + message + error.toString()); -// } -// DataLogManager.log(this.getClass().getSimpleName() + ": " + message + error.toString()); -// } -// } -// motor.clearErrors(); -// } -// } -// -// /** -// * Get the simulated {@link DCMotor} associated with this motor controller. -// * -// * @return Simulated {@link DCMotor} instance. -// */ -// @Override -// public DCMotor getSimMotor() -// { -// return simMotor; -// } -//} +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package swervelib.motors; + +import com.thethriftybot.devices.ThriftyNova; +import com.thethriftybot.devices.ThriftyNova.CurrentType; +import com.thethriftybot.devices.ThriftyNova.EncoderType; +import com.thethriftybot.devices.ThriftyNova.PIDSlot; +import com.thethriftybot.util.Conversion; +import com.thethriftybot.util.Conversion.PositionUnit; +import com.thethriftybot.util.Conversion.VelocityUnit; +import java.util.List; +import java.util.Optional; +import java.util.function.Supplier; + + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import swervelib.encoders.SwerveAbsoluteEncoder; +import swervelib.parser.PIDFConfig; +import swervelib.telemetry.SwerveDriveTelemetry; +import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity; + +/** + * An implementation of {@link ThriftyNova} as a {@link SwerveMotor}. + */ +public class ThriftyNovaSwerve extends SwerveMotor +{ + + /** + * {@link DCMotor} for simulation and calculations. + */ + private final DCMotor simMotor; + /** + * Closed-loop PID controller. + */ + public PIDController pid; + /** + * ThriftyNova Instance. + */ + private ThriftyNova motor; + /** + * Factory default already occurred. + */ + private boolean factoryDefaultOccurred = false; + /** + * Position conversion object for the motor encoder + */ + private Conversion positionConversion; + /** + * Velocity conversion object for the motor encoder + */ + private Conversion velocityConversion; + /** + * The position conversion factor for the encoder + */ + private double positionConversionFactor = 1.0; + /** + * The position conversion factor for the encoder + */ + private double velocityConversionFactor = 1.0 / 60.0; + /** + * Absolute encoder attached to the SparkMax (if exists) + */ + private Optional absoluteEncoder = Optional.empty(); + /** + * Supplier for the velocity of the motor controller. + */ + private Supplier velocity; + /** + * Supplier for the position of the motor controller. + */ + private Supplier position; + + /** + * Initialize the swerve motor. + * + * @param motor The SwerveMotor as a ThriftyNova object. + * @param isDriveMotor Is the motor being initialized a drive motor? + * @param motorType {@link DCMotor} controlled by the {@link ThriftyNova} + */ + public ThriftyNovaSwerve(ThriftyNova motor, boolean isDriveMotor, DCMotor motorType) + { + this.motor = motor; + this.isDriveMotor = isDriveMotor; + this.simMotor = motorType; + factoryDefaults(); + clearStickyFaults(); + + motor.usePIDSlot(PIDSlot.SLOT0); + pid = new PIDController(0, 0, 0); + motor.pid0.setPID(pid); + + if (isDriveMotor) + { + positionConversion = new Conversion(PositionUnit.ROTATIONS, EncoderType.INTERNAL); + velocityConversion = new Conversion(VelocityUnit.ROTATIONS_PER_SEC, EncoderType.INTERNAL); + } else + { + positionConversion = new Conversion(PositionUnit.ROTATIONS, EncoderType.INTERNAL); + velocityConversion = new Conversion(VelocityUnit.ROTATIONS_PER_SEC, EncoderType.INTERNAL); + } + + position = this::getConvertedPosition; + velocity = this::getConvertedVelocity; + } + + /** + * Initialize the {@link SwerveMotor} as a {@link ThriftyNova} connected to a Brushless Motor. + * + * @param id CAN ID of the ThriftyNova. + * @param isDriveMotor Is the motor being initialized a drive motor? + * @param motor {@link DCMotor} controlled by the {@link ThriftyNova} + */ + public ThriftyNovaSwerve(int id, boolean isDriveMotor, DCMotor motor) + { + this(new ThriftyNova(id), isDriveMotor, motor); + } + + /** + * Close the motor controller and release any resources it may have acquired. + * + * @throws RuntimeException If an exception is thrown while closing the motor. + */ + @Override + public void close() { + try { + motor.close(); + } catch (Exception e) { + throw new RuntimeException(e); + } + } + + private double getConvertedPosition() { + double motorPosition = motor.getPosition(); + double convertedPosition = motorPosition / positionConversionFactor; + return convertedPosition; + } + + /** + * Get the velocity of the motor in meters per second or degrees per second after conversion. + * + * @return velocity in meters per second or degrees per second. + */ + private double getConvertedVelocity() { + double motorVelocity = motor.getVelocity(); + double convertedVelocity = motorVelocity / velocityConversionFactor; + + return convertedVelocity; + } + + /** + * Set factory defaults on the motor controller. + */ + @Override + public void factoryDefaults() + { + // Factory defaults from https://docs.thethriftybot.com/thrifty-nova/gqCPUYXcVoOZ4KW3DqIr/software-resources/configure-controller-settings/factory-default + if (!factoryDefaultOccurred) + { + if (RobotBase.isReal()) + { + motor.factoryReset(); + } + factoryDefaultOccurred = true; + } + } + + /** + * Clear the sticky faults on the motor controller. + */ + @Override + public void clearStickyFaults() + { + if (RobotBase.isReal()) { + motor.clearErrors(); + } + } + + /** + * Set the absolute encoder to be a compatible absolute encoder. + * + * @param encoder The encoder to use. + * @return The {@link SwerveMotor} for easy instantiation. + */ + @Override + public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) + { + if (encoder == null) + { + motor.useEncoderType(EncoderType.INTERNAL); + position = this::getConvertedPosition; + velocity = this::getConvertedVelocity; + } + else + { + absoluteEncoder = Optional.of(encoder); + position = absoluteEncoder.get()::getAbsolutePosition; + velocity = absoluteEncoder.get()::getVelocity; + motor.useEncoderType(EncoderType.ABS); + } + return this; + } + + /** + * Configure the integrated encoder for the ThriftyNova swerve module. Sets the conversion + * factors for position and velocity, and configures the CAN status frames. + * + * @param positionConversionFactor The conversion factor to apply for position. + */ + @Override + public void configureIntegratedEncoder(double positionConversionFactor) + { + this.positionConversionFactor = positionConversionFactor; + this.velocityConversionFactor = positionConversionFactor; + + motor.useEncoderType(EncoderType.INTERNAL); + configureCANStatusFrames(0.25, 0.01, 0.01, 0.02, 0.20); + } + + /** + * Set the CAN status frames. + * + * @param fault Fault transmission rate + * @param sensor Sensor transmission rate + * @param quadSensor External quad encoder transmission rate + * @param control Control frame transmission rate + * @param current Current feedback transmission rate + */ + public void configureCANStatusFrames( + double fault, double sensor, double quadSensor, double control, double current) + { + if (RobotBase.isReal()) + { + motor.canFreq.setFault(fault); + motor.canFreq.setSensor(sensor); + motor.canFreq.setQuadSensor(quadSensor); + motor.canFreq.setControl(control); + motor.canFreq.setCurrent(current); + checkErrors("Configuring CAN status frames failed: "); + } + } + + /** + * Configure the PIDF values for the closed loop controller. 0 is disabled or off. + * + * @param config Configuration class holding the PIDF values. + */ + @Override + public void configurePIDF(PIDFConfig config) + { + if (RobotBase.isReal()) + { + motor.pid0.setP(config.p).setI(config.i).setD(config.d); + motor.usePIDSlot(PIDSlot.SLOT0); + checkErrors("Configuring PIDF failed: "); + } + } + + /** + * Configure the PID wrapping for the position closed loop controller. + * + * @param minInput Minimum PID input. + * @param maxInput Maximum PID input. + */ + @Override + public void configurePIDWrapping(double minInput, double maxInput) + { + // Do nothing + } + + /** + * Disable PID Wrapping on the motor. + */ + @Override + public void disablePIDWrapping() + { + // Do nothing + } + + /** + * Set the idle mode. + * + * @param isBrakeMode Set the brake mode. + */ + @Override + public void setMotorBrake(boolean isBrakeMode) + { + if (RobotBase.isReal()) { + motor.setBrakeMode(isBrakeMode); + checkErrors("Setting motor brake mode failed: "); + } + } + + /** + * Set the motor to be inverted. + * + * @param inverted State of inversion. + */ + @Override + public void setInverted(boolean inverted) + { + if (RobotBase.isReal()) { + motor.setInverted(inverted); + checkErrors("Setting motor inversion failed: "); + } + } + + /** + * Save the configurations from flash to EEPROM. + */ + @Override + public void burnFlash() + { + // Do nothing + } + + /** + * Set the percentage output. + * + * @param percentOutput percent out for the motor controller. + */ + @Override + public void set(double percentOutput) + { + motor.setPercent(percentOutput); + } + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint in MPS or Angle in degrees. + * @param feedforward Feedforward in volt-meter-per-second or kV. + */ + @Override + public void setReference(double setpoint, double feedforward) + { + setReference(setpoint, feedforward, getPosition()); + } + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint in meters per second or angle in degrees. + * @param feedforward Feedforward in volt-meter-per-second or kV. + * @param position Only used on the angle motor, the position of the motor in degrees. + */ + @Override + public void setReference(double setpoint, double feedforward, double position) + { + if (RobotBase.isReal()) { + if (isDriveMotor) + { + double convertedSetpoint = setpoint / velocityConversionFactor; + double motorSetpoint = velocityConversion.toMotor(convertedSetpoint); + motor.setVelocity(motorSetpoint, feedforward); + } else + { + double convertedSetpoint = absoluteEncoder.map(it -> setpoint).orElse(setpoint / positionConversionFactor); + double motorSetpoint = positionConversion.toMotor(convertedSetpoint); + motor.setPosition(motorSetpoint); + } + } + } + + /** + * Get the voltage output of the motor controller. + * + * @return Voltage output. + */ + @Override + public double getVoltage() + { + return motor.getVoltage(); + } + + /** + * Set the voltage of the motor. + * + * @param voltage Voltage to set. + */ + @Override + public void setVoltage(double voltage) + { + motor.setVoltage(voltage); + } + + /** + * Get the voltage output of the motor controller. + * + * @return Voltage output. + */ + @Override + public double getAppliedOutput() + { + return motor.getStatorCurrent(); + } + + /** + * Get the velocity of the integrated encoder. + * + * @return velocity in Meters Per Second, or Degrees per Second. + */ + @Override + public double getVelocity() + { + return velocity.get(); + } + + /** + * Get the position of the integrated encoder. + * + * @return Position in Meters or Degrees. + */ + @Override + public double getPosition() + { + return position.get(); + } + + /** + * Set the integrated encoder position. + * + * @param position Integrated encoder position. Should be angle in degrees or meters. + */ + @Override + public void setPosition(double position) + { + if (!absoluteEncoder.isPresent()) + { + double convertedPosition = position / positionConversionFactor; + double motorPosition = positionConversion.toMotor(convertedPosition); + motor.setEncoderPosition(motorPosition); + } + } + + /** + * Set the voltage compensation for the swerve module motor. + * + * @param nominalVoltage Nominal voltage for operation to output to. + */ + @Override + public void setVoltageCompensation(double nominalVoltage) + { + motor.setVoltageCompensation(nominalVoltage); + } + + /** + * Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with + * voltage compensation. This is useful to protect the motor from current spikes. + * + * @param currentLimit Current limit in AMPS at free speed. + */ + @Override + public void setCurrentLimit(int currentLimit) + { + if (RobotBase.isReal()) { + motor.setMaxCurrent(CurrentType.STATOR, currentLimit); + checkErrors("Setting current limit failed: "); + } + } + + /** + * Set the maximum rate the open/closed loop output can change by. + * + * @param rampRate Time in seconds to go from 0 to full throttle. + */ + @Override + public void setLoopRampRate(double rampRate) + { + if (RobotBase.isReal()) { + motor.setRampUp(rampRate); + motor.setRampDown(rampRate); + checkErrors("Setting loop ramp rate failed: "); + } + } + + /** + * Get the motor object from the module. + * + * @return Motor object. + */ + @Override + public Object getMotor() + { + return motor; + } + + /** + * Queries whether the absolute encoder is directly attached to the motor controller. + * + * @return connected absolute encoder state. + */ + @Override + public boolean usingExternalFeedbackSensor() + { + return absoluteEncoder.isPresent(); + } + + /** + * Checks for errors in the motor and logs them if any are found. + * + * @param message the message to prepend to the log and print statement + */ + private void checkErrors(String message) + { + if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal()) + { + List errors = motor.getErrors(); + if (errors.size() > 0) + { + for (ThriftyNova.Error error : errors) + { + if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.MACHINE.ordinal()) { + System.out.println(this.getClass().getSimpleName() + ": " + message + error.toString()); + } + DataLogManager.log(this.getClass().getSimpleName() + ": " + message + error.toString()); + } + } + motor.clearErrors(); + } + } + + /** + * Get the simulated {@link DCMotor} associated with this motor controller. + * + * @return Simulated {@link DCMotor} instance. + */ + @Override + public DCMotor getSimMotor() + { + return simMotor; + } +} diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index 340bc2b..b94cbaf 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -5,13 +5,13 @@ import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning; import com.ctre.phoenix.motorcontrol.FeedbackDevice; -//import com.studica.frc.AHRS.NavXComType; +import com.studica.frc.AHRS.NavXComType; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.DriverStation; import swervelib.encoders.AnalogAbsoluteEncoderSwerve; import swervelib.encoders.CANCoderSwerve; -//import swervelib.encoders.CanAndMagSwerve; +import swervelib.encoders.CanAndMagSwerve; import swervelib.encoders.DIODutyCycleEncoderSwerve; import swervelib.encoders.SparkFlexEncoderSwerve; import swervelib.encoders.SparkMaxAnalogEncoderSwerve; @@ -22,9 +22,9 @@ import swervelib.imu.ADIS16470Swerve; import swervelib.imu.ADXRS450Swerve; import swervelib.imu.AnalogGyroSwerve; -//import swervelib.imu.CanandgyroSwerve; -//import swervelib.imu.NavX3Swerve; -//import swervelib.imu.NavXSwerve; +import swervelib.imu.CanandgyroSwerve; +import swervelib.imu.NavX3Swerve; +import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.PigeonSwerve; import swervelib.imu.PigeonViaTalonSRXSwerve; @@ -37,7 +37,7 @@ import swervelib.motors.TalonFXSSwerve; import swervelib.motors.TalonFXSwerve; import swervelib.motors.TalonSRXSwerve; -//import swervelib.motors.ThriftyNovaSwerve; +import swervelib.motors.ThriftyNovaSwerve; import swervelib.parser.deserializer.ReflectionsManager; import swervelib.parser.deserializer.ReflectionsManager.VENDOR; @@ -92,8 +92,8 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) case "sparkflex_canandcoder": return new SparkFlexEncoderSwerve(motor, 360); case "canandcoder_can": -// case "canandmag_can": -// return new CanAndMagSwerve(id); + case "canandmag_can": + return new CanAndMagSwerve(id); case "ctre_mag": case "rev_hex": case "throughbore": @@ -154,29 +154,29 @@ public SwerveIMU createIMU() return new ADXRS450Swerve(); case "analog": return new AnalogGyroSwerve(id); -// case "canandgyro": -// return new CanandgyroSwerve(id); -// case "navx": -// case "navx_spi": -// return new NavXSwerve(NavXComType.kMXP_SPI); -// case "navx3": -// return new NavX3Swerve(id); -// case "navx_i2c": -// DriverStation.reportWarning( -// "WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " + -// "\nhttps://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues" + -// ".html#onboard-i2c-causing-system-lockups", -// false); -// i2cLockupWarning.set(true); -// return new NavXSwerve(NavXComType.kI2C); -// case "navx_usb": -// DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" + -// "https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false); -// serialCommsIssueWarning.set(true); -// return new NavXSwerve(NavXComType.kUSB1); -// case "navx_mxp_serial": -// serialCommsIssueWarning.set(true); -// return new NavXSwerve(NavXComType.kMXP_UART); + case "canandgyro": + return new CanandgyroSwerve(id); + case "navx": + case "navx_spi": + return new NavXSwerve(NavXComType.kMXP_SPI); + case "navx3": + return new NavX3Swerve(id); + case "navx_i2c": + DriverStation.reportWarning( + "WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " + + "\nhttps://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues" + + ".html#onboard-i2c-causing-system-lockups", + false); + i2cLockupWarning.set(true); + return new NavXSwerve(NavXComType.kI2C); + case "navx_usb": + DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" + + "https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false); + serialCommsIssueWarning.set(true); + return new NavXSwerve(NavXComType.kUSB1); + case "navx_mxp_serial": + serialCommsIssueWarning.set(true); + return new NavXSwerve(NavXComType.kMXP_UART); case "pigeon": return new PigeonSwerve(id); case "pigeon_via_talonsrx": @@ -298,8 +298,8 @@ public SwerveMotor createMotor(boolean isDriveMotor) new Class[]{int.class, boolean.class, DCMotor.class}, new Object[]{id, isDriveMotor, DCMotor.getNeoVortex(1)}); -// case "nova_minion": -// return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getMinion(1)); + case "nova_minion": + return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getMinion(1)); case "nova_pulsar": throw new UnsupportedOperationException("Cannot create pulsar combination"); default: diff --git a/yagsl/java/swervelib/parser/json/ModuleJson.java b/yagsl/java/swervelib/parser/json/ModuleJson.java index b2b33a0..d2917e7 100644 --- a/yagsl/java/swervelib/parser/json/ModuleJson.java +++ b/yagsl/java/swervelib/parser/json/ModuleJson.java @@ -4,9 +4,9 @@ import edu.wpi.first.math.util.Units; import swervelib.encoders.SparkMaxEncoderSwerve; import swervelib.encoders.SwerveAbsoluteEncoder; -//import swervelib.encoders.ThriftyNovaEncoderSwerve; +import swervelib.encoders.ThriftyNovaEncoderSwerve; import swervelib.motors.SwerveMotor; -//import swervelib.motors.ThriftyNovaSwerve; +import swervelib.motors.ThriftyNovaSwerve; import swervelib.parser.PIDFConfig; import swervelib.parser.SwerveModuleConfiguration; import swervelib.parser.SwerveModulePhysicalCharacteristics; @@ -117,10 +117,10 @@ public SwerveModuleConfiguration createModuleConfiguration( { angleMotor.setAbsoluteEncoder(absEncoder); } -// else if ((absEncoder instanceof ThriftyNovaEncoderSwerve && angleMotor instanceof ThriftyNovaSwerve)) -// { -// angleMotor.setAbsoluteEncoder(absEncoder); -// } + else if ((absEncoder instanceof ThriftyNovaEncoderSwerve && angleMotor instanceof ThriftyNovaSwerve)) + { + angleMotor.setAbsoluteEncoder(absEncoder); + } return new SwerveModuleConfiguration( drive.createMotor(true), From 059acd7eaa72366fbecd75ff9bc61b5d233fc075 Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Tue, 13 Jan 2026 00:05:16 -0700 Subject: [PATCH 14/62] retrobuzz changes --- .../simulation/ironmaple/simulation/Goal.java | 1 + .../simulation/gamepieces/GamePiece.java | 6 ++++++ .../gamepieces/GamePieceOnFieldSimulation.java | 5 +++++ .../gamepieces/GamePieceProjectile.java | 15 +++++++++++++++ .../rebuilt2026/RebuiltFuelOnFly.java | 17 ++++------------- .../reefscape2025/ReefscapeAlgaeOnFly.java | 11 ----------- 6 files changed, 31 insertions(+), 24 deletions(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java index 4ca3343..ba0a493 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java @@ -139,6 +139,7 @@ public void simulationSubTick(int subTickNum) { gamePiece -> { // If a piece passes, score it. gamePieceCount++; this.addPoints(); + gamePiece.triggerHitTargeCallBack();; arena.removePiece(gamePiece); }); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java index 68cb93d..424b38f 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java @@ -42,6 +42,12 @@ public interface GamePiece { */ Translation3d getVelocity3dMPS(); + + /** + *

    Internal function called to trigger a callback whenever this game piece is scored in a goal

    + */ + public void triggerHitTargeCallBack(); + /** * * diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java index 9c94425..55758a4 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java @@ -179,4 +179,9 @@ public Translation3d getVelocity3dMPS() { public boolean isGrounded() { return true; } + + @Override + public void triggerHitTargeCallBack(){ + return; + } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java index d4c589b..701a7d6 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java @@ -654,4 +654,19 @@ public String getType() { public boolean isGrounded() { return false; } + + public void triggerHitTargeCallBack(){ + hitTargetCallBack.run(); + } + + /** + *

    Registers a function that will be called whenever this game piece interacts with a goal object or collides with the specified target.

    + * Note: Certain goals like the rebuilt hub or the reefscape processor appear to reintroduce scored pieces into the field. + * However these pieces are actually new objects and so will not save any call back functions. + * @param hitTargetCallBack The call back to be set. + */ + public void setHitTargetCallBack(Runnable hitTargetCallBack){ + this.hitTargetCallBack = hitTargetCallBack; + } + } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java index 608201c..412f3cc 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnFly.java @@ -1,5 +1,6 @@ package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026; +import static edu.wpi.first.units.Units.Centimeter; import static edu.wpi.first.units.Units.Inches; import static edu.wpi.first.units.Units.Meters; @@ -21,22 +22,12 @@ * *

    The simulation will determine if the FUEL hits its target—the HUB. * - *

    The user can specify a callback using {@link #setHitNetCallBack(Runnable)}, which will be triggered when the FUEL + *

    The user can specify a callback using {@link #setHitHubCallBack(Runnable)}, which will be triggered when the FUEL * hits the HUB. */ public class RebuiltFuelOnFly extends GamePieceProjectile { - private static Runnable hitNetCallBack = () -> {}; - /** - * - * - *

    Specifies a callback for when any fuel launched into the air hits the hub.

    - * - * @param callBack a {@link Runnable} to be invoked when an fuel hits the hub - */ - public static void setHitNetCallBack(Runnable callBack) { - hitNetCallBack = callBack; - } + public RebuiltFuelOnFly( Translation2d robotPosition, @@ -56,7 +47,7 @@ public RebuiltFuelOnFly( launchingSpeed, shooterAngle); - super.withTouchGroundHeight(Inches.of(3).in(Meters)); + super.withTouchGroundHeight(Centimeter.of(7.5).in(Meters)); super.enableBecomesGamePieceOnFieldAfterTouchGround(); } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java index 89d7875..6041f95 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeAlgaeOnFly.java @@ -21,18 +21,7 @@ * hits the NET. */ public class ReefscapeAlgaeOnFly extends GamePieceProjectile { - private static Runnable hitNetCallBack = () -> System.out.println("hit target!"); - /** - * - * - *

    Specifies a callback for when any ALGAE launched into the air hits the NET.

    - * - * @param callBack a {@link Runnable} to be invoked when an ALGAE hits the NET - */ - public static void setHitNetCallBack(Runnable callBack) { - hitNetCallBack = callBack; - } public ReefscapeAlgaeOnFly( Translation2d robotPosition, From bba2b2a57bd8b646abe236ce22e2e91ba425762e Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Tue, 13 Jan 2026 11:43:18 -0700 Subject: [PATCH 15/62] Fixed typo --- yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java | 2 +- .../simulation/ironmaple/simulation/gamepieces/GamePiece.java | 3 ++- .../simulation/gamepieces/GamePieceOnFieldSimulation.java | 2 +- .../ironmaple/simulation/gamepieces/GamePieceProjectile.java | 2 +- 4 files changed, 5 insertions(+), 4 deletions(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java index ba0a493..ed378c5 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java @@ -139,7 +139,7 @@ public void simulationSubTick(int subTickNum) { gamePiece -> { // If a piece passes, score it. gamePieceCount++; this.addPoints(); - gamePiece.triggerHitTargeCallBack();; + gamePiece.triggerHitTargetCallBack();; arena.removePiece(gamePiece); }); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java index 424b38f..49952e5 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java @@ -45,8 +45,9 @@ public interface GamePiece { /** *

    Internal function called to trigger a callback whenever this game piece is scored in a goal

    + * */ - public void triggerHitTargeCallBack(); + public void triggerHitTargetCallBack(); /** * diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java index 55758a4..fcbc661 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java @@ -181,7 +181,7 @@ public boolean isGrounded() { } @Override - public void triggerHitTargeCallBack(){ + public void triggerHitTargetCallBack(){ return; } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java index 701a7d6..789dca7 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java @@ -655,7 +655,7 @@ public boolean isGrounded() { return false; } - public void triggerHitTargeCallBack(){ + public void triggerHitTargetCallBack(){ hitTargetCallBack.run(); } From 2f799aa688105e4625a50370a3a5cfb2b782642d Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Tue, 13 Jan 2026 13:09:57 -0700 Subject: [PATCH 16/62] removed bonus semi colon --- yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java index ed378c5..8cca5cb 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java @@ -139,7 +139,7 @@ public void simulationSubTick(int subTickNum) { gamePiece -> { // If a piece passes, score it. gamePieceCount++; this.addPoints(); - gamePiece.triggerHitTargetCallBack();; + gamePiece.triggerHitTargetCallBack(); arena.removePiece(gamePiece); }); } From 506f260d71f90c12bfc88b89096358db015ea8c7 Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Tue, 13 Jan 2026 14:02:06 -0700 Subject: [PATCH 17/62] removed hit trigger callback --- .../simulation/ironmaple/simulation/Goal.java | 1 - .../ironmaple/simulation/gamepieces/GamePiece.java | 5 ----- .../gamepieces/GamePieceOnFieldSimulation.java | 4 ---- .../simulation/gamepieces/GamePieceProjectile.java | 14 -------------- 4 files changed, 24 deletions(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java index 8cca5cb..4ca3343 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/Goal.java @@ -139,7 +139,6 @@ public void simulationSubTick(int subTickNum) { gamePiece -> { // If a piece passes, score it. gamePieceCount++; this.addPoints(); - gamePiece.triggerHitTargetCallBack(); arena.removePiece(gamePiece); }); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java index 49952e5..d445b10 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePiece.java @@ -43,11 +43,6 @@ public interface GamePiece { Translation3d getVelocity3dMPS(); - /** - *

    Internal function called to trigger a callback whenever this game piece is scored in a goal

    - * - */ - public void triggerHitTargetCallBack(); /** * diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java index fcbc661..55ea347 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceOnFieldSimulation.java @@ -180,8 +180,4 @@ public boolean isGrounded() { return true; } - @Override - public void triggerHitTargetCallBack(){ - return; - } } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java index 789dca7..118f8f9 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/gamepieces/GamePieceProjectile.java @@ -655,18 +655,4 @@ public boolean isGrounded() { return false; } - public void triggerHitTargetCallBack(){ - hitTargetCallBack.run(); - } - - /** - *

    Registers a function that will be called whenever this game piece interacts with a goal object or collides with the specified target.

    - * Note: Certain goals like the rebuilt hub or the reefscape processor appear to reintroduce scored pieces into the field. - * However these pieces are actually new objects and so will not save any call back functions. - * @param hitTargetCallBack The call back to be set. - */ - public void setHitTargetCallBack(Runnable hitTargetCallBack){ - this.hitTargetCallBack = hitTargetCallBack; - } - } From f2143a0600f63f7f95cff1ac3bdc014834c0e42d Mon Sep 17 00:00:00 2001 From: twisterjafla Date: Tue, 13 Jan 2026 15:57:08 -0700 Subject: [PATCH 18/62] updated fuel weight --- .../seasonspecific/rebuilt2026/RebuiltFuelOnField.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java index 31714bf..a95301f 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltFuelOnField.java @@ -17,7 +17,7 @@ */ public class RebuiltFuelOnField extends GamePieceOnFieldSimulation { public static final GamePieceInfo REBUILT_FUEL_INFO = new GamePieceInfo( - "Fuel", new Circle(Centimeters.of(7.5).in(Meters)), Centimeter.of(15), Kilograms.of(2.13), 1.8, 5, 0.8); + "Fuel", new Circle(Centimeters.of(7.5).in(Meters)), Centimeter.of(15), Pounds.of(0.5), 1.8, 5, 0.8); public RebuiltFuelOnField(Translation2d initialPosition) { super(REBUILT_FUEL_INFO, new Pose2d(initialPosition, new Rotation2d())); From ea558de82bbdf2cc69b96b33e45aa6840dfd034e Mon Sep 17 00:00:00 2001 From: twisterjafla <122408604+twisterjafla@users.noreply.github.com> Date: Tue, 13 Jan 2026 23:21:31 -0700 Subject: [PATCH 19/62] updated vendor dep error messages for clarity (#10) --- vendordep/yagsl.json | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index 245e884..9a53630 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -35,24 +35,25 @@ "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json" }, { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Phoenix6 is required!", + "errorMessage": "Phoenix6 Replay is required!", "offlineFileName": "Phoenix6-replay-26.1.0.json", "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" }, { "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Phoenix5 is required!", + "errorMessage": "Phoenix5 Replay Compatibility is required!", "offlineFileName": "Phoenix5-replay-5.36.0.json", "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json" }, { "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "errorMessage": "Studica is required!", + "errorMessage": "Studica Lib is required!", "offlineFileName": "StudicaLib.json", "onlineUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json" }, - { + { "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", "errorMessage": "Studica is required!", "offlineFileName": "Studica.json", From 0b8500a37db8cdc7d1275187e0a4f0ea813e7c70 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Wed, 14 Jan 2026 10:08:19 -0600 Subject: [PATCH 20/62] Update config.gradle --- vendordep/config.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vendordep/config.gradle b/vendordep/config.gradle index a6d008c..0e1f0cb 100644 --- a/vendordep/config.gradle +++ b/vendordep/config.gradle @@ -8,7 +8,7 @@ nativeUtils { configureDependencies { wpiVersion = wpilibVersion opencvYear = "frc2025" - niLibVersion = "2025.0.0" + niLibVersion = "2026.1.0" opencvVersion = "4.10.0-2" } } From 44135d59ac94751ab0634f8bcbc76ac1a191b1f6 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Wed, 14 Jan 2026 10:46:49 -0600 Subject: [PATCH 21/62] Made studicalib reflective. Signed-off-by: thenetworkgrinch --- vendordep/yagsl.json | 12 -------- yagsl/java/swervelib/imu/NavXSwerve.java | 22 +++++++++++++++ .../parser/SwerveDriveConfiguration.java | 5 ---- .../deserializer/ReflectionsManager.java | 8 +++++- .../swervelib/parser/json/DeviceJson.java | 28 +++++++++++++------ 5 files changed, 49 insertions(+), 26 deletions(-) diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index 9a53630..544b27e 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -47,18 +47,6 @@ "offlineFileName": "Phoenix5-replay-5.36.0.json", "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json" }, - { - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "errorMessage": "Studica Lib is required!", - "offlineFileName": "StudicaLib.json", - "onlineUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json" - }, - { - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "errorMessage": "Studica is required!", - "offlineFileName": "Studica.json", - "onlineUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json" - }, { "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "errorMessage": "ThriftyLib is required!", diff --git a/yagsl/java/swervelib/imu/NavXSwerve.java b/yagsl/java/swervelib/imu/NavXSwerve.java index 071f3a1..c4b8322 100644 --- a/yagsl/java/swervelib/imu/NavXSwerve.java +++ b/yagsl/java/swervelib/imu/NavXSwerve.java @@ -60,6 +60,28 @@ public NavXSwerve(NavXComType port) } } + /** + * Constructor for the NavX({@link AHRS}) swerve. + * + * @param port Serial Port to connect to. + */ + public NavXSwerve(String port) + { + navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); + try + { + /* Communicate w/navX-MXP via the MXP SPI Bus. */ + /* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */ + /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */ + imu = new AHRS(NavXComType.valueOf(port)); + factoryDefault(); + } catch (RuntimeException ex) + { + navXError.setText("Error instantiating NavX: " + ex.getMessage()); + navXError.set(true); + } + } + @Override public void close() { diff --git a/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java b/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java index 4d724d7..653a4a3 100644 --- a/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java +++ b/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java @@ -6,7 +6,6 @@ import swervelib.simulation.ironmaple.simulation.drivesims.COTS; import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation; import swervelib.SwerveModule; -//import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.SwerveIMU; import swervelib.math.SwerveMath; @@ -156,10 +155,6 @@ public Supplier getGyroSim() { return COTS.ofPigeon2(); } -// else if (imu instanceof NavXSwerve) -// { -// return COTS.ofNav2X(); -// } return COTS.ofGenericGyro(); } diff --git a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java index f889522..999bdbb 100644 --- a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java +++ b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java @@ -27,7 +27,8 @@ public enum VENDOR /** * StudicaLib */ - STUDICA + STUDICA, + STUDICA2 } /** @@ -68,6 +69,11 @@ public static boolean checkIfVendorLibExists(VENDOR vendor) library = Class.forName("com.studica.frc.AHRS"); break; } + case STUDICA2 -> + { + library = Class.forName("com.studica.frc.Navx"); + break; + } default -> { return false; diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index b94cbaf..5e85f6c 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -5,7 +5,6 @@ import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning; import com.ctre.phoenix.motorcontrol.FeedbackDevice; -import com.studica.frc.AHRS.NavXComType; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.DriverStation; @@ -23,8 +22,6 @@ import swervelib.imu.ADXRS450Swerve; import swervelib.imu.AnalogGyroSwerve; import swervelib.imu.CanandgyroSwerve; -import swervelib.imu.NavX3Swerve; -import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.PigeonSwerve; import swervelib.imu.PigeonViaTalonSRXSwerve; @@ -158,9 +155,15 @@ public SwerveIMU createIMU() return new CanandgyroSwerve(id); case "navx": case "navx_spi": - return new NavXSwerve(NavXComType.kMXP_SPI); + return ReflectionsManager.create(VENDOR.STUDICA, + "swervelib.imu.NavXSwerve", + new Class[]{String.class}, + new Object[]{"kMXP_SPI"}); case "navx3": - return new NavX3Swerve(id); + return ReflectionsManager.create(VENDOR.STUDICA2, + "swervelib.imu.NavX3Swerve", + new Class[]{Integer.class}, + new Object[]{id}); case "navx_i2c": DriverStation.reportWarning( "WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " + @@ -168,15 +171,24 @@ public SwerveIMU createIMU() ".html#onboard-i2c-causing-system-lockups", false); i2cLockupWarning.set(true); - return new NavXSwerve(NavXComType.kI2C); + return ReflectionsManager.create(VENDOR.STUDICA, + "swervelib.imu.NavXSwerve", + new Class[]{String.class}, + new Object[]{"kI2C"}); case "navx_usb": DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" + "https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false); serialCommsIssueWarning.set(true); - return new NavXSwerve(NavXComType.kUSB1); + return ReflectionsManager.create(VENDOR.STUDICA, + "swervelib.imu.NavXSwerve", + new Class[]{String.class}, + new Object[]{"kUSB1"}); case "navx_mxp_serial": serialCommsIssueWarning.set(true); - return new NavXSwerve(NavXComType.kMXP_UART); + return ReflectionsManager.create(VENDOR.STUDICA, + "swervelib.imu.NavXSwerve", + new Class[]{String.class}, + new Object[]{"kMXP_UART"}); case "pigeon": return new PigeonSwerve(id); case "pigeon_via_talonsrx": From 917469eb95fdfce039116fc6c4de8a525ee4920c Mon Sep 17 00:00:00 2001 From: twisterjafla <122408604+twisterjafla@users.noreply.github.com> Date: Wed, 14 Jan 2026 17:07:17 -0700 Subject: [PATCH 22/62] Removed an extra println (#11) --- vendordep/yagsl.json | 1 - .../simulation/seasonspecific/rebuilt2026/RebuiltHub.java | 4 +--- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index 544b27e..b974014 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -35,7 +35,6 @@ "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json" }, { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Phoenix6 Replay is required!", "offlineFileName": "Phoenix6-replay-26.1.0.json", diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java index 36a685e..687a808 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java @@ -86,9 +86,7 @@ protected boolean checkVel(GamePiece gamePiece) { @Override protected boolean checkCollision(GamePiece GamePiece) { - System.out.println(Math.pow(GamePiece.getPose3d().getX() - position.getX(), 2) - + Math.pow(GamePiece.getPose3d().getY() - position.getY(), 2) - + Math.pow(GamePiece.getPose3d().getZ() - position.getZ(), 2)); + return Math.pow(GamePiece.getPose3d().getX() - position.getX(), 2) + Math.pow(GamePiece.getPose3d().getY() - position.getY(), 2) + Math.pow(GamePiece.getPose3d().getZ() - position.getZ(), 2) From 6cbfda2df1facf395d1a66cdae865d18d626a7e0 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sat, 17 Jan 2026 10:29:08 -0600 Subject: [PATCH 23/62] Added TalonFXSEncoderAnalogSwerve Signed-off-by: thenetworkgrinch --- vendordep/config.gradle | 2 +- .../encoders/TalonFXSEncoderAnalogSwerve.java | 100 ++++++++++++++++++ .../swervelib/parser/json/DeviceJson.java | 3 + 3 files changed, 104 insertions(+), 1 deletion(-) create mode 100644 yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java diff --git a/vendordep/config.gradle b/vendordep/config.gradle index 0e1f0cb..cad08d2 100644 --- a/vendordep/config.gradle +++ b/vendordep/config.gradle @@ -8,7 +8,7 @@ nativeUtils { configureDependencies { wpiVersion = wpilibVersion opencvYear = "frc2025" - niLibVersion = "2026.1.0" + niLibVersion = "2026.1.2" opencvVersion = "4.10.0-2" } } diff --git a/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java b/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java new file mode 100644 index 0000000..193dc01 --- /dev/null +++ b/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java @@ -0,0 +1,100 @@ +package swervelib.encoders; + +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Rotations; + +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.TalonFXSConfiguration; +import com.ctre.phoenix6.configs.TalonFXSConfigurator; +import com.ctre.phoenix6.hardware.TalonFXS; +import com.ctre.phoenix6.signals.ExternalFeedbackSensorSourceValue; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Voltage; +import swervelib.motors.SwerveMotor; +import swervelib.motors.TalonFXSSwerve; + +/** + * Swerve Absolute Encoder for CTRE TalonFXS. + */ +public class TalonFXSEncoderAnalogSwerve extends SwerveAbsoluteEncoder +{ + + /** + * + * Reference to a TalonFXS for polling its attached absolute encoder. + */ + private final TalonFXS talonFXS; + /** + * Analog absolute encoder voltage. + */ + private final StatusSignal analogVoltage; + /** + * Offset of the absolute encoder. + */ + private Angle offset = Degrees.of(0); + /** + * Inverted state of the encoder. + */ + private boolean inverted = false; + + public TalonFXSEncoderAnalogSwerve(SwerveMotor motor) + { + if(!(motor instanceof TalonFXSSwerve)) + { + throw new IllegalArgumentException("Motor must be a TalonFXSSwerve"); + } + talonFXS = (TalonFXS)motor.getMotor(); + analogVoltage = talonFXS.getAnalogVoltage(); + } + + + @Override + public void close() + { + // Do nothing + } + + @Override + public void factoryDefault() + { + // Do nothing + } + + @Override + public void clearStickyFaults() + { + // Do nothing + } + + @Override + public void configure(boolean inverted) + { + this.inverted = inverted; + } + + @Override + public double getAbsolutePosition() + { + var angle = Rotations.of(analogVoltage.refresh().getValueAsDouble() / 5.0); + return (inverted ? Rotations.of(1).minus(angle) : angle).minus(offset).in(Degrees); + } + + @Override + public Object getAbsoluteEncoder() + { + return analogVoltage; + } + + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + this.offset = Degrees.of(offset); + return true; + } + + @Override + public double getVelocity() + { + return 0; + } +} diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index 5e85f6c..a029fbd 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -16,6 +16,7 @@ import swervelib.encoders.SparkMaxAnalogEncoderSwerve; import swervelib.encoders.SparkMaxEncoderSwerve; import swervelib.encoders.SwerveAbsoluteEncoder; +import swervelib.encoders.TalonFXSEncoderAnalogSwerve; import swervelib.encoders.TalonSRXEncoderSwerve; import swervelib.imu.ADIS16448Swerve; import swervelib.imu.ADIS16470Swerve; @@ -88,6 +89,8 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) case "sparkflex_canandmag": case "sparkflex_canandcoder": return new SparkFlexEncoderSwerve(motor, 360); + case "talonfxs_analog": + return new TalonFXSEncoderAnalogSwerve(motor); case "canandcoder_can": case "canandmag_can": return new CanAndMagSwerve(id); From dc4dabac8817fc7d74b12ab537e36bb2df95a32a Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Sat, 17 Jan 2026 17:44:53 -0600 Subject: [PATCH 24/62] Update voltage divisor in getAbsolutePosition method --- yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java b/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java index 193dc01..e7b12fd 100644 --- a/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java +++ b/yagsl/java/swervelib/encoders/TalonFXSEncoderAnalogSwerve.java @@ -75,7 +75,7 @@ public void configure(boolean inverted) @Override public double getAbsolutePosition() { - var angle = Rotations.of(analogVoltage.refresh().getValueAsDouble() / 5.0); + var angle = Rotations.of(analogVoltage.refresh().getValueAsDouble() / 3.3); return (inverted ? Rotations.of(1).minus(angle) : angle).minus(offset).in(Degrees); } From 09d3451213320fd81f26c496c5674e2cbddc1ee5 Mon Sep 17 00:00:00 2001 From: twisterjafla <122408604+twisterjafla@users.noreply.github.com> Date: Sat, 17 Jan 2026 21:40:14 -0700 Subject: [PATCH 25/62] Changes where MapleSim publishes goal poses. (#13) * updated vendor dep error messages for clarity * I cant read * unremoved studica * additional clarification * removed extra print line * changed where goal poses are published * fixes timing issues --- .../ironmaple/simulation/SimulatedArena.java | 4 +++- .../seasonspecific/crescendo2024/CrescendoAmp.java | 2 +- .../crescendo2024/CrescendoSpeaker.java | 2 +- .../rebuilt2026/Arena2026Rebuilt.java | 14 +++++++------- .../seasonspecific/rebuilt2026/RebuiltHub.java | 2 +- .../seasonspecific/rebuilt2026/RebuiltOutpost.java | 6 +++--- .../reefscape2025/ReefscapeBargeSimulation.java | 2 +- .../ReefscapeProcessorSimulation.java | 2 +- .../reefscape2025/ReefscapeReefSimulation.java | 2 +- 9 files changed, 19 insertions(+), 17 deletions(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java index 28b926c..350a4b0 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -67,6 +67,7 @@ public abstract class SimulatedArena { protected int redScore = 0; protected int blueScore = 0; protected double matchClock = 0; + protected double lastMeasuredTimestamp=System.currentTimeMillis(); public Map redScoringBreakdown = new Hashtable(); public Map blueScoringBreakdown = new Hashtable(); @@ -571,7 +572,8 @@ public synchronized void simulationPeriodic() { // move through a few sub-periods in each update for (int i = 0; i < SIMULATION_SUB_TICKS_IN_1_PERIOD; i++) simulationSubTick(i); - matchClock += getSimulationDt().in(Units.Seconds); + matchClock += (System.currentTimeMillis() - lastMeasuredTimestamp)/1000.0; + lastMeasuredTimestamp = System.currentTimeMillis(); SmartDashboard.putNumber("MapleArenaSimulation/Dyn4jEngineCPUTimeMS", (System.nanoTime() - t0) / 1000000.0); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java index d40a7a7..e71f1fa 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoAmp.java @@ -51,7 +51,7 @@ public CrescendoAmp(Arena2024Crescendo arena, boolean isBlue) { setNeededAngle(new Rotation3d(0, Math.PI / 2, Math.PI / 2)); StructPublisher ampPublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueAmp" : "RedAmp", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueAmp" : "RedAmp"), Pose3d.struct) .publish(); ampPublisher.set(new Pose3d(position, this.pieceAngle)); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java index c3f8fa7..de32a84 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/crescendo2024/CrescendoSpeaker.java @@ -48,7 +48,7 @@ public CrescendoSpeaker(Arena2024Crescendo arena, boolean isBlue) { crescendoArena = arena; StructPublisher speakerPosePublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueSpeaker" : "RedSpeaker", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueSpeaker" : "RedSpeaker"), Pose3d.struct) .publish(); speakerPosePublisher.set(new Pose3d(position, new Rotation3d())); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java index 0b432ca..ad32971 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/Arena2026Rebuilt.java @@ -28,7 +28,7 @@ public class Arena2026Rebuilt extends SimulatedArena { protected boolean shouldClock = true; - protected double clock = 0; + protected double nextClockSwapTime=0; protected boolean blueIsOnClock = Math.random() < 0.5; protected DoublePublisher phaseClockPublisher = @@ -290,18 +290,18 @@ public synchronized List getGamePiecesPosesByType(String type) { public void simulationSubTick(int tickNum) { if (shouldClock && !DriverStation.isAutonomous() && DriverStation.isEnabled()) { - clock -= getSimulationDt().in(Units.Seconds); - if (clock <= 0) { - clock = 25; + if (matchClock >= nextClockSwapTime) { + nextClockSwapTime = matchClock + 25; blueIsOnClock = !blueIsOnClock; } + phaseClockPublisher.set((nextClockSwapTime-matchClock)); + + } else { - clock = 25; + phaseClockPublisher.set((25)); } - phaseClockPublisher.set((clock)); - super.simulationSubTick(tickNum); blueActivePublisher.set(isActive(true)); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java index 687a808..f01049d 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltHub.java @@ -74,7 +74,7 @@ public RebuiltHub(Arena2026Rebuilt arena, boolean isBlue) { this.arena = arena; StructPublisher HubPosePublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueHub" : "RedHub", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueHub" : "RedHub"), Pose3d.struct) .publish(); HubPosePublisher.set(new Pose3d(position, new Rotation3d())); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java index 8986dab..b616087 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/rebuilt2026/RebuiltOutpost.java @@ -67,14 +67,14 @@ public RebuiltOutpost(Arena2026Rebuilt arena, boolean isBlue) { gamePieceCount = 24; StructPublisher OutpostPublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueOutpost" : "RedOutpost", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueOutpost" : "RedOutpost"), Pose3d.struct) .publish(); StructPublisher OutpostThrowPublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueOutpostThrow" : "RedOutpostThrow", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueOutpostThrow" : "RedOutpostThrow"), Pose3d.struct) .publish(); StructPublisher OutpostDumpPublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueOutpostDump" : "RedOutpostDump", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueOutpostDump" : "RedOutpostDump"), Pose3d.struct) .publish(); OutpostPublisher.set(new Pose3d(position, new Rotation3d())); diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java index afe13a9..fea8c56 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeBargeSimulation.java @@ -48,7 +48,7 @@ public ReefscapeBargeSimulation(Arena2025Reefscape arena, boolean isBlue) { false); StructPublisher heldAlgaePublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueBarge" : "RedBarge", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueBarge" : "RedBarge"), Pose3d.struct) .publish(); heldAlgaePublisher.set(new Pose3d(position, new Rotation3d())); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java index 229eb5b..8fba430 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeProcessorSimulation.java @@ -47,7 +47,7 @@ public ReefscapeProcessorSimulation(Arena2025Reefscape arena, boolean isBlue) { true); StructPublisher heldAlgaePublisher = NetworkTableInstance.getDefault() - .getStructTopic(isBlue ? "BlueProcessor" : "RedProcessor", Pose3d.struct) + .getStructTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueProcessor" : "RedProcessor"), Pose3d.struct) .publish(); heldAlgaePublisher.set(new Pose3d(position, new Rotation3d())); } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java index e00b887..c02dcdf 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/seasonspecific/reefscape2025/ReefscapeReefSimulation.java @@ -47,7 +47,7 @@ public class ReefscapeReefSimulation implements SimulatedArena.Simulatable { } } reefPub = NetworkTableInstance.getDefault() - .getStructArrayTopic(isBlue ? "BlueReef" : "RedReef", Pose3d.struct) + .getStructArrayTopic("/SmartDashboard/MapleSim/Goals/" + (isBlue ? "BlueReef" : "RedReef"), Pose3d.struct) .publish(); reefPub.set(branchPoses); From 90b4a4ace865234e3ae57e77d57c6b3c76f091f3 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Sat, 17 Jan 2026 22:40:49 -0600 Subject: [PATCH 26/62] Update GradleRIO and wpilibVersion to 2026.2.1 --- vendordep/build.gradle | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/vendordep/build.gradle b/vendordep/build.gradle index c13d431..adb987b 100644 --- a/vendordep/build.gradle +++ b/vendordep/build.gradle @@ -4,13 +4,13 @@ plugins { id 'google-test' id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0' id 'edu.wpi.first.NativeUtils' version '2026.0.1' - id "edu.wpi.first.GradleRIO" version "2026.1.1" // Version supplied here + id "edu.wpi.first.GradleRIO" version "2026.2.1" // Version supplied here id 'edu.wpi.first.GradleJni' version '1.1.0' id 'edu.wpi.first.GradleVsCode' version '2.1.0' id "com.diffplug.spotless" version "6.11.0" } -ext.wpilibVersion = "2026.1.1" // and again here, thanks gradle.... +ext.wpilibVersion = "2026.2.1" // and again here, thanks gradle.... ext.releasePath = "$buildDir/maven" ext.pubVersion = System.getenv("releaseVersion") ?: System.getenv("releaseName") ?: "test" From fbd17b21cf5679fdeaea6f5446617713adafa9d1 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Tue, 20 Jan 2026 15:19:04 -0600 Subject: [PATCH 27/62] Fixed TalonFXS to use commutation and apply the ratio correctly. Signed-off-by: thenetworkgrinch --- .../java/swervelib/motors/TalonFXSSwerve.java | 20 ++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/yagsl/java/swervelib/motors/TalonFXSSwerve.java b/yagsl/java/swervelib/motors/TalonFXSSwerve.java index b5fa088..3521b8d 100644 --- a/yagsl/java/swervelib/motors/TalonFXSSwerve.java +++ b/yagsl/java/swervelib/motors/TalonFXSSwerve.java @@ -11,6 +11,7 @@ import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.hardware.TalonFXS; import com.ctre.phoenix6.signals.AdvancedHallSupportValue; +import com.ctre.phoenix6.signals.ExternalFeedbackSensorSourceValue; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.MotorArrangementValue; @@ -132,6 +133,19 @@ public void factoryDefaults() configuration.Commutation.withAdvancedHallSupport(AdvancedHallSupportValue.Enabled); configuration.Commutation.withMotorArrangement(MotorArrangementValue.Minion_JST); } + else if (isMotor(simMotor, DCMotor.getNEO(1))) + { + configuration.Commutation.withAdvancedHallSupport(AdvancedHallSupportValue.Disabled); + configuration.Commutation.withMotorArrangement(MotorArrangementValue.NEO_JST); + } else if (isMotor(simMotor, DCMotor.getNeo550(1))) + { + configuration.Commutation.withAdvancedHallSupport(AdvancedHallSupportValue.Disabled); + configuration.Commutation.withMotorArrangement(MotorArrangementValue.NEO550_JST); + } else if (isMotor(simMotor, DCMotor.getNeoVortex(1))) + { + configuration.Commutation.withAdvancedHallSupport(AdvancedHallSupportValue.Disabled); + configuration.Commutation.withMotorArrangement(MotorArrangementValue.NEO_JST); + } } } @@ -207,10 +221,10 @@ public void configureIntegratedEncoder(double positionConversionFactor) .withMotionMagicExpo_kV(0.12 * positionConversionFactor) .withMotionMagicExpo_kA(0.1); - /* - configuration.Feedback.withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) + + configuration.ExternalFeedback.withExternalFeedbackSensorSource(ExternalFeedbackSensorSourceValue.Commutation) .withSensorToMechanismRatio(positionConversionFactor); - */ + cfg.apply(configuration); } From a5c1f30cad8dbeafe7de565dc818dbc792e5f5d9 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Tue, 20 Jan 2026 15:21:49 -0600 Subject: [PATCH 28/62] Fixed position to read in degrees. Signed-off-by: thenetworkgrinch --- yagsl/java/swervelib/motors/TalonFXSSwerve.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/motors/TalonFXSSwerve.java b/yagsl/java/swervelib/motors/TalonFXSSwerve.java index 3521b8d..faa16d1 100644 --- a/yagsl/java/swervelib/motors/TalonFXSSwerve.java +++ b/yagsl/java/swervelib/motors/TalonFXSSwerve.java @@ -404,7 +404,7 @@ public double getVelocity() @Override public double getPosition() { - return motor.getPosition().getValue().magnitude(); + return motor.getPosition().getValue().in(Degrees); } /** From 08d29dff9ec2d0af3affd33e8cb226aaaad4d387 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Tue, 20 Jan 2026 15:24:40 -0600 Subject: [PATCH 29/62] Revert position casting. Signed-off-by: thenetworkgrinch --- yagsl/java/swervelib/motors/TalonFXSSwerve.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/motors/TalonFXSSwerve.java b/yagsl/java/swervelib/motors/TalonFXSSwerve.java index faa16d1..583cc99 100644 --- a/yagsl/java/swervelib/motors/TalonFXSSwerve.java +++ b/yagsl/java/swervelib/motors/TalonFXSSwerve.java @@ -1,6 +1,7 @@ package swervelib.motors; import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Rotations; import static edu.wpi.first.units.Units.Volts; @@ -404,7 +405,7 @@ public double getVelocity() @Override public double getPosition() { - return motor.getPosition().getValue().in(Degrees); + return motor.getPosition().getValue().magnitude(); } /** From 8db5a2ca32ebfa2b1791e8fe148bdb7f3965b260 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Tue, 20 Jan 2026 16:00:45 -0600 Subject: [PATCH 30/62] Update TalonFXSSwerve.java --- yagsl/java/swervelib/motors/TalonFXSSwerve.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/yagsl/java/swervelib/motors/TalonFXSSwerve.java b/yagsl/java/swervelib/motors/TalonFXSSwerve.java index 583cc99..2fd6f27 100644 --- a/yagsl/java/swervelib/motors/TalonFXSSwerve.java +++ b/yagsl/java/swervelib/motors/TalonFXSSwerve.java @@ -349,7 +349,7 @@ public void setReference(double setpoint, double feedforward, double position) motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint).withFeedForward(feedforward)); } else { - motor.setControl(m_angleVoltageSetter.withPosition(setpoint / 360.0)); + motor.setControl(m_angleVoltageSetter.withPosition(setpoint)); } } @@ -418,7 +418,7 @@ public void setPosition(double position) { if (!absoluteEncoder && !SwerveDriveTelemetry.isSimulation) { - cfg.setPosition(Degrees.of(position).in(Rotations)); + cfg.setPosition(Degrees.of(position).in(Degrees)); } } From 32b3c6b717e8a958536e9cb975293cb9efdd6ed1 Mon Sep 17 00:00:00 2001 From: KonnorR Date: Sat, 24 Jan 2026 19:36:03 -0500 Subject: [PATCH 31/62] Disable Bump Collision (#16) --- .../simulation/ironmaple/simulation/SimulatedArena.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java index 350a4b0..c42302d 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -112,7 +112,7 @@ public static SimulatedArena getInstance() { throw new IllegalStateException( "MapleSim is running on a real robot! (If you would actually want that, set SimulatedArena.ALLOW_CREATION_ON_REAL_ROBOT to true)."); - if (instance == null) instance = new Arena2026Rebuilt(); + if (instance == null) instance = new Arena2026Rebuilt(false); return instance; } From 1cc10643618144991e635c5eace46a17cf23282c Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Sun, 25 Jan 2026 23:34:15 -0600 Subject: [PATCH 32/62] Update ReflectionsManager.java --- .../java/swervelib/parser/deserializer/ReflectionsManager.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java index 999bdbb..26e0a4a 100644 --- a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java +++ b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java @@ -61,7 +61,7 @@ public static boolean checkIfVendorLibExists(VENDOR vendor) } case THRIFTYBOT -> { - library = Class.forName("com.thethriftybot.ThriftyNova"); + library = Class.forName("com.thethriftybot.devices.ThriftyNova"); break; } case STUDICA -> From 5475f3f6e5d820926e4e2d01381e8d1ce4aed8bf Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Mon, 26 Jan 2026 18:48:45 -0600 Subject: [PATCH 33/62] Update to the new ThriftyLib. Fixed ThriftyNovaSwerve to not crash in sim. (#17) Signed-off-by: thenetworkgrinch Co-authored-by: thenetworkgrinch --- .../.wpilib/wpilib_preferences.json | 2 +- examples/drivebase_only_2026/build.gradle | 2 +- .../vendordeps/REVLib.json | 18 ++-- .../vendordeps/StudicaLib-2026.0.0.json | 71 ---------------- ...Lib-2026.0.0.json => ThriftyLib-2026.json} | 12 +-- .../swervelib/motors/ThriftyNovaSwerve.java | 83 ++++++++++--------- 6 files changed, 64 insertions(+), 124 deletions(-) delete mode 100644 examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json rename examples/drivebase_only_2026/vendordeps/{ThriftyLib-2026.0.0.json => ThriftyLib-2026.json} (68%) diff --git a/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json b/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json index f727ea3..8959180 100644 --- a/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json +++ b/examples/drivebase_only_2026/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2026beta", + "projectYear": "2026", "teamNumber": 3481 } \ No newline at end of file diff --git a/examples/drivebase_only_2026/build.gradle b/examples/drivebase_only_2026/build.gradle index faa789c..e06c9f1 100644 --- a/examples/drivebase_only_2026/build.gradle +++ b/examples/drivebase_only_2026/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2026.1.1" + id "edu.wpi.first.GradleRIO" version "2026.2.1" } java { diff --git a/examples/drivebase_only_2026/vendordeps/REVLib.json b/examples/drivebase_only_2026/vendordeps/REVLib.json index 4f96af8..d35e593 100644 --- a/examples/drivebase_only_2026/vendordeps/REVLib.json +++ b/examples/drivebase_only_2026/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0", + "version": "2026.0.1", "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0" + "version": "2026.0.1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json deleted file mode 100644 index 7447f74..0000000 --- a/examples/drivebase_only_2026/vendordeps/StudicaLib-2026.0.0.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.0", - "frcYear": "2026", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.0", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.0", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.0", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} diff --git a/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.json similarity index 68% rename from examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json rename to examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.json index 56ff85e..9aa5808 100644 --- a/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.0.0.json +++ b/examples/drivebase_only_2026/vendordeps/ThriftyLib-2026.json @@ -1,18 +1,20 @@ { - "fileName": "ThriftyLib-2026.0.0.json", + "fileName": "ThriftyLib-2026.json", "name": "ThriftyLib", - "version": "2026.0.0", + "version": "2026.0.1", "frcYear": "2026", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", - "mavenUrls": ["https://docs.home.thethriftybot.com"], + "mavenUrls": [ + "https://docs.home.thethriftybot.com" + ], "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", "javaDependencies": [ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2026.0.0" + "version": "2026.0.1" } ], "jniDependencies": [], "cppDependencies": [] -} +} \ No newline at end of file diff --git a/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java b/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java index f7f471e..20c90c6 100644 --- a/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java +++ b/yagsl/java/swervelib/motors/ThriftyNovaSwerve.java @@ -11,16 +11,13 @@ import com.thethriftybot.util.Conversion; import com.thethriftybot.util.Conversion.PositionUnit; import com.thethriftybot.util.Conversion.VelocityUnit; -import java.util.List; -import java.util.Optional; -import java.util.function.Supplier; - - import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.List; +import java.util.Optional; +import java.util.function.Supplier; import swervelib.encoders.SwerveAbsoluteEncoder; import swervelib.parser.PIDFConfig; import swervelib.telemetry.SwerveDriveTelemetry; @@ -35,39 +32,39 @@ public class ThriftyNovaSwerve extends SwerveMotor /** * {@link DCMotor} for simulation and calculations. */ - private final DCMotor simMotor; + private final DCMotor simMotor; /** * Closed-loop PID controller. */ - public PIDController pid; + public PIDController pid; /** * ThriftyNova Instance. */ - private ThriftyNova motor; + private ThriftyNova motor; /** * Factory default already occurred. */ - private boolean factoryDefaultOccurred = false; + private boolean factoryDefaultOccurred = false; /** * Position conversion object for the motor encoder */ - private Conversion positionConversion; + private Conversion positionConversion; /** * Velocity conversion object for the motor encoder */ - private Conversion velocityConversion; + private Conversion velocityConversion; /** * The position conversion factor for the encoder */ - private double positionConversionFactor = 1.0; + private double positionConversionFactor = 1.0; /** * The position conversion factor for the encoder */ - private double velocityConversionFactor = 1.0 / 60.0; + private double velocityConversionFactor = 1.0 / 60.0; /** * Absolute encoder attached to the SparkMax (if exists) */ - private Optional absoluteEncoder = Optional.empty(); + private Optional absoluteEncoder = Optional.empty(); /** * Supplier for the velocity of the motor controller. */ @@ -94,7 +91,8 @@ public ThriftyNovaSwerve(ThriftyNova motor, boolean isDriveMotor, DCMotor motorT motor.usePIDSlot(PIDSlot.SLOT0); pid = new PIDController(0, 0, 0); - motor.pid0.setPID(pid); + if (RobotBase.isReal()) + {motor.pid0.setPID(pid);} if (isDriveMotor) { @@ -128,16 +126,20 @@ public ThriftyNovaSwerve(int id, boolean isDriveMotor, DCMotor motor) * @throws RuntimeException If an exception is thrown while closing the motor. */ @Override - public void close() { - try { + public void close() + { + try + { motor.close(); - } catch (Exception e) { + } catch (Exception e) + { throw new RuntimeException(e); } } - private double getConvertedPosition() { - double motorPosition = motor.getPosition(); + private double getConvertedPosition() + { + double motorPosition = motor.getPosition(); double convertedPosition = motorPosition / positionConversionFactor; return convertedPosition; } @@ -147,8 +149,9 @@ private double getConvertedPosition() { * * @return velocity in meters per second or degrees per second. */ - private double getConvertedVelocity() { - double motorVelocity = motor.getVelocity(); + private double getConvertedVelocity() + { + double motorVelocity = motor.getVelocity(); double convertedVelocity = motorVelocity / velocityConversionFactor; return convertedVelocity; @@ -177,7 +180,8 @@ public void factoryDefaults() @Override public void clearStickyFaults() { - if (RobotBase.isReal()) { + if (RobotBase.isReal()) + { motor.clearErrors(); } } @@ -196,8 +200,7 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) motor.useEncoderType(EncoderType.INTERNAL); position = this::getConvertedPosition; velocity = this::getConvertedVelocity; - } - else + } else { absoluteEncoder = Optional.of(encoder); position = absoluteEncoder.get()::getAbsolutePosition; @@ -208,8 +211,8 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) } /** - * Configure the integrated encoder for the ThriftyNova swerve module. Sets the conversion - * factors for position and velocity, and configures the CAN status frames. + * Configure the integrated encoder for the ThriftyNova swerve module. Sets the conversion factors for position and + * velocity, and configures the CAN status frames. * * @param positionConversionFactor The conversion factor to apply for position. */ @@ -291,7 +294,8 @@ public void disablePIDWrapping() @Override public void setMotorBrake(boolean isBrakeMode) { - if (RobotBase.isReal()) { + if (RobotBase.isReal()) + { motor.setBrakeMode(isBrakeMode); checkErrors("Setting motor brake mode failed: "); } @@ -305,7 +309,8 @@ public void setMotorBrake(boolean isBrakeMode) @Override public void setInverted(boolean inverted) { - if (RobotBase.isReal()) { + if (RobotBase.isReal()) + { motor.setInverted(inverted); checkErrors("Setting motor inversion failed: "); } @@ -353,16 +358,17 @@ public void setReference(double setpoint, double feedforward) @Override public void setReference(double setpoint, double feedforward, double position) { - if (RobotBase.isReal()) { + if (RobotBase.isReal()) + { if (isDriveMotor) { double convertedSetpoint = setpoint / velocityConversionFactor; - double motorSetpoint = velocityConversion.toMotor(convertedSetpoint); + double motorSetpoint = velocityConversion.toMotor(convertedSetpoint); motor.setVelocity(motorSetpoint, feedforward); } else { double convertedSetpoint = absoluteEncoder.map(it -> setpoint).orElse(setpoint / positionConversionFactor); - double motorSetpoint = positionConversion.toMotor(convertedSetpoint); + double motorSetpoint = positionConversion.toMotor(convertedSetpoint); motor.setPosition(motorSetpoint); } } @@ -434,7 +440,7 @@ public void setPosition(double position) if (!absoluteEncoder.isPresent()) { double convertedPosition = position / positionConversionFactor; - double motorPosition = positionConversion.toMotor(convertedPosition); + double motorPosition = positionConversion.toMotor(convertedPosition); motor.setEncoderPosition(motorPosition); } } @@ -459,7 +465,8 @@ public void setVoltageCompensation(double nominalVoltage) @Override public void setCurrentLimit(int currentLimit) { - if (RobotBase.isReal()) { + if (RobotBase.isReal()) + { motor.setMaxCurrent(CurrentType.STATOR, currentLimit); checkErrors("Setting current limit failed: "); } @@ -473,7 +480,8 @@ public void setCurrentLimit(int currentLimit) @Override public void setLoopRampRate(double rampRate) { - if (RobotBase.isReal()) { + if (RobotBase.isReal()) + { motor.setRampUp(rampRate); motor.setRampDown(rampRate); checkErrors("Setting loop ramp rate failed: "); @@ -516,7 +524,8 @@ private void checkErrors(String message) { for (ThriftyNova.Error error : errors) { - if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.MACHINE.ordinal()) { + if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.MACHINE.ordinal()) + { System.out.println(this.getClass().getSimpleName() + ": " + message + error.toString()); } DataLogManager.log(this.getClass().getSimpleName() + ": " + message + error.toString()); From 51a5cb76b17a48905fd824dd623c7b7b05a99928 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Fri, 30 Jan 2026 16:21:23 -0600 Subject: [PATCH 34/62] Fixed navX3 json loading. Signed-off-by: thenetworkgrinch --- .../main/deploy/swerve/neo/swervedrive.json | 2 +- .../vendordeps/Studica-2026.0.0.json | 71 ------------------- yagsl/java/swervelib/imu/NavX3Swerve.java | 13 ++-- .../deserializer/ReflectionsManager.java | 3 +- 4 files changed, 8 insertions(+), 81 deletions(-) delete mode 100644 examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json index 89ae3b1..462d9e0 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json @@ -1,7 +1,7 @@ { "$schema": "https://broncbotz3481.github.io/YAGSL-Example/schemas/swervedrive_schema.json", "imu": { - "type": "pigeon2", + "type": "navx3", "id": 13, "canbus": "canivore" }, diff --git a/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json deleted file mode 100644 index 7a1f3bb..0000000 --- a/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica.json", - "name": "Studica", - "version": "2026.0.0", - "frcYear": "2026", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} diff --git a/yagsl/java/swervelib/imu/NavX3Swerve.java b/yagsl/java/swervelib/imu/NavX3Swerve.java index c38698c..d9e095e 100644 --- a/yagsl/java/swervelib/imu/NavX3Swerve.java +++ b/yagsl/java/swervelib/imu/NavX3Swerve.java @@ -4,8 +4,6 @@ import static edu.wpi.first.units.Units.DegreesPerSecond; import static edu.wpi.first.units.Units.Milliseconds; -import com.studica.frc.AHRS; -import com.studica.frc.AHRS.NavXComType; import com.studica.frc.Navx; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Translation3d; @@ -17,7 +15,7 @@ import java.util.Optional; /** - * Communicates with the NavX({@link AHRS}) as the IMU. + * Communicates with the NavX({@link Navx}) as the IMU. */ public class NavX3Swerve extends SwerveIMU { @@ -39,7 +37,7 @@ public class NavX3Swerve extends SwerveIMU */ private Alert navXError; /** - * Inversion state of the {@link AHRS}. + * Inversion state of the {@link Navx}. */ private boolean inverted = false; @@ -48,7 +46,7 @@ public class NavX3Swerve extends SwerveIMU * * @param canid CAN ID of the NavX3. */ - public NavX3Swerve(int canid) + public NavX3Swerve(Integer canid) { navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); try @@ -69,8 +67,7 @@ public void close() } /** - * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be - * too slow. + * Reset offset to current gyro reading. */ @Override public void factoryDefault() @@ -156,7 +153,7 @@ public MutAngularVelocity getYawAngularVelocity() } /** - * Get the instantiated NavX({@link AHRS}) IMU object. + * Get the instantiated NavX({@link Navx}) IMU object. * * @return IMU object. */ diff --git a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java index 26e0a4a..6a3445b 100644 --- a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java +++ b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java @@ -105,7 +105,8 @@ public static T create(VENDOR v, String className, Class[] parameterTypes try { Class wrapper = Class.forName(className); - Object vendorObj = wrapper.getDeclaredConstructor(parameterTypes).newInstance(parameters); + var vendorCtr = wrapper.getDeclaredConstructor(parameterTypes); + var vendorObj = vendorCtr.newInstance(parameters); return (T) vendorObj; } catch (Exception e) { From 964edabf3f13e41ab22a7a96fd9308b7f117736e Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Fri, 30 Jan 2026 16:21:23 -0600 Subject: [PATCH 35/62] Fixed navX3 json loading. Signed-off-by: thenetworkgrinch --- .../main/deploy/swerve/neo/swervedrive.json | 2 +- ...{Studica-2026.0.0.json => StudicaLib.json} | 35 ++++++++++--------- yagsl/java/swervelib/imu/NavX3Swerve.java | 13 +++---- .../deserializer/ReflectionsManager.java | 3 +- 4 files changed, 27 insertions(+), 26 deletions(-) rename examples/drivebase_only_2026/vendordeps/{Studica-2026.0.0.json => StudicaLib.json} (71%) diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json index 89ae3b1..462d9e0 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/swervedrive.json @@ -1,7 +1,7 @@ { "$schema": "https://broncbotz3481.github.io/YAGSL-Example/schemas/swervedrive_schema.json", "imu": { - "type": "pigeon2", + "type": "navx3", "id": 13, "canbus": "canivore" }, diff --git a/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json b/examples/drivebase_only_2026/vendordeps/StudicaLib.json similarity index 71% rename from examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json rename to examples/drivebase_only_2026/vendordeps/StudicaLib.json index 7a1f3bb..813182a 100644 --- a/examples/drivebase_only_2026/vendordeps/Studica-2026.0.0.json +++ b/examples/drivebase_only_2026/vendordeps/StudicaLib.json @@ -1,25 +1,28 @@ { - "fileName": "Studica.json", - "name": "Studica", - "version": "2026.0.0", + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1", "frcYear": "2026", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", "mavenUrls": [ "https://dev.studica.com/maven/release/2026/" ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1.json", + "conflictsWith": [ + + ], "javaDependencies": [ { "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0" + "artifactId": "StudicaLib-java", + "version": "2026.0.1" } ], "jniDependencies": [ { "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -35,9 +38,9 @@ "cppDependencies": [ { "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0", - "libName": "Studica", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1", + "libName": "StudicaLib", "headerClassifier": "headers", "sharedLibrary": false, "skipInvalidPlatforms": true, @@ -52,9 +55,9 @@ }, { "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0", - "libName": "StudicaDriver", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1", + "libName": "StudicaLibDriver", "headerClassifier": "headers", "sharedLibrary": false, "skipInvalidPlatforms": true, @@ -68,4 +71,4 @@ ] } ] -} +} \ No newline at end of file diff --git a/yagsl/java/swervelib/imu/NavX3Swerve.java b/yagsl/java/swervelib/imu/NavX3Swerve.java index c38698c..d9e095e 100644 --- a/yagsl/java/swervelib/imu/NavX3Swerve.java +++ b/yagsl/java/swervelib/imu/NavX3Swerve.java @@ -4,8 +4,6 @@ import static edu.wpi.first.units.Units.DegreesPerSecond; import static edu.wpi.first.units.Units.Milliseconds; -import com.studica.frc.AHRS; -import com.studica.frc.AHRS.NavXComType; import com.studica.frc.Navx; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Translation3d; @@ -17,7 +15,7 @@ import java.util.Optional; /** - * Communicates with the NavX({@link AHRS}) as the IMU. + * Communicates with the NavX({@link Navx}) as the IMU. */ public class NavX3Swerve extends SwerveIMU { @@ -39,7 +37,7 @@ public class NavX3Swerve extends SwerveIMU */ private Alert navXError; /** - * Inversion state of the {@link AHRS}. + * Inversion state of the {@link Navx}. */ private boolean inverted = false; @@ -48,7 +46,7 @@ public class NavX3Swerve extends SwerveIMU * * @param canid CAN ID of the NavX3. */ - public NavX3Swerve(int canid) + public NavX3Swerve(Integer canid) { navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError); try @@ -69,8 +67,7 @@ public void close() } /** - * Reset offset to current gyro reading. Does not call NavX({@link AHRS#reset()}) because it has been reported to be - * too slow. + * Reset offset to current gyro reading. */ @Override public void factoryDefault() @@ -156,7 +153,7 @@ public MutAngularVelocity getYawAngularVelocity() } /** - * Get the instantiated NavX({@link AHRS}) IMU object. + * Get the instantiated NavX({@link Navx}) IMU object. * * @return IMU object. */ diff --git a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java index 26e0a4a..6a3445b 100644 --- a/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java +++ b/yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java @@ -105,7 +105,8 @@ public static T create(VENDOR v, String className, Class[] parameterTypes try { Class wrapper = Class.forName(className); - Object vendorObj = wrapper.getDeclaredConstructor(parameterTypes).newInstance(parameters); + var vendorCtr = wrapper.getDeclaredConstructor(parameterTypes); + var vendorObj = vendorCtr.newInstance(parameters); return (T) vendorObj; } catch (Exception e) { From fef44069df91e0444f884578ef9a87ad49b8f171 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Sun, 1 Feb 2026 16:03:21 -0600 Subject: [PATCH 36/62] Made CTRE stuff reflective. (#20) * Made CTRE stuff reflective. Signed-off-by: thenetworkgrinch * Removed required vdep on CTRE. Signed-off-by: thenetworkgrinch --------- Signed-off-by: thenetworkgrinch Co-authored-by: thenetworkgrinch --- .../deploy/swerve/falcon/swervedrive.json | 3 +- .../deploy/swerve/neo/modules/backleft.json | 2 +- .../deploy/swerve/neo/modules/backright.json | 2 +- .../deploy/swerve/neo/modules/frontleft.json | 2 +- .../deploy/swerve/neo/modules/frontright.json | 2 +- .../main/java/frc/robot/RobotContainer.java | 2 +- .../vendordeps/Phoenix5-replay-5.36.0.json | 221 ------------------ ...eplay-26.1.0.json => Phoenix6-26.1.1.json} | 136 ++++------- .../vendordeps/StudicaLib.json | 78 +++++++ vendordep/yagsl.json | 12 - yagsl/java/swervelib/SwerveDrive.java | 35 ++- .../parser/SwerveDriveConfiguration.java | 5 - .../swervelib/parser/json/DeviceJson.java | 160 ++++++++++--- 13 files changed, 267 insertions(+), 393 deletions(-) delete mode 100644 examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0.json rename examples/drivebase_only_2026/vendordeps/{Phoenix6-replay-26.1.0.json => Phoenix6-26.1.1.json} (81%) create mode 100644 examples/drivebase_only_2026/vendordeps/StudicaLib.json diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json index f4631eb..fb2b0b8 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/falcon/swervedrive.json @@ -1,7 +1,6 @@ { - "$schema": "https://broncbotz3481.github.io/YAGSL-Example/schemas/swervedrive_schema.json", "imu": { - "type": "navx", + "type": "pigeon2", "id": 13, "canbus": "canivore" }, diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json index 6c6c7d9..a435434 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backleft.json @@ -10,7 +10,7 @@ "canbus": null }, "encoder": { - "type": "cancoder", + "type": "canandmag", "id": 12, "canbus": null }, diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json index 4f9f082..30a3aaa 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/backright.json @@ -10,7 +10,7 @@ "canbus": null }, "encoder": { - "type": "cancoder", + "type": "canandmag", "id": 11, "canbus": null }, diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json index a3ef16b..7ae6e18 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontleft.json @@ -10,7 +10,7 @@ "canbus": null }, "encoder": { - "type": "cancoder", + "type": "canandmag", "id": 9, "canbus": null }, diff --git a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json index b60f22f..4405471 100644 --- a/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json +++ b/examples/drivebase_only_2026/src/main/deploy/swerve/neo/modules/frontright.json @@ -10,7 +10,7 @@ "canbus": null }, "encoder": { - "type": "cancoder", + "type": "canandmag", "id": 10, "canbus": null }, diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java b/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java index 28294a8..1746482 100644 --- a/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/RobotContainer.java @@ -37,7 +37,7 @@ public class RobotContainer final CommandXboxController driverXbox = new CommandXboxController(0); // The robot's subsystems and commands are defined here... private final SwerveSubsystem drivebase = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), - "swerve/neo")); + "swerve/falcon")); // Establish a Sendable Chooser that will be able to be sent to the SmartDashboard, allowing selection of desired auto private final SendableChooser autoChooser = new SendableChooser<>(); diff --git a/examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0.json b/examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0.json deleted file mode 100644 index 0e799ed..0000000 --- a/examples/drivebase_only_2026/vendordeps/Phoenix5-replay-5.36.0.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "fileName": "Phoenix5-replay-5.36.0.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.36.0", - "frcYear": "2026", - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json", - "requires": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-replay-frc2026-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.", - "offlineFileName": "Phoenix6-frc2026-latest.json" - }, - { - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-frc2026-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.36.0" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.36.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "cci-replay", - "version": "5.36.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.36.0", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.36.0", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "wpiapi-cpp-replay", - "version": "5.36.0", - "libName": "CTRE_Phoenix_WPIReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "api-cpp-replay", - "version": "5.36.0", - "libName": "CTRE_PhoenixReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.replay", - "artifactId": "cci-replay", - "version": "5.36.0", - "libName": "CTRE_PhoenixCCIReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.36.0", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/examples/drivebase_only_2026/vendordeps/Phoenix6-replay-26.1.0.json b/examples/drivebase_only_2026/vendordeps/Phoenix6-26.1.1.json similarity index 81% rename from examples/drivebase_only_2026/vendordeps/Phoenix6-replay-26.1.0.json rename to examples/drivebase_only_2026/vendordeps/Phoenix6-26.1.1.json index e49c760..7a0eca0 100644 --- a/examples/drivebase_only_2026/vendordeps/Phoenix6-replay-26.1.0.json +++ b/examples/drivebase_only_2026/vendordeps/Phoenix6-26.1.1.json @@ -1,82 +1,60 @@ { - "fileName": "Phoenix6-replay-26.1.0.json", - "name": "CTRE-Phoenix (v6) Replay", - "version": "26.1.0", + "fileName": "Phoenix6-26.1.1.json", + "name": "CTRE-Phoenix (v6)", + "version": "26.1.1", "frcYear": "2026", - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "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-replay-frc2026-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json", "conflictsWith": [ { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-frc2026-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.0" + "version": "26.1.1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.1.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "api-cpp-replay", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", "linuxarm64", - "osxuniversal" + "linuxathena" ], "simMode": "hwsim" }, { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "tools-replay", - "version": "26.1.0", + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "windowsx86-64", "linuxx86-64", "linuxarm64", - "osxuniversal" + "linuxathena" ], "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -90,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -118,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -132,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -146,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -160,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -174,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -188,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -202,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -216,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -230,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -246,12 +224,15 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", "linuxathena" ], "simMode": "hwsim" @@ -259,52 +240,23 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "wpiapi-cpp-replay", - "version": "26.1.0", - "libName": "CTRE_Phoenix6_WPIReplay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", "linuxarm64", - "osxuniversal" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.replay", - "artifactId": "tools-replay", - "version": "26.1.0", - "libName": "CTRE_PhoenixTools_Replay", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" + "linuxathena" ], "simMode": "hwsim" }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -448,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -464,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -480,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/examples/drivebase_only_2026/vendordeps/StudicaLib.json b/examples/drivebase_only_2026/vendordeps/StudicaLib.json new file mode 100644 index 0000000..0fdd1d4 --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/StudicaLib.json @@ -0,0 +1,78 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1", + "frcYear": "2026", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1.json", + "conflictsWith": [ + { + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "errorMessage": "StudicaLib (newer devices) is not compatible with Studica (NavX, NavX2)", + "offlineFileName": "Studica.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordep/yagsl.json b/vendordep/yagsl.json index b974014..41150c2 100644 --- a/vendordep/yagsl.json +++ b/vendordep/yagsl.json @@ -34,18 +34,6 @@ "offlineFileName": "REVLib.json", "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json" }, - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Phoenix6 Replay is required!", - "offlineFileName": "Phoenix6-replay-26.1.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Phoenix5 Replay Compatibility is required!", - "offlineFileName": "Phoenix5-replay-5.36.0.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json" - }, { "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "errorMessage": "ThriftyLib is required!", diff --git a/yagsl/java/swervelib/SwerveDrive.java b/yagsl/java/swervelib/SwerveDrive.java index 9ccb6a5..46ddce2 100644 --- a/yagsl/java/swervelib/SwerveDrive.java +++ b/yagsl/java/swervelib/SwerveDrive.java @@ -51,16 +51,15 @@ import java.util.Optional; import java.util.concurrent.locks.Lock; import java.util.concurrent.locks.ReentrantLock; +import swervelib.parser.deserializer.ReflectionsManager; +import swervelib.parser.deserializer.ReflectionsManager.VENDOR; import swervelib.simulation.ironmaple.simulation.SimulatedArena; import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; import swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation; import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; -import swervelib.encoders.CANCoderSwerve; -import swervelib.imu.Pigeon2Swerve; import swervelib.imu.SwerveIMU; import swervelib.math.SwerveMath; -import swervelib.motors.TalonFXSwerve; import swervelib.parser.Cache; import swervelib.parser.SwerveControllerConfiguration; import swervelib.parser.SwerveDriveConfiguration; @@ -371,21 +370,21 @@ public void updateCacheValidityPeriods(long imu, long driveMotor, long absoluteE */ private void checkIfTunerXCompatible() { - boolean compatible = imu instanceof Pigeon2Swerve; - for (SwerveModule module : swerveModules) - { - compatible = compatible && module.getDriveMotor() instanceof TalonFXSwerve && - module.getAngleMotor() instanceof TalonFXSwerve && - module.getAbsoluteEncoder() instanceof CANCoderSwerve; - if (!compatible) - { - break; - } - } - if (compatible) - { - tunerXRecommendation.set(true); - } +// boolean compatible = imu instanceof Pigeon2Swerve; +// for (SwerveModule module : swerveModules) +// { +// compatible = compatible && module.getDriveMotor() instanceof TalonFXSwerve && +// module.getAngleMotor() instanceof TalonFXSwerve && +// module.getAbsoluteEncoder() instanceof CANCoderSwerve; +// if (!compatible) +// { +// break; +// } +// } +// if (compatible) +// { +// tunerXRecommendation.set(true); +// } } diff --git a/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java b/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java index 653a4a3..8a4ac32 100644 --- a/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java +++ b/yagsl/java/swervelib/parser/SwerveDriveConfiguration.java @@ -6,7 +6,6 @@ import swervelib.simulation.ironmaple.simulation.drivesims.COTS; import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation; import swervelib.SwerveModule; -import swervelib.imu.Pigeon2Swerve; import swervelib.imu.SwerveIMU; import swervelib.math.SwerveMath; @@ -151,10 +150,6 @@ public DCMotor getAngleMotorSim() */ public Supplier getGyroSim() { - if (imu instanceof Pigeon2Swerve) - { - return COTS.ofPigeon2(); - } return COTS.ofGenericGyro(); } diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index a029fbd..27c0c09 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -4,37 +4,26 @@ import static swervelib.telemetry.SwerveDriveTelemetry.i2cLockupWarning; import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning; -import com.ctre.phoenix.motorcontrol.FeedbackDevice; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.DriverStation; import swervelib.encoders.AnalogAbsoluteEncoderSwerve; -import swervelib.encoders.CANCoderSwerve; import swervelib.encoders.CanAndMagSwerve; import swervelib.encoders.DIODutyCycleEncoderSwerve; import swervelib.encoders.SparkFlexEncoderSwerve; import swervelib.encoders.SparkMaxAnalogEncoderSwerve; import swervelib.encoders.SparkMaxEncoderSwerve; import swervelib.encoders.SwerveAbsoluteEncoder; -import swervelib.encoders.TalonFXSEncoderAnalogSwerve; -import swervelib.encoders.TalonSRXEncoderSwerve; import swervelib.imu.ADIS16448Swerve; import swervelib.imu.ADIS16470Swerve; import swervelib.imu.ADXRS450Swerve; import swervelib.imu.AnalogGyroSwerve; import swervelib.imu.CanandgyroSwerve; -import swervelib.imu.Pigeon2Swerve; -import swervelib.imu.PigeonSwerve; -import swervelib.imu.PigeonViaTalonSRXSwerve; import swervelib.imu.SwerveIMU; import swervelib.motors.SparkFlexSwerve; import swervelib.motors.SparkMaxBrushedMotorSwerve; import swervelib.motors.SparkMaxBrushedMotorSwerve.Type; import swervelib.motors.SparkMaxSwerve; import swervelib.motors.SwerveMotor; -import swervelib.motors.TalonFXSSwerve; -import swervelib.motors.TalonFXSwerve; -import swervelib.motors.TalonSRXSwerve; import swervelib.motors.ThriftyNovaSwerve; import swervelib.parser.deserializer.ReflectionsManager; import swervelib.parser.deserializer.ReflectionsManager.VENDOR; @@ -90,7 +79,11 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) case "sparkflex_canandcoder": return new SparkFlexEncoderSwerve(motor, 360); case "talonfxs_analog": - return new TalonFXSEncoderAnalogSwerve(motor); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.encoders.TalonFXSEncoderAnalogSwerve", + new Class[]{SwerveMotor.class}, + new Object[]{motor}); +// return new TalonFXSEncoderAnalogSwerve(motor); case "canandcoder_can": case "canandmag_can": return new CanAndMagSwerve(id); @@ -105,14 +98,42 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) case "analog": return new AnalogAbsoluteEncoderSwerve(id); case "cancoder": - return new CANCoderSwerve(id, canbus != null ? canbus : ""); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.encoders.CANCoderSwerve", + new Class[]{int.class, String.class}, + new Object[]{id, canbus != null ? canbus : ""}); +// return new CANCoderSwerve(id, canbus != null ? canbus : ""); case "srxmag_standalone": - return new TalonSRXEncoderSwerve(new TalonSRXSwerve(id, false, DCMotor.getCIM(1)), - FeedbackDevice.PulseWidthEncodedPosition); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.encoders.TalonSRXEncoderSwerve", + new Class[]{SwerveMotor.class, String.class}, + new Object[]{ + ReflectionsManager.create(VENDOR.PHOENIX5, + "swervelib.motors.TalonSRXSwerve", + new Class[]{ + int.class, + boolean.class, + DCMotor.class}, + new Object[]{ + id, + false, + DCMotor.getCIM( + 1)}), + "PulseWidthEncodedPosition"}); +// return new TalonSRXEncoderSwerve(new TalonSRXSwerve(id, false, DCMotor.getCIM(1)), +// FeedbackDevice.PulseWidthEncodedPosition); case "talonsrx_pwm": - return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition); + return ReflectionsManager.create(VENDOR.PHOENIX5, + "swervelib.encoders.TalonSRXEncoderSwerve", + new Class[]{SwerveMotor.class, String.class}, + new Object[]{motor, "PulseWidthEncodedPosition"}); +// return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition); case "talonsrx_analog": - return new TalonSRXEncoderSwerve(motor, FeedbackDevice.Analog); + return ReflectionsManager.create(VENDOR.PHOENIX5, + "swervelib.encoders.TalonSRXEncoderSwerve", + new Class[]{SwerveMotor.class, String.class}, + new Object[]{motor, "Analog"}); +// return new TalonSRXEncoderSwerve(motor, FeedbackDevice.Analog); case "thrifty_nova_rev": return ReflectionsManager.create(VENDOR.THRIFTYBOT, "swervelib.encoders.ThriftyNovaEncoderSwerve", @@ -124,10 +145,10 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) new Class[]{SwerveMotor.class, String.class}, new Object[]{motor, "REDUX_ENCODER"}); case "thrifty_nova_srx_mag": - return ReflectionsManager.create(VENDOR.THRIFTYBOT, - "swervelib.encoders.ThriftyNovaEncoderSwerve", - new Class[]{SwerveMotor.class, String.class}, - new Object[]{motor, "SRX_MAG_ENCODER"}); + return ReflectionsManager.create(VENDOR.THRIFTYBOT, + "swervelib.encoders.ThriftyNovaEncoderSwerve", + new Class[]{SwerveMotor.class, String.class}, + new Object[]{motor, "SRX_MAG_ENCODER"}); default: throw new RuntimeException(type + " is not a recognized absolute encoder type."); } @@ -159,13 +180,13 @@ public SwerveIMU createIMU() case "navx": case "navx_spi": return ReflectionsManager.create(VENDOR.STUDICA, - "swervelib.imu.NavXSwerve", - new Class[]{String.class}, - new Object[]{"kMXP_SPI"}); + "swervelib.imu.NavXSwerve", + new Class[]{String.class}, + new Object[]{"kMXP_SPI"}); case "navx3": return ReflectionsManager.create(VENDOR.STUDICA2, "swervelib.imu.NavX3Swerve", - new Class[]{Integer.class}, + new Class[]{int.class}, new Object[]{id}); case "navx_i2c": DriverStation.reportWarning( @@ -193,11 +214,20 @@ public SwerveIMU createIMU() new Class[]{String.class}, new Object[]{"kMXP_UART"}); case "pigeon": - return new PigeonSwerve(id); + ReflectionsManager.create(VENDOR.PHOENIX5, + "swervelib.imu.PigeonSwerve", + new Class[]{int.class}, + new Object[]{id}); case "pigeon_via_talonsrx": - return new PigeonViaTalonSRXSwerve(id); + return ReflectionsManager.create(VENDOR.PHOENIX5, + "swervelib.imu.PigeonViaTalonSRXSwerve", + new Class[]{int.class}, + new Object[]{id}); case "pigeon2": - return new Pigeon2Swerve(id, canbus != null ? canbus : ""); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.imu.Pigeon2Swerve", + new Class[]{int.class, String.class}, + new Object[]{id, canbus != null ? canbus : ""}); default: throw new RuntimeException(type + " is not a recognized imu/gyroscope type."); } @@ -218,13 +248,33 @@ public SwerveMotor createMotor(boolean isDriveMotor) switch (type) { case "talonfxs_neo": - return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNEO(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getNEO(1)}); case "talonfxs_neo550": - return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeo550(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getNeo550(1)}); case "talonfxs_vortex": - return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeoVortex(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getNeoVortex(1)}); case "talonfxs_minion": - return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getMinion(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getMinion(1)}); case "talonfxs_pulsar": throw new UnsupportedOperationException("Cannot create pulsar combination"); case "sparkmax_neo": @@ -253,18 +303,52 @@ public SwerveMotor createMotor(boolean isDriveMotor) throw new UnsupportedOperationException("Cannot create pulsar combination"); case "falcon500": case "falcon": - return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getFalcon500(1)}); +// return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500(1)); case "falcon500foc": - return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500Foc(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getFalcon500Foc(1)}); +// return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500Foc(1)); case "krakenx44": - return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX44(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getKrakenX44(1)}); +// return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX44(1)); case "krakenx60": case "talonfx": - return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getKrakenX60(1)}); +// return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60(1)); case "krakenx60foc": - return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60Foc(1)); + return ReflectionsManager.create(VENDOR.PHOENIX6, + "swervelib.motors.TalonFXSwerve", + new Class[]{int.class, String.class, boolean.class, + DCMotor.class}, + new Object[]{id, canbus != null ? canbus : "", isDriveMotor, + DCMotor.getKrakenX60Foc(1)}); +// return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60Foc(1)); case "talonsrx": - return new TalonSRXSwerve(id, isDriveMotor, DCMotor.getCIM(1)); + return ReflectionsManager.create(VENDOR.PHOENIX5, + "swervelib.motors.TalonSRXSwerve", + new Class[]{int.class, boolean.class, DCMotor.class}, + new Object[]{id, isDriveMotor, DCMotor.getCIM(1)}); +// return new TalonSRXSwerve(id, isDriveMotor, DCMotor.getCIM(1)); case "sparkmax_brushed": if (canbus == null) { From 852754ea25e906944f49a1956377d95c5c81296e Mon Sep 17 00:00:00 2001 From: Nicholas McCurry Date: Tue, 3 Feb 2026 17:34:24 -0700 Subject: [PATCH 37/62] Fix broken link in README.md (#18) Update the configuration website link in the README.md file, the current link leads to a 404 page on the BroncBotz website. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index e488ec6..d562cbf 100644 --- a/README.md +++ b/README.md @@ -35,7 +35,7 @@ Development happens here! # Support our developers! Visit our organization [here](https://yetanothersoftwaresuite.com) -### TL;DR Generate and download your configuration [here](https://broncbotz3481.github.io/YAGSL-Example/) and unzip it so that it follows structure below: +### TL;DR Generate and download your configuration [here](https://yet-another-software-suite.github.io/YAGSL/config_generator/) and unzip it so that it follows structure below: ```text deploy From 9a097ea8cb2e47a16a3b7d6a1495c90c448c063d Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Tue, 3 Feb 2026 21:45:40 -0600 Subject: [PATCH 38/62] Fixed NavX3 again. Signed-off-by: thenetworkgrinch --- yagsl/java/swervelib/parser/json/DeviceJson.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yagsl/java/swervelib/parser/json/DeviceJson.java b/yagsl/java/swervelib/parser/json/DeviceJson.java index 27c0c09..a30bcba 100644 --- a/yagsl/java/swervelib/parser/json/DeviceJson.java +++ b/yagsl/java/swervelib/parser/json/DeviceJson.java @@ -186,7 +186,7 @@ public SwerveIMU createIMU() case "navx3": return ReflectionsManager.create(VENDOR.STUDICA2, "swervelib.imu.NavX3Swerve", - new Class[]{int.class}, + new Class[]{Integer.class}, new Object[]{id}); case "navx_i2c": DriverStation.reportWarning( From 375769f37679a15fbc0c54d18d0a1282b387b8a9 Mon Sep 17 00:00:00 2001 From: Scaratek <153395462+Scaratech@users.noreply.github.com> Date: Sat, 7 Feb 2026 12:00:02 -0500 Subject: [PATCH 39/62] fix: do not round vales parsed from JSON (#22) --- yagsl/java/swervelib/parser/json/ModuleJson.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/yagsl/java/swervelib/parser/json/ModuleJson.java b/yagsl/java/swervelib/parser/json/ModuleJson.java index d2917e7..3d0198c 100644 --- a/yagsl/java/swervelib/parser/json/ModuleJson.java +++ b/yagsl/java/swervelib/parser/json/ModuleJson.java @@ -128,8 +128,8 @@ else if ((absEncoder instanceof ThriftyNovaEncoderSwerve && angleMotor instanceo conversionFactors, absEncoder, absoluteEncoderOffset, - Units.inchesToMeters(Math.round(location.front)), - Units.inchesToMeters(Math.round(location.left)), + Units.inchesToMeters(location.front), + Units.inchesToMeters(location.left), anglePIDF, velocityPIDF, physicalCharacteristics, From b79ca369909497b7cc7edefd01c4d4e6b88f7690 Mon Sep 17 00:00:00 2001 From: XM2TBE <112593148+XM2TBE@users.noreply.github.com> Date: Sat, 7 Feb 2026 09:03:12 -0800 Subject: [PATCH 40/62] Update incorrect DefautCommand (#25) driveFieldOrientedAnglularVelocity rather than driveAngularVelocity --- .../src/main/java/frc/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/field_oriented_drivebase/src/main/java/frc/robot/RobotContainer.java b/examples/field_oriented_drivebase/src/main/java/frc/robot/RobotContainer.java index a6058c8..c8965ed 100644 --- a/examples/field_oriented_drivebase/src/main/java/frc/robot/RobotContainer.java +++ b/examples/field_oriented_drivebase/src/main/java/frc/robot/RobotContainer.java @@ -82,7 +82,7 @@ public RobotContainer() private void configureBindings() { Command driveFieldOrientedAnglularVelocity = drivebase.driveFieldOriented(driveAngularVelocity); - drivebase.setDefaultCommand(driveAngularVelocity); + drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity); } From a36f9b32ae357fd10bce0bfdff48ae44e545ab2d Mon Sep 17 00:00:00 2001 From: XM2TBE <112593148+XM2TBE@users.noreply.github.com> Date: Sat, 7 Feb 2026 09:03:44 -0800 Subject: [PATCH 41/62] Refactor blueAlliance variable initialization (#24) Refactor blueAlliance initialization to use DriverStation alliance. --- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 4 +++- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 3 ++- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 3 ++- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 3 ++- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 3 ++- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 3 ++- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 3 ++- 7 files changed, 15 insertions(+), 7 deletions(-) diff --git a/examples/clock_drive_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/clock_drive_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 1d70326..6c6e74a 100644 --- a/examples/clock_drive_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/clock_drive_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.trajectory.Trajectory; 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.Config; @@ -46,7 +47,8 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; + Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), Meter.of(4)), Rotation2d.fromDegrees(0)) diff --git a/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 1d70326..eefc88d 100644 --- a/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/drivebase_only_2026/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.trajectory.Trajectory; 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.Config; @@ -46,7 +47,7 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), Meter.of(4)), Rotation2d.fromDegrees(0)) diff --git a/examples/drivebase_with_PathPlanner/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/drivebase_with_PathPlanner/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 409aeb8..f8856f7 100644 --- a/examples/drivebase_with_PathPlanner/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/drivebase_with_PathPlanner/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -26,6 +26,7 @@ import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -63,7 +64,7 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), Meter.of(4)), Rotation2d.fromDegrees(0)) diff --git a/examples/drivebase_with_PhotonVision/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/drivebase_with_PhotonVision/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 5589ff3..c3dcab9 100644 --- a/examples/drivebase_with_PhotonVision/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/drivebase_with_PhotonVision/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -26,6 +26,7 @@ import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -76,7 +77,7 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), Meter.of(4)), Rotation2d.fromDegrees(0)) diff --git a/examples/field_oriented_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/field_oriented_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 1d70326..eefc88d 100644 --- a/examples/field_oriented_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/field_oriented_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.trajectory.Trajectory; 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.Config; @@ -46,7 +47,7 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), Meter.of(4)), Rotation2d.fromDegrees(0)) diff --git a/examples/full_example/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/full_example/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 5589ff3..c3dcab9 100644 --- a/examples/full_example/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/full_example/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -26,6 +26,7 @@ import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -76,7 +77,7 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1), Meter.of(4)), Rotation2d.fromDegrees(0)) diff --git a/examples/robot_relative_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/examples/robot_relative_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index ab0a6d4..a480957 100644 --- a/examples/robot_relative_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/examples/robot_relative_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.trajectory.Trajectory; 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.Config; @@ -52,7 +53,7 @@ public class SwerveSubsystem extends SubsystemBase */ public SwerveSubsystem(File directory) { - boolean blueAlliance = false; + boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue; Pose2d startingPose = blueAlliance ? blueAllianceStartingPose : redAllianceStartingPose; // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created. SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH; From f14243ffd000ba329707c73d10300387ed2abaac Mon Sep 17 00:00:00 2001 From: Curt Date: Sun, 8 Feb 2026 14:26:40 -0500 Subject: [PATCH 42/62] Fix some simulation issues (#26) --- .../simulation/ironmaple/simulation/IntakeSimulation.java | 2 +- .../simulation/ironmaple/simulation/SimulatedArena.java | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java index 5988a2d..8a76977 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/IntakeSimulation.java @@ -270,7 +270,7 @@ public boolean addGamePieceToIntake() { */ public boolean addGamePiecesToIntake(int piecesToAdd) { boolean toReturn = gamePiecesInIntakeCount + piecesToAdd <= capacity; - gamePiecesInIntakeCount = Math.max(gamePiecesInIntakeCount + piecesToAdd, capacity); + gamePiecesInIntakeCount = Math.min(gamePiecesInIntakeCount + piecesToAdd, capacity); return toReturn; } diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java index c42302d..1eed656 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -708,8 +708,7 @@ public synchronized Pose3d[] getGamePiecesArrayByType(String type) { */ public synchronized List getGamePiecesByType(String type) { final List gamePiecesPoses = new ArrayList<>(this.gamePieces); - gamePiecesPoses.stream().filter(gamePiece -> !Objects.equals(gamePiece.getType(), type)); - return gamePiecesPoses; + return gamePiecesPoses.stream().filter(gamePiece -> !Objects.equals(gamePiece.getType(), type)); } /** From 15c74e63315fc4186cd4151708a9ad92730ed3cf Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sat, 21 Feb 2026 07:47:14 -0600 Subject: [PATCH 43/62] Fixed build issue. Signed-off-by: thenetworkgrinch --- .../vendordeps/Phoenix5-5.36.0.json | 171 ++++++++++++++++++ .../ironmaple/simulation/SimulatedArena.java | 26 +-- 2 files changed, 186 insertions(+), 11 deletions(-) create mode 100644 examples/drivebase_only_2026/vendordeps/Phoenix5-5.36.0.json diff --git a/examples/drivebase_only_2026/vendordeps/Phoenix5-5.36.0.json b/examples/drivebase_only_2026/vendordeps/Phoenix5-5.36.0.json new file mode 100644 index 0000000..fb0f20f --- /dev/null +++ b/examples/drivebase_only_2026/vendordeps/Phoenix5-5.36.0.json @@ -0,0 +1,171 @@ +{ + "fileName": "Phoenix5-5.36.0.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0", + "frcYear": "2026", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-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-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" + }, + { + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-replay-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java index 1eed656..5796f2e 100644 --- a/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java +++ b/yagsl/java/swervelib/simulation/ironmaple/simulation/SimulatedArena.java @@ -10,13 +10,26 @@ import edu.wpi.first.networktables.DoublePublisher; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.ArrayList; +import java.util.HashSet; +import java.util.Hashtable; +import java.util.List; +import java.util.Map; +import java.util.Objects; +import java.util.Set; +import org.dyn4j.dynamics.Body; +import org.dyn4j.dynamics.BodyFixture; +import org.dyn4j.geometry.Convex; +import org.dyn4j.geometry.Geometry; +import org.dyn4j.geometry.MassType; +import org.dyn4j.world.PhysicsWorld; +import org.dyn4j.world.World; import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece; import swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation; @@ -26,15 +39,6 @@ import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt; import swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor; -import java.util.*; -import org.dyn4j.dynamics.Body; -import org.dyn4j.dynamics.BodyFixture; -import org.dyn4j.geometry.Convex; -import org.dyn4j.geometry.Geometry; -import org.dyn4j.geometry.MassType; -import org.dyn4j.world.PhysicsWorld; -import org.dyn4j.world.World; - /** * * @@ -708,7 +712,7 @@ public synchronized Pose3d[] getGamePiecesArrayByType(String type) { */ public synchronized List getGamePiecesByType(String type) { final List gamePiecesPoses = new ArrayList<>(this.gamePieces); - return gamePiecesPoses.stream().filter(gamePiece -> !Objects.equals(gamePiece.getType(), type)); + return gamePiecesPoses.stream().filter(gamePiece -> !Objects.equals(gamePiece.getType(), type)).toList(); } /** From 32d8ecb8d5943c3589586a9d28abe371be9d73c3 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sun, 22 Feb 2026 17:38:49 -0600 Subject: [PATCH 44/62] Improved SwevreInputStream aim function. Signed-off-by: thenetworkgrinch --- yagsl/java/swervelib/SwerveInputStream.java | 193 ++++++++++++++------ 1 file changed, 138 insertions(+), 55 deletions(-) diff --git a/yagsl/java/swervelib/SwerveInputStream.java b/yagsl/java/swervelib/SwerveInputStream.java index c01ae92..302bc01 100644 --- a/yagsl/java/swervelib/SwerveInputStream.java +++ b/yagsl/java/swervelib/SwerveInputStream.java @@ -1,9 +1,12 @@ package swervelib; +import static edu.wpi.first.units.Units.Seconds; + import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Nat; import edu.wpi.first.math.Vector; import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; @@ -11,9 +14,12 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.numbers.N2; import edu.wpi.first.math.trajectory.TrapezoidProfile.State; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; import java.util.Optional; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; @@ -50,107 +56,119 @@ public class SwerveInputStream implements Supplier /** * Translation suppliers. */ - private final DoubleSupplier controllerTranslationX; + private final DoubleSupplier controllerTranslationX; /** * Translational supplier. */ - private final DoubleSupplier controllerTranslationY; + private final DoubleSupplier controllerTranslationY; /** * {@link SwerveDrive} object for transformations. */ - private final SwerveDrive swerveDrive; + private final SwerveDrive swerveDrive; /** * Rotation supplier as angular velocity. */ - private Optional controllerOmega = Optional.empty(); + private Optional controllerOmega = Optional.empty(); /** * Controller supplier as heading. */ - private Optional controllerHeadingX = Optional.empty(); + private Optional controllerHeadingX = Optional.empty(); /** * Controller supplier as heading. */ - private Optional controllerHeadingY = Optional.empty(); + private Optional controllerHeadingY = Optional.empty(); /** * Axis deadband for the controller. */ - private Optional axisDeadband = Optional.empty(); + private Optional axisDeadband = Optional.empty(); /** * Translational axis scalar value, should be between (0, 1]. */ - private Optional translationAxisScale = Optional.empty(); + private Optional translationAxisScale = Optional.empty(); /** * Angular velocity axis scalar value, should be between (0, 1] */ - private Optional omegaAxisScale = Optional.empty(); + private Optional omegaAxisScale = Optional.empty(); /** * Target to aim at. */ - private Optional aimTarget = Optional.empty(); + private Optional aimTarget = Optional.empty(); /** * Target {@link Supplier} to drive towards when driveToPose is enabled. */ - private Optional> driveToPose = Optional.empty(); + private Optional> driveToPose = Optional.empty(); /** * {@link ProfiledPIDController} for the translation while driving to a pose. Units are m/s */ - private Optional driveToPoseTranslationPIDController = Optional.empty(); + private Optional driveToPoseTranslationPIDController = Optional.empty(); /** * {@link ProfiledPIDController} for the Rotational axis while driving to a pose. Units are m/s */ - private Optional driveToPoseOmegaPIDController = Optional.empty(); + private Optional driveToPoseOmegaPIDController = Optional.empty(); /** * Output {@link ChassisSpeeds} based on heading while this is True. */ - private Optional headingEnabled = Optional.empty(); + private Optional headingEnabled = Optional.empty(); /** * Locked heading for {@link SwerveInputMode#TRANSLATION_ONLY} */ - private Optional lockedHeading = Optional.empty(); + private Optional lockedHeading = Optional.empty(); /** * Output {@link ChassisSpeeds} based on aim while this is True. */ - private Optional aimEnabled = Optional.empty(); + private Optional aimEnabled = Optional.empty(); /** * Output {@link ChassisSpeeds} to move to a specific {@link Pose2d}. */ - private Optional driveToPoseEnabled = Optional.empty(); + private Optional driveToPoseEnabled = Optional.empty(); /** * Maintain current heading and drive without rotating, ideally. */ - private Optional translationOnlyEnabled = Optional.empty(); + private Optional translationOnlyEnabled = Optional.empty(); /** * Cube the translation magnitude from the controller. */ - private Optional translationCube = Optional.empty(); + private Optional translationCube = Optional.empty(); /** * Cube the angular velocity axis from the controller. */ - private Optional omegaCube = Optional.empty(); + private Optional omegaCube = Optional.empty(); /** * Robot relative oriented output expected. */ - private Optional robotRelative = Optional.empty(); + private Optional robotRelative = Optional.empty(); /** * Field oriented chassis output is relative to your current alliance. */ - private Optional allianceRelative = Optional.empty(); + private Optional allianceRelative = Optional.empty(); /** * Heading offset enable state. */ - private Optional translationHeadingOffsetEnabled = Optional.empty(); + private Optional translationHeadingOffsetEnabled = Optional.empty(); /** * Heading offset to apply during heading based control. */ - private Optional translationHeadingOffset = Optional.empty(); + private Optional translationHeadingOffset = Optional.empty(); + /** + * Aim current pose lookahead time. + */ + private Optional