diff --git a/SwerveDriveSolution/.gitignore b/SwerveDriveSolution/.gitignore new file mode 100644 index 0000000..34cbaac --- /dev/null +++ b/SwerveDriveSolution/.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/SwerveDriveSolution/.wpilib/wpilib_preferences.json b/SwerveDriveSolution/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..4aea703 --- /dev/null +++ b/SwerveDriveSolution/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2027_alpha5", + "teamNumber": 9999 +} \ No newline at end of file diff --git a/SwerveDriveSolution/WPILib-License.md b/SwerveDriveSolution/WPILib-License.md new file mode 100644 index 0000000..eb3061b --- /dev/null +++ b/SwerveDriveSolution/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2026 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/SwerveDriveSolution/build.gradle b/SwerveDriveSolution/build.gradle new file mode 100644 index 0000000..55508d0 --- /dev/null +++ b/SwerveDriveSolution/build.gradle @@ -0,0 +1,111 @@ +plugins { + id "java" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6" + id "com.gradleup.shadow" version "9.3.0" +} + +java { + sourceCompatibility = JavaVersion.VERSION_25 + targetCompatibility = JavaVersion.VERSION_25 +} + +def ROBOT_MAIN_CLASS = "first.Main" + +// Define my targets (SystemCore) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + systemcore(getTargetTypeClass('SystemCore')) { + // 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.wpilib.getTeamNumber() + // Use the default systemcore host name. This must be called after setting team + // as happens on the line above + useDefaultSystemcoreHostName() + debug = project.wpilib.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) { + } + + // Static files artifact + wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava + +// 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() + + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) + + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat/shaded jar') +// in order to make them all available at runtime and merging service files to make JSON work. +// Also adding the manifest so WPILib knows where to look for our Robot Class. +shadowJar { + mergeServiceFiles() + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = shadowJar +wpi.java.configureExecutableTasks(shadowJar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/SwerveDriveSolution/gradle.properties b/SwerveDriveSolution/gradle.properties new file mode 100644 index 0000000..850e48c --- /dev/null +++ b/SwerveDriveSolution/gradle.properties @@ -0,0 +1 @@ +org.gradle.java.home=/Users/tim.winters/wpilib/2027_alpha5/jdk diff --git a/SwerveDriveSolution/gradle/wrapper/gradle-wrapper.jar b/SwerveDriveSolution/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..d997cfc Binary files /dev/null and b/SwerveDriveSolution/gradle/wrapper/gradle-wrapper.jar differ diff --git a/SwerveDriveSolution/gradle/wrapper/gradle-wrapper.properties b/SwerveDriveSolution/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..42bb5ac --- /dev/null +++ b/SwerveDriveSolution/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/SwerveDriveSolution/gradlew b/SwerveDriveSolution/gradlew new file mode 100755 index 0000000..739907d --- /dev/null +++ b/SwerveDriveSolution/gradlew @@ -0,0 +1,248 @@ +#!/bin/sh + +# +# Copyright © 2015 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/2d6327017519d23b96af35865dc997fcb544fb40/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 "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$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 "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + + + +# Determine the Java command to use to start the JVM. +if [ -n "$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 "$APP_HOME" ) + + JAVACMD=$( 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, 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=$APP_BASE_NAME" \ + -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$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/SwerveDriveSolution/gradlew.bat b/SwerveDriveSolution/gradlew.bat new file mode 100644 index 0000000..c4bdd3a --- /dev/null +++ b/SwerveDriveSolution/gradlew.bat @@ -0,0 +1,93 @@ +@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 + + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %* + +: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/SwerveDriveSolution/settings.gradle b/SwerveDriveSolution/settings.gradle new file mode 100644 index 0000000..e2626a8 --- /dev/null +++ b/SwerveDriveSolution/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + String wpilibYear = '2027_alpha5' + File wpilibHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } + def wpilibHomeMaven = new File(wpilibHome, 'maven') + maven { + name = 'wpilibHome' + url = wpilibHomeMaven + } + mavenLocal() + gradlePluginPortal() + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/SwerveDriveSolution/simgui-ds.json b/SwerveDriveSolution/simgui-ds.json new file mode 100644 index 0000000..94263dc --- /dev/null +++ b/SwerveDriveSolution/simgui-ds.json @@ -0,0 +1,60 @@ +{ + "keyboardJoysticks": [{ + "axisConfig": [{ + "decKey": 546, + "incKey": 549 + }, { + "decKey": 568, + "incKey": 564 + }, { + "decayRate": 0, + "keyRate": 0.01 + }, {}, { + "decKey": 562, + "incKey": 550 + }], + "axisCount": 5, + "buttonCount": 4, + "buttonKeys": [571, 569, 548, 567], + "povConfig": [{ + "keyDown": 614, + "keyDownLeft": 613, + "keyDownRight": 615, + "keyLeft": 616, + "keyRight": 618, + "keyUp": 620, + "keyUpLeft": 619, + "keyUpRight": 621 + }], + "povCount": 1 + }, { + "axisConfig": [{ + "decKey": 555, + "incKey": 557 + }, { + "decKey": 554, + "incKey": 556 + }], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [558, 597, 599, 600], + "povCount": 0 + }, { + "axisConfig": [{ + "decKey": 513, + "incKey": 514 + }, { + "decKey": 515, + "incKey": 516 + }], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [521, 519, 517, 522, 520, 518], + "povCount": 0 + }, { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + }], + "robotJoysticks": [{"guid": "Keyboard0"}] + } diff --git a/SwerveDriveSolution/src/main/deploy/example.txt b/SwerveDriveSolution/src/main/deploy/example.txt new file mode 100644 index 0000000..c9bc6a2 --- /dev/null +++ b/SwerveDriveSolution/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the Systemcore 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/SwerveDriveSolution/src/main/java/first/Main.java b/SwerveDriveSolution/src/main/java/first/Main.java new file mode 100644 index 0000000..7d287e7 --- /dev/null +++ b/SwerveDriveSolution/src/main/java/first/Main.java @@ -0,0 +1,25 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package first; + +import org.wpilib.framework.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(first.robot.Robot.class); + } +} diff --git a/SwerveDriveSolution/src/main/java/first/robot/Robot.java b/SwerveDriveSolution/src/main/java/first/robot/Robot.java new file mode 100644 index 0000000..35d6f1e --- /dev/null +++ b/SwerveDriveSolution/src/main/java/first/robot/Robot.java @@ -0,0 +1,54 @@ +// 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 first.robot; + +import org.wpilib.driverstation.NiDsXboxController; +import org.wpilib.framework.TimedRobot; + +/** + * The methods in this class are called automatically as described in the OpModeRobot documentation. + * OpMode classes anywhere in the package (or sub-packages) where this class is located are + * automatically registered to display in the Driver Station. If you change the name of this class + * or the package after creating this project, you must also update the Main.java file in the + * project. + */ +public class Robot extends TimedRobot { + + /** Robot's swerve drive */ + private final SwerveDrivetrain swerve = new SwerveDrivetrain(); + + /** Driver's xbox controller */ + private final NiDsXboxController controller = new NiDsXboxController(0); + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + public Robot() {} + + /** This function is called exactly once when the DS first connects. */ + @Override + public void driverStationConnected() {} + + /* Called periodically (set time interval) while the robot is enabled. */ + @Override + public void teleopPeriodic() { + // Use the xbox controller axes to drive the robot + swerve.driveFieldCentric( + -controller.getLeftY(), -controller.getLeftX(), -controller.getRightX()); + } + + /** Called periodically, always */ + @Override + public void robotPeriodic() { + swerve.periodic(); + } + + /** Called periodically while the robot is in simulation */ + @Override + public void simulationPeriodic() { + swerve.simulationPeriodic(); + } +} diff --git a/SwerveDriveSolution/src/main/java/first/robot/SwerveDrivetrain.java b/SwerveDriveSolution/src/main/java/first/robot/SwerveDrivetrain.java new file mode 100644 index 0000000..ba8198b --- /dev/null +++ b/SwerveDriveSolution/src/main/java/first/robot/SwerveDrivetrain.java @@ -0,0 +1,156 @@ +package first.robot; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.hardware.Pigeon2; +import first.robot.ctre.SwerveModule; +import org.wpilib.math.estimator.SwerveDrivePoseEstimator; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.kinematics.ChassisVelocities; +import org.wpilib.math.kinematics.SwerveDriveKinematics; +import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.kinematics.SwerveModuleVelocity; +import org.wpilib.math.util.Units; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.networktables.StructArrayPublisher; +import org.wpilib.networktables.StructPublisher; + +public class SwerveDrivetrain { + + /** Max translational speed of the robot */ + public static final double MAX_SPEED = 3.5; + + /** Max angular speed of the robot */ + private static final double MAX_ANGULAR_SPEED = Units.rotationsToRadians(.75); + + /** CANbus that the swerve devices are connected to */ + private final CANBus canbus = CANBus.systemcore(0); + + /** Gyro used for determining robot heading */ + private final Pigeon2 gyro = new Pigeon2(1, canbus); + + // Swerve Modules + /** Front Left Module */ + private final SwerveModule flModule = new SwerveModule(1, 2, 1); + + /** Front Right Module */ + private final SwerveModule frModule = new SwerveModule(3, 4, 2); + + /** Back left module */ + private final SwerveModule blModule = new SwerveModule(5, 6, 3); + + /** Back right module */ + private final SwerveModule brModule = new SwerveModule(7, 8, 4); + + /** Array of swerve modules */ + private final SwerveModule[] modules = {flModule, frModule, blModule, brModule}; + + /** + * Swerve drive kinematics. + * + *

This is used to calculate module velocities from desired chassis velocities + */ + private final SwerveDriveKinematics kinematics = + new SwerveDriveKinematics( + new Translation2d(Units.inchesToMeters(12), Units.inchesToMeters(12)), + new Translation2d(Units.inchesToMeters(12), Units.inchesToMeters(-12)), + new Translation2d(Units.inchesToMeters(-12), Units.inchesToMeters(12)), + new Translation2d(Units.inchesToMeters(-12), Units.inchesToMeters(-12))); + + /** Pose Estimator */ + private final SwerveDrivePoseEstimator poseEstimator = + new SwerveDrivePoseEstimator( + kinematics, + Rotation2d.kZero, + new SwerveModulePosition[] { + new SwerveModulePosition(), + new SwerveModulePosition(), + new SwerveModulePosition(), + new SwerveModulePosition() + }, + Pose2d.kZero); + + /** + * Drive the robot using field-centric velocities + * + * @param vx Velocity in the field-x direction + * @param vy Velocity in the field-y direction + * @param omega Angular velocity about the z-axis. + */ + public void driveFieldCentric(double vx, double vy, double omega) { + // Convert field-centric velocities to robot-centric + ChassisVelocities chassisVelocities = + new ChassisVelocities(vx * MAX_SPEED, vy * MAX_SPEED, omega * MAX_ANGULAR_SPEED) + .toRobotRelative(getAngle()); + // Convert robot-centric velocities to individual module velocities + SwerveModuleVelocity[] moduleVelocities = + kinematics.toSwerveModuleVelocities(chassisVelocities); + // Desaturate velocities to prevent requesting a faster speed than is possible for any + // given module + SwerveModuleVelocity[] desaturated = + SwerveDriveKinematics.desaturateWheelVelocities( + moduleVelocities, chassisVelocities, MAX_SPEED, MAX_SPEED, MAX_ANGULAR_SPEED); + + // Send velocities to the modules + for (int i = 0; i < modules.length; i++) { + modules[i].setVelocity(desaturated[i]); + } + } + + /** Returns the angle of the robot, from its estimated pose */ + public Rotation2d getAngle() { + return poseEstimator.getEstimatedPosition().getRotation(); + } + + /** Returns the estimated pose of the robot */ + public Pose2d getPose() { + return poseEstimator.getEstimatedPosition(); + } + + /** Publisher for publishing robot pose to networktables */ + private final StructPublisher posePub = + NetworkTableInstance.getDefault().getStructTopic("pose", Pose2d.struct).publish(); + + /** Publisher for publishing robot velocities to networktables */ + private final StructArrayPublisher moduleStates = + NetworkTableInstance.getDefault() + .getStructArrayTopic("modules", SwerveModuleVelocity.struct) + .publish(); + + /** Called periodically, always */ + public void periodic() { + poseEstimator.update( + gyro.getRotation2d(), + new SwerveModulePosition[] { + flModule.getPosition(), + frModule.getPosition(), + blModule.getPosition(), + brModule.getPosition() + }); + posePub.set(getPose()); + moduleStates.set( + new SwerveModuleVelocity[] { + flModule.getVelocity(), + frModule.getVelocity(), + blModule.getVelocity(), + brModule.getVelocity() + }); + } + + /** Last angle measured by the gyro. Used for simulating gyro rotation. */ + private double lastAngle = 0.0; + + /** Called periodically while running the robot in simulation */ + public void simulationPeriodic() { + SwerveModuleVelocity[] velocities = new SwerveModuleVelocity[4]; + for (int i = 0; i < 4; i++) { + modules[i].simulationPeriodic(); + velocities[i] = modules[i].getVelocity(); + } + + ChassisVelocities inv = kinematics.toChassisVelocities(velocities); + lastAngle += inv.omega * .02; + gyro.getSimState().setRawYaw(lastAngle * 180 / Math.PI); + } +} diff --git a/SwerveDriveSolution/src/main/java/first/robot/ctre/SwerveModule.java b/SwerveDriveSolution/src/main/java/first/robot/ctre/SwerveModule.java new file mode 100644 index 0000000..f4e7c55 --- /dev/null +++ b/SwerveDriveSolution/src/main/java/first/robot/ctre/SwerveModule.java @@ -0,0 +1,155 @@ +package first.robot.ctre; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import first.robot.SwerveDrivetrain; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.kinematics.SwerveModuleVelocity; +import org.wpilib.math.system.DCMotor; +import org.wpilib.math.system.Models; +import org.wpilib.math.util.Units; +import org.wpilib.simulation.DCMotorSim; + +public class SwerveModule { + + /** Motor for controlling the module velocity */ + private final TalonFX driveMotor; + + /** Motor for controlling the module angle */ + private final TalonFX steerMotor; + + /** Encoder mounted to the steer column */ + private final CANcoder cancoder; + + /** Radius of module wheel in meters */ + private static final double wheelRadius = Units.inchesToMeters(2.0); + + /** + * Maximum speed of the module in rotations per second. + * + *

3.5 m/s divided by radius gives radians per second + */ + private static final double maxSpeedRps = Units.radiansToRotations(SwerveDrivetrain.MAX_SPEED / wheelRadius); + + /** Control request for steer motor position */ + private final PositionVoltage steerRequest = new PositionVoltage(0.0); + + /** Control request for drive motor velocity */ + private final VelocityVoltage driveRequest = new VelocityVoltage(0.0); + + /** + * Construct a SwerveModule + * + * @param driveId CAN id of the drive motor + * @param steerId CAN id of the steer motor + * @param cancoderId CAN id of the cancoder + */ + public SwerveModule(int driveId, int steerId, int cancoderId) { + // Create devices with given ids on the 0 bus + this.driveMotor = new TalonFX(driveId, CANBus.systemcore(0)); + this.steerMotor = new TalonFX(steerId, CANBus.systemcore(0)); + this.cancoder = new CANcoder(cancoderId, CANBus.systemcore(0)); + + driveMotor + .getConfigurator() + .apply( + new TalonFXConfiguration() + .withSlot0(new Slot0Configs().withKV(12.0 / maxSpeedRps)) + .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(6.0))); + steerMotor + .getConfigurator() + .apply( + new TalonFXConfiguration() + .withSlot0(new Slot0Configs().withKP(100.0).withKD(2.0)) + .withFeedback( + new FeedbackConfigs().withFusedCANcoder(cancoder).withRotorToSensorRatio(24.0)) + .withClosedLoopGeneral(new ClosedLoopGeneralConfigs().withContinuousWrap(true))); + } + + /** Get the SwerveModulePosition of the module */ + public SwerveModulePosition getPosition() { + return new SwerveModulePosition( + Units.rotationsToRadians(driveMotor.getPosition().getValueAsDouble()) * wheelRadius, + getAngle()); + } + + /** Applies a velocity setpoint to the motors. */ + public void setVelocity(SwerveModuleVelocity velocity) { + // Optimze target velocity based on current module angle + SwerveModuleVelocity optimized = velocity.optimize(getAngle()); + // Apply angle to steer motor + steerMotor.setControl(steerRequest.withPosition(optimized.angle.getMeasure())); + // Convert m/s to rps + double rotationsPerSecond = Units.radiansToRotations(optimized.velocity / wheelRadius); + // Apply speed to drive motor, with cosine compensation + driveMotor.setControl( + driveRequest.withVelocity(rotationsPerSecond * optimized.angle.minus(getAngle()).getCos())); + } + + /** Return the angle of the wheel */ + public Rotation2d getAngle() { + return Rotation2d.fromRotations(steerMotor.getPosition().getValueAsDouble()); + } + + /** Return a SwerveModuleVelocity object representing this modules velocity */ + public SwerveModuleVelocity getVelocity() { + return new SwerveModuleVelocity( + Units.rotationsToRadians(driveMotor.getVelocity().getValueAsDouble()) * wheelRadius, + getAngle()); + } + + /** + * Physics-simulated drive mechanism. + * + *

Single Jointed Arm is used becuase it properly represents a mechanism with angular position + * and velocity states. + */ + private final DCMotorSim driveSim = + new DCMotorSim( + Models.singleJointedArmFromPhysicalConstants(DCMotor.getKrakenX60(1), 0.01, 6.0), + DCMotor.getKrakenX60(1)); + + /** Physics-simulated steer mechanism. */ + private final DCMotorSim steerSim = + new DCMotorSim( + Models.singleJointedArmFromPhysicalConstants(DCMotor.getKrakenX60(1), 0.01, 24.0), + DCMotor.getKrakenX60(1)); + + /** Called periodically while running in simulation */ + public void simulationPeriodic() { + // Get input from talonfx sim, and apply to mechanism + driveSim.setInputVoltage(driveMotor.getSimState().getMotorVoltage()); + steerSim.setInputVoltage(steerMotor.getSimState().getMotorVoltage()); + + // Simulate the mechanisms for a single tick + driveSim.update(0.02); + steerSim.update(0.02); + + // Update the talonfx and cancoder sim states with calculations from physics sim. + // The sims do not account for gear ratio, so each calculation is multiplied by the gear ratio. + driveMotor + .getSimState() + .setRotorVelocity(Units.radiansToRotations(driveSim.getAngularVelocity()) * 6.0); + driveMotor + .getSimState() + .setRawRotorPosition(Units.radiansToRotations(driveSim.getAngularPosition()) * 6.0); + + steerMotor + .getSimState() + .setRotorVelocity(Units.radiansToRotations(steerSim.getAngularVelocity()) * 24.0); + steerMotor + .getSimState() + .setRawRotorPosition(Units.radiansToRotations(steerSim.getAngularPosition()) * 24.0); + + cancoder.getSimState().setVelocity(Units.radiansToRotations(steerSim.getAngularVelocity())); + cancoder.getSimState().setRawPosition(Units.radiansToRotations(steerSim.getAngularPosition())); + } +} diff --git a/SwerveDriveSolution/vendordeps/Phoenix6-26.50.0-alpha-1.json b/SwerveDriveSolution/vendordeps/Phoenix6-26.50.0-alpha-1.json new file mode 100644 index 0000000..f7db60a --- /dev/null +++ b/SwerveDriveSolution/vendordeps/Phoenix6-26.50.0-alpha-1.json @@ -0,0 +1,449 @@ +{ + "fileName": "Phoenix6-26.50.0-alpha-1.json", + "name": "CTRE-Phoenix (v6)", + "version": "26.50.0-alpha-1", + "wpilibYear": "2027_alpha5", + "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-frc2027-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2027-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.50.0-alpha-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.50.0-alpha-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.50.0-alpha-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.50.0-alpha-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxsystemcore" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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": "simProTalonFXS", + "version": "26.50.0-alpha-1", + "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": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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": "26.50.0-alpha-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/SwerveDriveSolution/vendordeps/REVLib.json b/SwerveDriveSolution/vendordeps/REVLib.json new file mode 100644 index 0000000..f55991e --- /dev/null +++ b/SwerveDriveSolution/vendordeps/REVLib.json @@ -0,0 +1,126 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2027.0.0-alpha-3", + "wpilibYear": "2027_alpha5", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2027.0.0-alpha-3" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2027.0.0-alpha-3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2027.0.0-alpha-3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2027.0.0-alpha-3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2027.0.0-alpha-3", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2027.0.0-alpha-3", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2027.0.0-alpha-3", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2027.0.0-alpha-3", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxsystemcore", + "osxuniversal" + ] + } + ] +} \ No newline at end of file