Merge pull request #4 from hammerhead226/swerve

Swerve

.github/workflows/build.yml

@@ -0,0 +1,18 @@
+name: Build
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build robot code
+        run: ./gradlew build

.vscode/extensions.json

@@ -0,0 +1,6 @@
+{
+  "recommendations": [
+    "mechanical-advantage.event-deploy-wpilib",
+    "richardwillis.vscode-spotless-gradle"
+  ]
+}

.vscode/settings.json

@@ -28,5 +28,14 @@
     },
     null
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "spotlessGradle.format.enable": true,
+  "spotlessGradle.diagnostics.enable": false,
+  "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle",
+  "[json]": {
+    "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
+  },
+  "[java]": {
+    "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
+  }
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

simgui-ds.json

@@ -0,0 +1,103 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    },
+    {
+      "guid": "Keyboard1"
+    },
+    {
+      "guid": "Keyboard2"
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,45 @@
+{
+  "HALProvider": {
+    "Other Devices": {
+      "Talon FX (v6)[0]/Fwd Limit": {
+        "header": {
+          "open": true
+        }
+      },
+      "Talon FX (v6)[0]/Rotor Sensor": {
+        "header": {
+          "open": true
+        }
+      },
+      "Talon FX (v6)[1]/Rotor Sensor": {
+        "header": {
+          "open": true
+        }
+      },
+      "Talon FX (v6)[3]/Rotor Sensor": {
+        "header": {
+          "open": true
+        }
+      },
+      "Talon FX (v6)[4]/Rotor Sensor": {
+        "header": {
+          "open": true
+        }
+      },
+      "Talon FX (v6)[5]/Rotor Sensor": {
+        "header": {
+          "open": true
+        }
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Auto Choices": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/deploy/pathplanner/autos/Example Auto.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Run Flywheel"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Example Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Example Path.path

@@ -0,0 +1,65 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.013282910175676,
+        "y": 6.5274984191074985
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.166769560390973,
+        "y": 5.0964860911203305
+      },
+      "prevControl": {
+        "x": 4.166769560390973,
+        "y": 6.0964860911203305
+      },
+      "nextControl": {
+        "x": 6.166769560390973,
+        "y": 4.0964860911203305
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 6.75,
+        "y": 2.5
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/java/frc/robot/Constants.java

@@ -1,9 +1,20 @@
-// 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.
+// Copyright 2021-2024 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
 
 package frc.robot;
 
+import edu.wpi.first.math.util.Units;
+
 /**
  * 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
@@ -13,6 +24,29 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
+  public static class SwerveConstants {
+    public static final double MAX_LINEAR_SPEED = 5.56;
+    public static final double TRACK_WIDTH_X = Units.inchesToMeters(26.0);
+    public static final double TRACK_WIDTH_Y = Units.inchesToMeters(26.0);
+    public static final double DRIVE_BASE_RADIUS =
+        Math.hypot(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0);
+    public static final double MAX_ANGULAR_SPEED = MAX_LINEAR_SPEED / DRIVE_BASE_RADIUS;
+  }
+
+  public static class ModuleConstants {
+    public static final double WHEEL_RADIUS = Units.inchesToMeters(2.0);
+
+    public static final double DRIVE_STATOR_CURRENT_LIMIT = 40.0; 
+    public static final boolean DRIVE_STATOR_CURRENT_LIMIT_ENABLED = true; 
+    public static final double TURN_STATOR_CURRENT_LIMIT = 30.0; 
+    public static final boolean TURN_STATOR_CURRENT_LIMIT_ENABLED = true; 
+  }
+
+  public static final boolean tuningMode = true;
+
+  public static final String CANBUS = "CAN Bus 2";
+
   public static enum Mode {
     REAL,
     SIM,

src/main/java/frc/robot/Main.java

@@ -1,6 +1,15 @@
-// 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.
+// Copyright 2021-2024 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
 
 package frc.robot;