Merge remote-tracking branch 'origin/main' into refactor/use-units

build.gradle.kts

@@ -68,12 +68,15 @@ deploy {
             // or from command line. If not found an exception will be thrown.
             team = frc.getTeamOrDefault(3636)
             debug = frc.getDebugOrDefault(false)
+
+
         }
 
         roborio.artifacts {
             register<FRCJavaArtifact>("frcJava") {
                 jvmArgs.add("-ea") // Remove this flag during comp to disable asserts
                 setJarTask(tasks.jar)
+                dependsOn(tasks.assemble)
             }
 
             register<FileTreeArtifact>("frcStaticFileDeploy") {

src/main/kotlin/com/frcteam3636/frc2024/Dashboard.kt

@@ -30,64 +30,66 @@ object Dashboard {
 
         tab.add("Swerve Drive", Drivetrain)!!
             .withWidget(ElasticWidgets.SwerveDrive.widgetName)
-            .withSize(5, 3)
-            .withPosition(3, 0)
+            .withSize(4, 4)
+            .withPosition(6, 0)
 
-        tab.addNumber("Velocity, meters per second") {
-            Translation2d(
-                Drivetrain.measuredChassisSpeeds.vxMetersPerSecond,
-                Drivetrain.measuredChassisSpeeds.vyMetersPerSecond
-            ).norm
-        }
-            .withWidget(ElasticWidgets.RadialGauge.widgetName)
-            // add a little extra to the max to improve visual spacing
-            .withProperties(
-                mapOf(
-                    "min_value" to 0.0,
-                    "max_value" to Drivetrain.Constants.FREE_SPEED.`in`(MetersPerSecond) + 4.0
-                )
-            )
-            .withSize(3, 3)
-            .withPosition(0, 0)
+//        tab.addNumber("Velocity, meters per second") {
+//            Translation2d(
+//                Drivetrain.measuredChassisSpeeds.vxMetersPerSecond,
+//                Drivetrain.measuredChassisSpeeds.vyMetersPerSecond
+//            ).norm
+//        }
+//            .withWidget(ElasticWidgets.RadialGauge.widgetName)
+//            // add a little extra to the max to improve visual spacing
+//            .withProperties(
+//                mapOf(
+//                    "min_value" to 0.0,
+//                    "max_value" to Drivetrain.Constants.FREE_SPEED.`in`(MetersPerSecond) + 4.0
+//                )
+//            )
+//            .withSize(3, 3)
+//            .withPosition(0, 0)
 
         tab.addNumber("Match Time") { DriverStation.getMatchTime() }
             .withWidget(ElasticWidgets.MatchTime.widgetName)
-            .withSize(4, 3)
-            .withPosition(4, 3)
+            .withSize(6, 4)
+            .withPosition(0, 4)
 
         tab.add("Field", field)
             .withWidget(BuiltInWidgets.kField)
-            .withSize(7, 4)
-            .withPosition(8, 0)
+            .withSize(12, 6)
+            .withPosition(12, 0)
 
         tab.add("Auto Chooser", autoChooser)
             .withWidget(BuiltInWidgets.kComboBoxChooser)
-            .withSize(2, 1)
-            .withPosition(9, 4)
+            .withSize(4, 2)
+            .withPosition(10, 6)
 
         // Status Indicators
         tab.addNumber("Battery Voltage") { RobotController.getBatteryVoltage() }
             .withWidget(BuiltInWidgets.kVoltageView)
-            .withSize(3, 1)
-            .withPosition(0, 5)
+            .withSize(6, 2)
+            .withPosition(0, 2)
 
         tab.addBoolean("NavX OK") { Diagnostics.latest.navXConnected }
-            .withPosition(3, 3)
+            .withPosition(10, 0)
+            .withSize(2, 1)
         tab.addBoolean("Cameras OK") { Diagnostics.latest.navXConnected }
-            .withPosition(0, 3)
+            .withPosition(10, 1)
+            .withSize(2, 1)
         tab.addBoolean("CAN Bus OK") { Diagnostics.latest.canStatus.transmitErrorCount == 0 && Diagnostics.latest.canStatus.receiveErrorCount == 0 }
-            .withPosition(0, 4)
+            .withPosition(10, 2)
             .withSize(2, 1)
-        tab.addBoolean("TalonFX Devices OK") { Diagnostics.latest.errorStatusCodes.isEmpty() }
-            .withPosition(1, 3)
+        tab.addBoolean("TalonFX OK") { Diagnostics.latest.errorStatusCodes.isEmpty() }
+            .withPosition(10, 3)
             .withSize(2, 1)
-
         tab.addBoolean("Battery Full") { RobotController.getBatteryVoltage() >= 12.3 }
-            .withPosition(3, 5)
+            .withPosition(10, 4)
+            .withSize(2, 2)
         tab.addNumber("CAN Bus Utilization") { Diagnostics.latest.canStatus.percentBusUtilization * 100.0 }
             .withWidget(BuiltInWidgets.kNumberBar)
             .withProperties(mapOf("min_value" to 0.0, "max_value" to 100.0))
-            .withPosition(2, 4)
-            .withSize(2, 1)
+            .withPosition(14, 6)
+            .withSize(4, 2)
     }
 }

src/main/kotlin/com/frcteam3636/frc2024/Robot.kt

@@ -6,6 +6,9 @@ import com.frcteam3636.frc2024.subsystems.arm.Arm
 import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
 import com.frcteam3636.frc2024.subsystems.indexer.Indexer
 import com.frcteam3636.frc2024.subsystems.intake.Intake
+import com.frcteam3636.frc2024.utils.Elastic
+import com.frcteam3636.frc2024.utils.ElasticNotification
+import com.frcteam3636.frc2024.utils.NotificationLevel
 import com.frcteam3636.version.BUILD_DATE
 import com.frcteam3636.version.DIRTY
 import com.frcteam3636.version.GIT_BRANCH
@@ -28,6 +31,9 @@ import org.littletonrobotics.junction.PatchedLoggedRobot
 import org.littletonrobotics.junction.networktables.NT4Publisher
 import org.littletonrobotics.junction.wpilog.WPILOGReader
 import org.littletonrobotics.junction.wpilog.WPILOGWriter
+import java.io.File
+import kotlin.io.path.Path
+import kotlin.io.path.exists
 
 
 /**
@@ -85,6 +91,15 @@ object Robot : PatchedLoggedRobot() {
 
         if (isReal()) {
             Logger.addDataReceiver(WPILOGWriter()) // Log to a USB stick
+            if (!Path("/U").exists()) {
+                Elastic.sendAlert(
+                    ElasticNotification(
+                        "logging USB stick not plugged into radio",
+                        "You gotta plug in a usb stick yo",
+                        NotificationLevel.WARNING
+                    )
+                )
+            }
             Logger.addDataReceiver(NT4Publisher()) // Publish data to NetworkTables
             // Enables power distribution logging
             if (model == Model.COMPETITION) {

src/main/kotlin/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt

@@ -208,7 +208,7 @@ object Drivetrain : Subsystem, Sendable {
             desiredChassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(
                 translationInput.x * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
                 translationInput.y * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
-                rotationInput.x * TAU * ROTATION_SENSITIVITY,
+                -rotationInput.y * TAU * ROTATION_SENSITIVITY,
                 inputs.gyroRotation.toRotation2d()
             )
         }
@@ -279,10 +279,10 @@ object Drivetrain : Subsystem, Sendable {
     internal object Constants {
         // Translation/rotation coefficient for teleoperated driver controls
         /** Unit: Percent of max robot speed */
-        const val TRANSLATION_SENSITIVITY = 1.0
+        const val TRANSLATION_SENSITIVITY = 0.1
 
         /** Unit: Rotations per second */
-        const val ROTATION_SENSITIVITY = 1.25
+        const val ROTATION_SENSITIVITY = 0.4
 
         private val WHEEL_BASE: Double = Units.inchesToMeters(30.0)
         private val TRACK_WIDTH: Double = Units.inchesToMeters(28.0)

src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt

@@ -5,12 +5,14 @@ import org.littletonrobotics.junction.inputs.LoggableInputs
 import com.frcteam3636.frc2024.CANSparkFlex
 import com.frcteam3636.frc2024.REVMotorControllerId
 import com.frcteam3636.frc2024.Robot
+import com.frcteam3636.frc2024.subsystems.indexer.IndexerIOReal.Constants
 import com.frcteam3636.frc2024.utils.LimelightHelpers
 import com.frcteam3636.frc2024.utils.math.TAU
 import com.revrobotics.CANSparkLowLevel
 import edu.wpi.first.math.system.plant.DCMotor
 import edu.wpi.first.units.Units.*
 import edu.wpi.first.wpilibj.simulation.FlywheelSim
+import org.littletonrobotics.junction.Logger
 import org.team9432.annotation.Logged
 
 enum class BalloonState {
@@ -36,9 +38,9 @@ interface IndexerIO {
 
 class IndexerIOReal : IndexerIO{
     companion object Constants {
-        const val RED_CLASS  = "red"
-        const val BLUE_CLASS = "blue"
-        const val NONE_CLASS = "none"
+        const val RED_CLASS  = "0 red"
+        const val BLUE_CLASS = "1 blue"
+        const val NONE_CLASS = ""
     }
 
     private var indexerMotor =
@@ -52,16 +54,18 @@ class IndexerIOReal : IndexerIO{
         inputs.indexerCurrent = Amps.of(indexerMotor.outputCurrent)
         inputs.position = Rotations.of(indexerMotor.encoder.position)
 
-        when (val colorClass = LimelightHelpers.getClassifierClass("limelight-sensor")) {
-            RED_CLASS -> inputs.balloonState = BalloonState.Red
-            BLUE_CLASS -> inputs.balloonState = BalloonState.Blue
-            NONE_CLASS -> inputs.balloonState = BalloonState.None
+        val colorClass = LimelightHelpers.getClassifierClass("limelight")
+        inputs.balloonState = when (colorClass) {
+            RED_CLASS -> BalloonState.Red
+            BLUE_CLASS -> BalloonState.Blue
+            NONE_CLASS -> BalloonState.None
             else -> throw AssertionError("Unknown balloon class: $colorClass")
         }
     }
 
     override fun setSpinSpeed(speed: Double) {
         assert(speed in -1.0..1.0)
+        println("Speed: $speed")
         indexerMotor.set(speed)
     }
 }
@@ -92,5 +96,4 @@ class IndexerIOPrototype: IndexerIO {
 
     override fun setSpinSpeed(speed: Double) {
     }
-
 }

src/main/kotlin/com/frcteam3636/frc2024/utils/Elastic.kt

@@ -42,7 +42,7 @@ data class ElasticNotification @JvmOverloads constructor(
     @field:JsonProperty("title") var title: String,
     @field:JsonProperty("description") var description: String,
     @field:JsonProperty("level") var level: NotificationLevel = NotificationLevel.ERROR,
-    @field:JsonProperty("displayTime") var displayTimeMillis: Int = 3000,
+    @field:JsonProperty("displayTime") var displayTimeMillis: Int = 10000,
     @field:JsonProperty("width") private val width: Double = 350.0,
     @field:JsonProperty("height") private val height: Double = -1.0
 ) {
@@ -63,7 +63,7 @@ data class ElasticNotification @JvmOverloads constructor(
         title,
         description,
         level,
-        3000,
+        10000,
         width,
         height
     )