Merge pull request #561 from marcelosin1010/main

marcelo's preseason

lib/src/main/java/org/team100/lib/motion/servo/OutboardAngularPositionServo.java

@@ -204,4 +204,14 @@ public void periodic() {
         m_mechanism.periodic();
         m_encoder.periodic();
     }
+
+    public void setProfile(Profile100 profile) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setProfile'");
+    }
+
+    public void setSpeed(double input2) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setSpeed'");
+    }
 }

studies/temp/.vscode/launch.json

@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "temp"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

studies/temp/src/main/java/frc/robot/Robot.java

@@ -1,14 +1,18 @@
 package frc.robot;
 
-import java.io.IOException;
 
+
+import org.team100.lib.config.Feedforward100;
 import org.team100.lib.config.Identity;
+import org.team100.lib.config.PIDConstants;
 import org.team100.lib.experiments.Experiment;
 import org.team100.lib.experiments.Experiments;
 import org.team100.lib.framework.TimedRobot100;
 import org.team100.lib.logging.JvmLogger;
 import org.team100.lib.logging.Level;
 import org.team100.lib.logging.Logging;
+import org.team100.lib.motor.Falcon6Motor;
+import org.team100.lib.motor.MotorPhase;
 import org.team100.lib.logging.LoggerFactory;
 import org.team100.lib.logging.LoggerFactory.BooleanLogger;
 import org.team100.lib.logging.LoggerFactory.DoubleLogger;
@@ -20,6 +24,8 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.WPILibVersion;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -37,7 +43,11 @@ public class Robot extends TimedRobot100 {
     private final DoubleLogger m_log_voltage;
     private final JvmLogger m_jvmLogger;
 
-    private RobotContainer m_robotContainer;
+    private final Logging logging = Logging.instance();
+    private final Falcon6Motor falconMotor1;
+    private final Falcon6Motor falconMotor2;
+    private final Timer timer;
+    XboxController controller = new XboxController(0);
 
     public Robot() {
         LoggerFactory dsLog = m_robotLogger.child("DriverStation");
@@ -49,6 +59,13 @@ public Robot() {
         m_log_key_list_size = m_robotLogger.intLogger(Level.TRACE, "key list size");
         m_log_voltage = m_robotLogger.doubleLogger(Level.TRACE, "voltage");
         m_jvmLogger = new JvmLogger(m_robotLogger);
+
+        LoggerFactory parent = logging.rootLogger;
+        falconMotor1 = new Falcon6Motor(parent, 11, MotorPhase.FORWARD, 40, 40, new PIDConstants(0.1),
+                Feedforward100.makeShooterFalcon6());
+        falconMotor2 = new Falcon6Motor(parent, 18, MotorPhase.FORWARD, 40, 40, new PIDConstants(0.1),
+                Feedforward100.makeShooterFalcon6());
+        timer = new Timer();
     }
 
     @Override
@@ -66,13 +83,6 @@ public void robotInit() {
         // log what the scheduler is doing
         SmartDashboard.putData(CommandScheduler.getInstance());
 
-        try {
-            m_robotContainer = new RobotContainer(this);
-        } catch (IOException e) {
-            throw new IllegalStateException("Robot Container Instantiation Failed", e);
-        }
-
-
         NetworkTableInstance.getDefault().startServer();
 
         // DataLogManager.start();
@@ -123,6 +133,8 @@ public void disabledPeriodic() {
 
     @Override
     public void autonomousInit() {
+        timer.start();
+
     }
 
     @Override
@@ -155,6 +167,27 @@ public void close() {
 
     @Override
     public void autonomousPeriodic() {
+        if (timer.get() < 1) {
+            falconMotor1.setDutyCycle(0.1); // forward
+            falconMotor2.setDutyCycle(-0.1); // forward
+
+        } else {
+            falconMotor1.setDutyCycle(0);
+            falconMotor2.setDutyCycle(0);
+        }
+        if (timer.get() < 2 && timer.get() > 1) { // backward
+            falconMotor1.setDutyCycle(-0.1);
+            falconMotor2.setDutyCycle(0.1);
+        } else if (timer.get() < 3 && timer.get() > 2) { // right
+            falconMotor1.setDutyCycle(0.1);
+            falconMotor2.setDutyCycle(0.1);
+
+        } else if (timer.get() < 4 && timer.get() > 3) {
+            falconMotor1.setDutyCycle(-0.1);
+            falconMotor2.setDutyCycle(-0.1);
+        } else
+            falconMotor1.setDutyCycle(0);
+        falconMotor2.setDutyCycle(0);
         m_log_mode.log(() -> "autonomous");
     }
 
@@ -165,7 +198,25 @@ public void simulationPeriodic() {
 
     @Override
     public void teleopPeriodic() {
-        m_robotContainer.teleopPeriodic();
+        double input2 = controller.getLeftY();
+        falconMotor1.setDutyCycle(input2);
+        double input3 = controller.getRightY();
+        falconMotor2.setDutyCycle(-1 * input3);
+
+        if (controller.getLeftBumper()) {
+            falconMotor1.setDutyCycle(0.5);
+        }
+        if (controller.getRightBumper()) {
+            falconMotor2.setDutyCycle(-0.5);
+        }
+
+        if (controller.getLeftTriggerAxis() != 0) {
+            falconMotor1.setDutyCycle(-0.5);
+        }
+        if (controller.getRightTriggerAxis() != 0) {
+            falconMotor2.setDutyCycle(0.5);
+        }
+
         m_log_mode.log(() -> "teleop");
         m_log_voltage.log(RobotController::getBatteryVoltage);
     }

studies/temp/vendordeps/ReduxLib_2024.json

@@ -0,0 +1,55 @@
+{
+    "fileName": "ReduxLib_2024.json",
+    "name": "ReduxLib",
+    "version": "2024.3.1",
+    "frcYear": 2024,
+    "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd",
+    "mavenUrls": [
+        "https://maven.reduxrobotics.com/"
+    ],
+    "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-java",
+            "version": "2024.3.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-driver",
+            "version": "2024.3.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm32",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-cpp",
+            "version": "2024.3.1",
+            "libName": "ReduxLib-cpp",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm32",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}