Merge pull request #71 from Team5818/develop

Version 1.0.0

HEADER.txt

@@ -0,0 +1,17 @@
+This file is part of ${name}, licensed under the GNU General Public License (GPLv3).
+
+Copyright (c) ${organization} <${url}>
+Copyright (c) contributors
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+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.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.

README.md

@@ -10,4 +10,5 @@
                       \_/__/                                           \/_/                                    \/_/                  
 ```
                                            
-Rivera Robotics' real code for 2017.
+Riviera Robotics' code for 2017.
+![robot](https://i.imgur.com/cgTdZTO.jpg)

ant-replacement.gradle

@@ -1,3 +1,5 @@
+// This file intends to replace the build.xml content of FRC.
+// It may need to be updated when FRC build.xml updates occur.
 buildscript {
     repositories {
         mavenCentral()
@@ -31,6 +33,7 @@ ext {
 }
 // === End B properties === //
 
+// Setup a jar
 jar {
     manifest {
         attributes(
@@ -74,7 +77,7 @@ List<String> getStaticIps() {
         return [project.staticIP]
     }
     // Try each of these -- it's cheap
-    def possibleIps = [2, 30, 91]
+    def possibleIps = [2, 25, 30, 91]
     int top = teamNumberInt / 100
     int lower = teamNumberInt % 100
     return (possibleIps.collect { lowBit -> "10.${top}.${lower}.${lowBit}" }) + project.noDnsIp
@@ -199,6 +202,7 @@ task checkRoboRIO(dependsOn: [checkSysProps, checkJRE]) {
     description 'Checks that the roboRIO is what we expect.'
 }
 
+// Defines deploy tasks for regular and debug deploys.
 void defineDeployTask(Object project, boolean debug) {
     def task = project.tasks.create(name: 'deploy' + (debug ? 'Debug' : ''),
                          dependsOn: [shadowJar, checkRoboRIO]) {
@@ -220,12 +224,12 @@ void defineDeployTask(Object project, boolean debug) {
     task.doLast {
         ssh.run {
             session(remotes.robotAdmin) {
-                println "Copying natives"
-                put from: natives, into: nativesTarget
+                //println "Copying natives"
+                //put from: natives, into: nativesTarget
                 //put from: netConsoleHost, into: "/usr/local/frc/bin/"
                 //execute 'chmod +x /usr/local/frc/bin/netconsole-host'
-                execute 'chmod -R +x /usr/local/frc/lib'
-                execute 'ldconfig', ignoreError: true
+                //execute 'chmod -R +x /usr/local/frc/lib'
+                //execute 'ldconfig', ignoreError: true
             }
             session(remotes.robot) {
                 println "Copying jar"

build.gradle

@@ -16,7 +16,8 @@ buildscript {
     }
 }
 plugins {
-  id "net.ltgt.apt" version "0.9"
+    id "net.ltgt.apt" version "0.9"
+    id "com.github.hierynomus.license" version "0.13.1"
 }
 apply plugin: 'java'
 apply plugin: 'eclipse'
@@ -41,12 +42,18 @@ repositories {
 }
 
 dependencies {
+    // Dependencies from /libs. These are copied from the FRC installation folder in your home directory.
     compile group: 'edu.wpi', name: 'cscore', version: 'NONE'
     compile group: 'edu.wpi', name: 'CTRLib', version: 'NONE'
     compile group: 'edu.wpi', name: 'NetworkTables', version: 'NONE'
     compile group: 'edu.wpi', name: 'opencv', version: 'NONE'
     compile group: 'edu.wpi', name: 'WPILib', version: 'NONE'
+    compile group: 'com.kuailabs', name: 'navx_frc', version: 'NONE'
+
+    // Neat graph util
+    compile group: 'org.jfree', name: 'jfreechart', version: '1.0.19'
 
+    // Auto-value!
 	compileOnly group: 'com.google.auto.value', name: 'auto-value', version: '1.4-rc2'
     apt group: 'com.google.auto.value', name: 'auto-value', version: '1.4-rc2'
 
@@ -58,9 +65,11 @@ eclipse.project.file.beforeMerged { proj ->
     proj.natures.add('edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature')
 }
 
+// Move source into src
 sourceSets.main.java.srcDirs = ['src']
 sourceSets.main.resources.srcDirs = ['src']
 
+// Setup compiling to be better.
 configure([compileJava, compileTestJava]) {
     options.compilerArgs += ['-Xlint:all', '-Xlint:-path']
     options.deprecation = true
@@ -69,6 +78,24 @@ configure([compileJava, compileTestJava]) {
     options.fork = true
 }
 
+// License configuration
+
+license {
+    ext {
+        name = project.name
+        organization = project.organization
+        url = project.url
+    }
+    header = rootProject.file('HEADER.txt')
+    ignoreFailures = false
+    strictCheck = true
+    include '**/*.java'
+    mapping {
+        java = 'SLASHSTAR_STYLE'
+    }
+}
+
+// configurations for the ant-replacement code
 ext.packageNumber = '5818'
 ext.teamNumber = project.findProperty('teamNumber') ?: packageNumber
 apply from: 'ant-replacement.gradle', to: project

gradle.properties

@@ -0,0 +1,5 @@
+name=Rogue-Cephalopod
+group=org.rivierarobotics
+url=https://github.com/Team5818
+organization=Riviera Robotics
+version=1.0.0-SNAPSHOT

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
-#Wed Jan 25 22:15:40 PST 2017
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.2-bin.zip

gradlew

@@ -33,11 +33,11 @@ DEFAULT_JVM_OPTS=""
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
 
-warn ( ) {
+warn () {
     echo "$*"
 }
 
-die ( ) {
+die () {
     echo
     echo "$*"
     echo
@@ -155,7 +155,7 @@ if $cygwin ; then
 fi
 
 # Escape application args
-save ( ) {
+save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }

settings.gradle

@@ -0,0 +1 @@
+rootProject.name = 'Rogue-Cephalopod'

src/org/usfirst/frc/team5818/robot/Robot.java

@@ -1,15 +1,30 @@
-
+/*
+ * This file is part of Rogue-Cephalopod, licensed under the GNU General Public License (GPLv3).
+ *
+ * Copyright (c) Riviera Robotics <https://github.com/Team5818>
+ * Copyright (c) contributors
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 package org.usfirst.frc.team5818.robot;
 
-import org.usfirst.frc.team5818.robot.autos.NotPeteyTwoGearAuto;
-import org.usfirst.frc.team5818.robot.autos.OneGearAuto;
-import org.usfirst.frc.team5818.robot.autos.OneGearButFromTwoGearAuto;
-import org.usfirst.frc.team5818.robot.autos.SidePegAuto;
-import org.usfirst.frc.team5818.robot.autos.SlowTwoGearAuto;
-import org.usfirst.frc.team5818.robot.autos.ThreeGearAuto;
+import org.usfirst.frc.team5818.robot.autos.CenterOneGearAuto;
+import org.usfirst.frc.team5818.robot.autos.MagicSideGear;
+import org.usfirst.frc.team5818.robot.autos.TwoGearAutoLeft;
+import org.usfirst.frc.team5818.robot.autos.TwoGearAutoRight;
 import org.usfirst.frc.team5818.robot.commands.RequireAllSubsystems;
-import org.usfirst.frc.team5818.robot.commands.TurretMoveToZero;
-import org.usfirst.frc.team5818.robot.commands.placewithlimit.PlaceWithLimit;
+import org.usfirst.frc.team5818.robot.commands.SetTurretAngle;
 import org.usfirst.frc.team5818.robot.constants.Gear;
 import org.usfirst.frc.team5818.robot.constants.Side;
 import org.usfirst.frc.team5818.robot.controllers.Driver;
@@ -21,6 +36,7 @@
 import org.usfirst.frc.team5818.robot.subsystems.DriveTrainSide;
 import org.usfirst.frc.team5818.robot.subsystems.Turret;
 import org.usfirst.frc.team5818.robot.subsystems.VisionTracker;
+import org.usfirst.frc.team5818.robot.utils.MathUtil;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Command;
@@ -49,7 +65,7 @@ public class Robot extends IterativeRobot {
     public Turret turret;
     public Climber climb;
     public CameraController camCont;
-    public TurretMoveToZero turretZero;
+    public SetTurretAngle turretZero;
     public boolean turretSafetyChecks = true;
 
     private RequireAllSubsystems requireAllSubsystems;
@@ -65,6 +81,7 @@ public class Robot extends IterativeRobot {
      */
     @Override
     public void robotInit() {
+        /* Statically instantiate all subsystems */
         runningRobot = this;
         driveTrain = new DriveTrain();
         vision = new VisionTracker();
@@ -75,17 +92,31 @@ public void robotInit() {
         chooser = new SendableChooser<>();
         camCont = new CameraController();
         driver = new Driver();
-        turretZero = new TurretMoveToZero();
+        turretZero = new SetTurretAngle(Turret.TURRET_CENTER_POS);
         requireAllSubsystems = new RequireAllSubsystems();
+
+        /* Old Autos -- Same as Ventura */
         chooser.addObject("Do Nothing Auto", new TimedCommand(15));
-        chooser.addObject("One Gear Auto From Two Gear", new OneGearButFromTwoGearAuto());
-        chooser.addObject("Three Gear Auto", new ThreeGearAuto());
-        chooser.addObject("Place With Limit", new PlaceWithLimit());
-        chooser.addObject("Two Gear (Right)", new SlowTwoGearAuto());
- //       chooser.addObject("Two Gear (Left)", new NotPeteyTwoGearAuto());
-        chooser.addObject("Side Gear Auto", new SidePegAuto(180));
+        chooser.addObject("Center Two Gear (Gear Right)", new TwoGearAutoRight());
+        chooser.addObject("Center Two Gear (Gear Left)", new TwoGearAutoLeft());
+
+        /* Center */
+        chooser.addObject("Down Field 1 Gear Right", new CenterOneGearAuto(Side.RIGHT));
+        chooser.addObject("Down Field 1 Gear Left", new CenterOneGearAuto(Side.LEFT));
+
+        /*Side Pegs*/
+        chooser.addObject("Side Gear Blue Opposite", new MagicSideGear(MagicSideGear.Position.BLUE_OPPOSITE));
+        chooser.addObject("Side Gear Blue Boiler", new MagicSideGear(MagicSideGear.Position.BLUE_BOILER));
+        chooser.addObject("Side Gear Red Opposite", new MagicSideGear(MagicSideGear.Position.RED_OPPOSITE));
+        chooser.addObject("Side Gear Red Boiler", new MagicSideGear(MagicSideGear.Position.RED_BOILER));
+
+
         SmartDashboard.putData("Auto mode", chooser);
+
+        /* Put robot in starting configuration */
         vision.start();
+        driveTrain.shiftGears(Gear.LOW);
+        driveTrain.getGyro().reset();
     }
 
     /**
@@ -104,6 +135,7 @@ public void disabledInit() {
     @Override
     public void disabledPeriodic() {
         Scheduler.getInstance().run();
+        printSmartDash();
     }
 
     /**
@@ -119,17 +151,10 @@ public void disabledPeriodic() {
      */
     @Override
     public void autonomousInit() {
-        autonomousCommand = new SlowTwoGearAuto();//  = chooser.getSelected();
 
-        /*
-         * String autoSelected = SmartDashboard.getString("Auto Selector",
-         * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
-         * = new MyAutoCommand(); break; case "Default Auto": default:
-         * autonomousCommand = new ExampleCommand(); break; }
-         */
-
-        // schedule the autonomous command (example)
-        driveTrain.shiftGears(Gear.LOW);
+        driveTrain.getGyro().zeroYaw();
+        driveTrain.shiftGears(Gear.HIGH);
+        autonomousCommand = chooser.getSelected();
         if (autonomousCommand != null)
             autonomousCommand.start();
     }
@@ -151,11 +176,18 @@ public void teleopInit() {
         // this line or comment it out.
         if (autonomousCommand != null)
             autonomousCommand.cancel();
+
+        /* Put robot in starting configuration */
+        turret.extend(false);
+        turret.punch(false);
         driveTrain.getLeftSide().resetEnc();
         driveTrain.getRightSide().resetEnc();
         driveTrain.shiftGears(Gear.LOW);
-        driver.setupTeleopButtons();
         camCont.enterGearMode();
+        vision.setLightsOn(false);
+
+        /* Put buttons in teleop mode */
+        driver.setupTeleopButtons();
     }
 
     /**
@@ -184,6 +216,7 @@ public void testInit() {
         LiveWindow.run();
         LiveWindow.setEnabled(false);
         requireAllSubsystems.start();
+        /* Put buttons in testing mode */
         driver.setupTestButtons();
     }
 
@@ -197,20 +230,29 @@ public void testPeriodic() {
     }
 
     public void printSmartDash() {
-        SmartDashboard.putBoolean("VisDrive", driveTrain.isVisionDriving());
-        SmartDashboard.putBoolean("Passed Target", driveTrain.passedTarget());
+        /* Print readings from pretty much every sensor */
         SmartDashboard.putBoolean("Turret Limit Switch", turret.getLimit());
+        SmartDashboard.putBoolean("Collector Limit Switch", collect.isLimitTriggered());
+        SmartDashboard.putNumber("Gyro heading", MathUtil.wrapAngleRad(driveTrain.getGyroHeading()));
         SmartDashboard.putNumber("Gear X:", vision.getCurrentAngle());
-        SmartDashboard.putNumber("Turret Pot:", turret.getRawCounts());
-        SmartDashboard.putNumber("Turret Angle:", turret.getAngle());
-        SmartDashboard.putNumber("Sanic Reading:", driveTrain.readSanic());
+        SmartDashboard.putNumber("Turret Pot:", turret.getPositionRaw());
+        SmartDashboard.putNumber("Turret Angle:", turret.getPosition());
+        SmartDashboard.putNumber("Turret Speed:", turret.getVeleocity());
         SmartDashboard.putNumber("Bot Current", collect.getBotCurrent());
         SmartDashboard.putNumber("Arm Pos", arm.getPosition());
+        SmartDashboard.putNumber("Arm Raw", arm.getPositionRaw());
+        SmartDashboard.putNumber("Arm Vel", arm.getVelocity());
+        SmartDashboard.putNumber("Arm error", arm.getError());
         SmartDashboard.putNumber("left drive encoder", driveTrain.getLeftSide().getSidePosition());
         SmartDashboard.putNumber("right drive encoder", driveTrain.getRightSide().getSidePosition());
         SmartDashboard.putNumber("left encoder raw", driveTrain.getLeftSide().getRawPos());
         SmartDashboard.putNumber("right encoder raw", driveTrain.getRightSide().getRawPos());
         SmartDashboard.putNumber("leftVel", driveTrain.getLeftSide().getSideVelocity());
         SmartDashboard.putNumber("rightVel", driveTrain.getRightSide().getSideVelocity());
+        SmartDashboard.putNumber("leftVelRaw", driveTrain.getLeftSide().getRawSpeed());
+        SmartDashboard.putNumber("rightVelRaw", driveTrain.getRightSide().getRawSpeed());
+        SmartDashboard.putNumber("leftErr", driveTrain.getLeftSide().getSideError());
+        SmartDashboard.putNumber("rightErr", driveTrain.getRightSide().getSideError());
+        SmartDashboard.putBoolean("GyroCalibrating", driveTrain.getGyro().isCalibrating());
     }
 }