Merge branch 'main' into drive-integration

team401 · Oct 8, 2024 · 7865309 · 7865309
2 parents 9c05744 + 7ab84f2
commit 7865309
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Showing 13 changed files with 68 additions and 67 deletions.
diff --git a/simgui.json b/simgui.json
@@ -7,11 +7,9 @@
       "/SmartDashboard/Module 0": "Mechanism2d",
       "/SmartDashboard/Module 1": "Mechanism2d",
       "/SmartDashboard/Module 2": "Mechanism2d",
-
       "/SmartDashboard/Module 3": "Mechanism2d",
       "/SmartDashboard/PhotonSimField": "Field2d",
-      "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d",
-      "/AdvantageKit/RealOutputs/scoring/mechanism2d": "Mechanism2d"
+      "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d"
     }
   },
   "NetworkTables": {
@@ -32,30 +30,32 @@
   },
   "NetworkTables Info": {
     "Connections": {
-    "Server": {
-      "Publishers": {
+      "Server": {
+        "Publishers": {
+          "open": true
+        },
         "open": true
       },
-      "open": true
+      "visible": true
     },
-    "visible": true
-  },
-  "Plot": {
-    "Plot <0>": {
-      "plots": [
-        {
-          "backgroundColor": [
-            0.0,
-            0.0,
-            0.0,
-            0.8500000238418579
-          ],
-          "height": 338
+    "Plot": {
+      "Plot <0>": {
+        "plots": [
+          {
+            "backgroundColor": [
+              0.0,
+              0.0,
+              0.0,
+              0.8500000238418579
+            ],
+            "height": 338
+          }
+        ],
+        "window": {
+          "visible": false
         }
-      ],
-      "window": {
-        "visible": false
       }
-    }
+    },
+    "visible": true
   }
-}}
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -14,7 +14,6 @@
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
-import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
 public class Robot extends LoggedRobot {
@@ -37,19 +36,20 @@ public void robotInit() {
             setUseTiming(false);
             Logger.addDataReceiver(new WPILOGWriter("logs/")); // This folder is gitignored
             Logger.addDataReceiver(new NT4Publisher());
-        } else {
-            setUseTiming(false); // Run as fast as possible
-            String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope
-            // (or prompt the user)
-            Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
-            Logger.addDataReceiver(
-                    new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save
-            // outputs
-            // to
-            // a
-            // new
-            // log
-        }
+        } /*TODO: Fix replay mode!
+          else {
+              setUseTiming(false); // Run as fast as possible
+              String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope
+              // (or prompt the user)
+              Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
+              Logger.addDataReceiver(
+                      new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save
+              // outputs
+              // to
+              // a
+              // new
+              // log
+          }*/
         Logger.start();
     }
 

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -5,7 +5,7 @@
 public interface IntakeIO {
 
     @AutoLog
-    public static class IntakeIOInputs {
+    public static class IntakeInputs {
         public double intakeMotorVoltage = 0.0;
         public double intakeMotorStatorCurrentAmps = 0.0;
         public double intakeMotorSupplyCurrentAmps = 0.0;
@@ -18,15 +18,15 @@ public static class IntakeIOInputs {
     }
 
     @AutoLog
-    public static class IntakeIOOutputs {
+    public static class IntakeOutputs {
         public double intakeMotorVoltage = 0.0;
 
         public double centeringMotorVoltage = 0.0;
     }
 
-    public default void updateInputs(IntakeIOInputs inputs) {}
+    public default void updateInputs(IntakeInputs inputs) {}
 
-    public default void applyOutputs(IntakeIOOutputs outputs) {}
+    public default void applyOutputs(IntakeOutputs outputs) {}
 
     public default void setIntakeVoltage(double volts) {}
 

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
@@ -17,7 +17,7 @@ public class IntakeIOSim implements IntakeIO {
     public IntakeIOSim() {}
 
     @Override
-    public void updateInputs(IntakeIOInputs inputs) {
+    public void updateInputs(IntakeInputs inputs) {
         // inputs.leftIntakeVoltage = intakeWheelsAppliedVolts;
         // inputs.leftIntakeStatorCurrent = noteInIntakeWheels ? 100000 : 0;
         // inputs.rightIntakeVoltage = intakeWheelsAppliedVolts;

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java b/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java
@@ -28,7 +28,7 @@ public IntakeNEOVortex() {
     }
 
     @Override
-    public void updateInputs(IntakeIOInputs inputs) {
+    public void updateInputs(IntakeInputs inputs) {
         inputs.intakeMotorVoltage = intakeMotor.getAppliedOutput();
         inputs.intakeMotorStatorCurrentAmps = intakeMotor.getOutputCurrent();
 
@@ -37,7 +37,7 @@ public void updateInputs(IntakeIOInputs inputs) {
     }
 
     @Override
-    public void applyOutputs(IntakeIOOutputs outputs) {
+    public void applyOutputs(IntakeOutputs outputs) {
         outputs.intakeMotorVoltage = intakeMotorVolts;
 
         outputs.centeringMotorVoltage = centeringMotorVolts;

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -8,8 +8,9 @@
 public class IntakeSubsystem extends SubsystemBase {
 
     private IntakeIO io;
-    private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
-    private IntakeIOOutputsAutoLogged outputs = new IntakeIOOutputsAutoLogged();
+    private IntakeInputsAutoLogged inputs = new IntakeInputsAutoLogged();
+    private IntakeOutputsAutoLogged outputs = new IntakeOutputsAutoLogged();
+
     private State state = State.IDLE;
 
     private BooleanSupplier scorerWantsNote = () -> true;

diff --git a/src/main/java/frc/robot/subsystems/scoring/AimerIO.java b/src/main/java/frc/robot/subsystems/scoring/AimerIO.java
@@ -4,7 +4,7 @@
 
 public interface AimerIO {
     @AutoLog
-    public static class AimerIOInputs {
+    public static class AimerInputs {
         public double aimAngleRad = 0.0;
         public double aimGoalAngleRad = 0.0;
         public double aimProfileGoalAngleRad = 0.0;
@@ -17,13 +17,13 @@ public static class AimerIOInputs {
     }
 
     @AutoLog
-    public static class AimerIOOutputs {
+    public static class AimerOutputs {
         public double aimAppliedVoltage = 0.0;
     }
 
-    public default void updateInputs(AimerIOInputs inputs) {}
+    public default void updateInputs(AimerInputs inputs) {}
 
-    public default void applyOutputs(AimerIOOutputs outputs) {}
+    public default void applyOutputs(AimerOutputs outputs) {}
 
     public default void setAimAngleRad(double angle, boolean newProfile) {}
 

diff --git a/src/main/java/frc/robot/subsystems/scoring/AimerIORoboRio.java b/src/main/java/frc/robot/subsystems/scoring/AimerIORoboRio.java
@@ -182,7 +182,7 @@ public void setMotorDisabled(boolean disabled) {
     }
 
     @Override
-    public void updateInputs(AimerIOInputs inputs) {
+    public void updateInputs(AimerInputs inputs) {
 
         if (getEncoderPosition() == -1.75) {
             motorDisabled = true;
@@ -211,7 +211,7 @@ public void updateInputs(AimerIOInputs inputs) {
     }
 
     @Override
-    public void applyOutputs(AimerIOOutputs outputs) {
+    public void applyOutputs(AimerOutputs outputs) {
 
         State trapezoidSetpoint =
                 profile.calculate(

diff --git a/src/main/java/frc/robot/subsystems/scoring/AimerIOSim.java b/src/main/java/frc/robot/subsystems/scoring/AimerIOSim.java
@@ -103,7 +103,7 @@ public void setPID(double p, double i, double d) {
     }
 
     @Override
-    public void updateInputs(AimerIOInputs inputs) {
+    public void updateInputs(AimerInputs inputs) {
         sim.update(SimConstants.loopTime);
 
         inputs.aimGoalAngleRad = goalAngleRad;
@@ -116,7 +116,7 @@ public void updateInputs(AimerIOInputs inputs) {
     }
 
     @Override
-    public void applyOutputs(AimerIOOutputs outputs) {
+    public void applyOutputs(AimerOutputs outputs) {
         State trapezoidSetpoint =
                 profile.calculate(
                         timer.get(),

diff --git a/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java b/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java
@@ -28,12 +28,12 @@
 
 public class ScoringSubsystem extends SubsystemBase implements Tunable {
     private final ShooterIO shooterIo;
-    private final ShooterIOInputsAutoLogged shooterInputs = new ShooterIOInputsAutoLogged();
-    private final ShooterIOOutputsAutoLogged shooterOutputs = new ShooterIOOutputsAutoLogged();
+    private final ShooterInputsAutoLogged shooterInputs = new ShooterInputsAutoLogged();
+    private final ShooterOutputsAutoLogged shooterOutputs = new ShooterOutputsAutoLogged();
 
     private final AimerIO aimerIo;
-    private final AimerIOInputsAutoLogged aimerInputs = new AimerIOInputsAutoLogged();
-    private final AimerIOOutputsAutoLogged aimerOutputs = new AimerIOOutputsAutoLogged();
+    private final AimerInputsAutoLogged aimerInputs = new AimerInputsAutoLogged();
+    private final AimerOutputsAutoLogged aimerOutputs = new AimerOutputsAutoLogged();
 
     private final Timer shootTimer = new Timer();
 

diff --git a/src/main/java/frc/robot/subsystems/scoring/ShooterIO.java b/src/main/java/frc/robot/subsystems/scoring/ShooterIO.java
@@ -4,7 +4,7 @@
 
 public interface ShooterIO {
     @AutoLog
-    public static class ShooterIOInputs {
+    public static class ShooterInputs {
         public double shooterLeftVelocityRPM = 0.0;
         public double shooterLeftAppliedVolts = 0.0;
         public double shooterLeftStatorCurrentAmps = 0.0;
@@ -22,17 +22,17 @@ public static class ShooterIOInputs {
     }
 
     @AutoLog
-    public static class ShooterIOOutputs {
+    public static class ShooterOutputs {
         public double shooterLeftGoalVelocityRPM = 0.0;
 
         public double shooterRightGoalVelocityRPM = 0.0;
 
         public double kickerGoalVolts = 0.0;
     }
 
-    public default void updateInputs(ShooterIOInputs inputs) {}
+    public default void updateInputs(ShooterInputs inputs) {}
 
-    public default void applyOutputs(ShooterIOOutputs outputs) {}
+    public default void applyOutputs(ShooterOutputs outputs) {}
 
     public default void setShooterVelocityRPM(double velocity) {}
 

diff --git a/src/main/java/frc/robot/subsystems/scoring/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/scoring/ShooterIOSim.java
@@ -71,7 +71,7 @@ public void setPID(double p, double i, double d) {
     }
 
     @Override
-    public void updateInputs(ShooterIOInputs inputs) {
+    public void updateInputs(ShooterInputs inputs) {
         shooterLeftSim.update(SimConstants.loopTime);
         shooterRightSim.update(SimConstants.loopTime);
 
@@ -95,7 +95,7 @@ public void updateInputs(ShooterIOInputs inputs) {
     }
 
     @Override
-    public void applyOutputs(ShooterIOOutputs outputs) {
+    public void applyOutputs(ShooterOutputs outputs) {
 
         outputs.shooterLeftGoalVelocityRPM = shooterLeftGoalVelRPM;
         outputs.shooterRightGoalVelocityRPM = shooterRightGoalVelRPM;

diff --git a/src/main/java/frc/robot/subsystems/scoring/ShooterIOTalonFX.java b/src/main/java/frc/robot/subsystems/scoring/ShooterIOTalonFX.java
@@ -110,7 +110,7 @@ public void setFF(double kS, double kV, double kA) {
     }
 
     @Override
-    public void updateInputs(ShooterIOInputs inputs) {
+    public void updateInputs(ShooterInputs inputs) {
 
         inputs.shooterLeftVelocityRPM =
                 shooterLeft.getVelocity().getValueAsDouble()
@@ -133,7 +133,7 @@ public void updateInputs(ShooterIOInputs inputs) {
     }
 
     @Override
-    public void applyOutputs(ShooterIOOutputs outputs) {
+    public void applyOutputs(ShooterOutputs outputs) {
         outputs.shooterLeftGoalVelocityRPM = goalLeftVelocityRPM;
         outputs.shooterRightGoalVelocityRPM = goalRightVelocityRPM;
         outputs.kickerGoalVolts = kickerVolts;