diff --git a/.github/workflows/build-all-parallel.yml b/.github/workflows/build-all-parallel.yml index a2c1e362..b3b1f8fb 100644 --- a/.github/workflows/build-all-parallel.yml +++ b/.github/workflows/build-all-parallel.yml @@ -73,6 +73,8 @@ jobs: directory: 'java/FusedCANcoder' - project-name: 'MotionMagic' directory: 'java/MotionMagic' + - project-name: 'MotionMagicExpo' + directory: 'java/MotionMagicExpo' - project-name: 'PhoenixSysId' directory: 'java/PhoenixSysId' - project-name: 'Pigeon2' diff --git a/java/MotionMagicExpo/.gitignore b/java/MotionMagicExpo/.gitignore new file mode 100644 index 00000000..34cbaac1 --- /dev/null +++ b/java/MotionMagicExpo/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/java/MotionMagicExpo/.vscode/launch.json b/java/MotionMagicExpo/.vscode/launch.json new file mode 100644 index 00000000..c9c9713d --- /dev/null +++ b/java/MotionMagicExpo/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/java/MotionMagicExpo/.vscode/settings.json b/java/MotionMagicExpo/.vscode/settings.json new file mode 100644 index 00000000..612cdd0d --- /dev/null +++ b/java/MotionMagicExpo/.vscode/settings.json @@ -0,0 +1,60 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ] +} diff --git a/java/MotionMagicExpo/.wpilib/wpilib_preferences.json b/java/MotionMagicExpo/.wpilib/wpilib_preferences.json new file mode 100644 index 00000000..200c9112 --- /dev/null +++ b/java/MotionMagicExpo/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 7762 +} \ No newline at end of file diff --git a/java/MotionMagicExpo/WPILib-License.md b/java/MotionMagicExpo/WPILib-License.md new file mode 100644 index 00000000..645e5425 --- /dev/null +++ b/java/MotionMagicExpo/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/java/MotionMagicExpo/build.gradle b/java/MotionMagicExpo/build.gradle new file mode 100644 index 00000000..c6fea4f9 --- /dev/null +++ b/java/MotionMagicExpo/build.gradle @@ -0,0 +1,104 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.2.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/java/MotionMagicExpo/gradle/wrapper/gradle-wrapper.jar b/java/MotionMagicExpo/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 00000000..a4b76b95 Binary files /dev/null and b/java/MotionMagicExpo/gradle/wrapper/gradle-wrapper.jar differ diff --git a/java/MotionMagicExpo/gradle/wrapper/gradle-wrapper.properties b/java/MotionMagicExpo/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 00000000..34bd9ce9 --- /dev/null +++ b/java/MotionMagicExpo/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/java/MotionMagicExpo/gradlew b/java/MotionMagicExpo/gradlew new file mode 100644 index 00000000..f5feea6d --- /dev/null +++ b/java/MotionMagicExpo/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/java/MotionMagicExpo/gradlew.bat b/java/MotionMagicExpo/gradlew.bat new file mode 100644 index 00000000..9d21a218 --- /dev/null +++ b/java/MotionMagicExpo/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/java/MotionMagicExpo/settings.gradle b/java/MotionMagicExpo/settings.gradle new file mode 100644 index 00000000..969c7b09 --- /dev/null +++ b/java/MotionMagicExpo/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/java/MotionMagicExpo/src/main/deploy/example.txt b/java/MotionMagicExpo/src/main/deploy/example.txt new file mode 100644 index 00000000..bb82515d --- /dev/null +++ b/java/MotionMagicExpo/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/java/MotionMagicExpo/src/main/java/frc/robot/Main.java b/java/MotionMagicExpo/src/main/java/frc/robot/Main.java new file mode 100644 index 00000000..8776e5dd --- /dev/null +++ b/java/MotionMagicExpo/src/main/java/frc/robot/Main.java @@ -0,0 +1,25 @@ +// 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. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/java/MotionMagicExpo/src/main/java/frc/robot/Mechanisms.java b/java/MotionMagicExpo/src/main/java/frc/robot/Mechanisms.java new file mode 100644 index 00000000..b81564a0 --- /dev/null +++ b/java/MotionMagicExpo/src/main/java/frc/robot/Mechanisms.java @@ -0,0 +1,58 @@ +package frc.robot; + +import static edu.wpi.first.units.Units.*; + +import com.ctre.phoenix6.StatusSignal; + +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; + +/** + * Class to keep all the mechanism-specific objects together and out of the main example + */ +public class Mechanisms { + double HEIGHT = 1; // Controls the height of the mech2d SmartDashboard + double WIDTH = 1; // Controls the height of the mech2d SmartDashboard + + Mechanism2d mech = new Mechanism2d(WIDTH, HEIGHT); + // Velocity + MechanismLigament2d VelocityMech = mech. + getRoot("velocityLineReferencePosition", 0.75, 0.5). + append(new MechanismLigament2d("velocityLine", 1,90, 6, new Color8Bit(Color.kAliceBlue))); + + MechanismLigament2d midline = mech. + getRoot("midline", 0.7, 0.5). + append(new MechanismLigament2d("midline", 0.1, 0, 3, new Color8Bit(Color.kCyan))); + + //Position + MechanismLigament2d arm = mech. + getRoot("pivotPoint", 0.25, 0.5). + append(new MechanismLigament2d("arm", .2, 0, 0, new Color8Bit(Color.kAliceBlue))); + + MechanismLigament2d side1 = arm.append(new MechanismLigament2d("side1", 0.15307, 112.5, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side2 = side1.append(new MechanismLigament2d("side2", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side3 = side2.append(new MechanismLigament2d("side3", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side4 = side3.append(new MechanismLigament2d("side4", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side5 = side4.append(new MechanismLigament2d("side5", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side6 = side5.append(new MechanismLigament2d("side6", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side7 = side6.append(new MechanismLigament2d("side7", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + MechanismLigament2d side8 = side7.append(new MechanismLigament2d("side8", 0.15307, 45, 6, new Color8Bit(Color.kAliceBlue))); + + /** + * Runs the mech2d widget in GUI. + * + * This utilizes GUI to simulate and display a TalonFX and exists to allow users to test and understand + * features of our products in simulation using our examples out of the box. Users may modify to have a + * display interface that they find more intuitive or visually appealing. + */ + public void update(StatusSignal position, StatusSignal velocity) { + VelocityMech.setLength(velocity.getValue().in(RotationsPerSecond)/120); // Divide by 120 to scale motion to fit in the window + arm.setAngle(position.getValue().in(Rotations) * 360); + SmartDashboard.putData("mech2d", mech); // Creates mech2d in SmartDashboard + } +} diff --git a/java/MotionMagicExpo/src/main/java/frc/robot/Robot.java b/java/MotionMagicExpo/src/main/java/frc/robot/Robot.java new file mode 100644 index 00000000..99b959d4 --- /dev/null +++ b/java/MotionMagicExpo/src/main/java/frc/robot/Robot.java @@ -0,0 +1,145 @@ +// 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. + +package frc.robot; + +import static edu.wpi.first.units.Units.*; + +import com.ctre.phoenix6.StatusCode; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.MotionMagicConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.MotionMagicExpoVoltage; +import com.ctre.phoenix6.hardware.TalonFX; + +import edu.wpi.first.units.AngularAccelerationUnit; +import edu.wpi.first.units.AngularVelocityUnit; +import edu.wpi.first.units.Units; +import edu.wpi.first.units.VoltageUnit; +import edu.wpi.first.units.measure.Per; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.XboxController; +import frc.robot.sim.PhysicsSim; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private final TalonFX m_fx = new TalonFX(1, "canivore"); + private final MotionMagicExpoVoltage m_mmReq = new MotionMagicExpoVoltage(0); + private final XboxController m_joystick = new XboxController(0); + + private int m_printCount = 0; + + private final Mechanisms m_mechanisms = new Mechanisms(); + + @Override + public void simulationInit() { + PhysicsSim.getInstance().addTalonFX(m_fx, 0.001); + } + + @Override + public void simulationPeriodic() { + PhysicsSim.getInstance().run(); + } + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + public Robot() { + TalonFXConfiguration cfg = new TalonFXConfiguration(); + + /* Configure gear ratio */ + FeedbackConfigs fdb = cfg.Feedback; + fdb.SensorToMechanismRatio = 12.8; // 12.8 rotor rotations per mechanism rotation + + // Choose MotionMagicExpo kV and kA. + // Use the default values scaled with the sensor ratio. + // Increase these values for a "softer" response + // Note these two configs are always in V (Volts) even when using + // MotionMagicExpoDutyCycle or MotionMagicExpoTorqueCurrentFOC + var newMotionMagicExpo_kV = Volts.per(Rotations.per(Second)) + .ofNative(0.12 * fdb.SensorToMechanismRatio); // 12 V / 100 RPS_motor * 12.8 (mechanism) rotations per motor + // rotation => 1.536 V / RPS (mechanism) + var newMotionMagicExpo_kA = Volts.per(Rotations.per(Second).per(Second)) + .ofNative(0.10 * fdb.SensorToMechanismRatio); // 0.1 V / RPS^2 * 12.8 (mechanism) rotations per motor rotation + // => 1.28 V / RPS^2 (mechanism) + + /* Configure Motion Magic */ + MotionMagicConfigs mm = cfg.MotionMagic; + mm.withMotionMagicCruiseVelocity(RotationsPerSecond.of(5)) // 5 (mechanism) rotations per second cruise + .withMotionMagicAcceleration(RotationsPerSecondPerSecond.of(10)) // Take approximately 0.5 seconds to reach max vel + // Take approximately 0.1 seconds to reach max accel + .withMotionMagicJerk(RotationsPerSecondPerSecond.per(Second).of(100)) + // setup MotionMagicExpo kV and kA + .withMotionMagicExpo_kV(newMotionMagicExpo_kV) + .withMotionMagicExpo_kA(newMotionMagicExpo_kA); + + Slot0Configs slot0 = cfg.Slot0; + slot0.kS = 0.25; // Add 0.25 V output to overcome static friction + slot0.kV = 0.12; // A velocity target of 1 rps results in 0.12 V output + slot0.kA = 0.01; // An acceleration of 1 rps/s requires 0.01 V output + slot0.kP = 60; // A position error of 0.2 rotations results in 12 V output + slot0.kI = 0; // No output for integrated error + slot0.kD = 0.5; // A velocity error of 1 rps results in 0.5 V output + + StatusCode status = StatusCode.StatusCodeNotInitialized; + for (int i = 0; i < 5; ++i) { + status = m_fx.getConfigurator().apply(cfg); + if (status.isOK()) break; + } + if (!status.isOK()) { + System.out.println("Could not configure device. Error: " + status.toString()); + } + } + + @Override + public void robotPeriodic() { + if (++m_printCount >= 10) { + m_printCount = 0; + System.out.println("Pos: " + m_fx.getPosition()); + System.out.println("Vel: " + m_fx.getVelocity()); + System.out.println(); + } + m_mechanisms.update(m_fx.getPosition(), m_fx.getVelocity()); + } + + @Override + public void autonomousInit() {} + + @Override + public void autonomousPeriodic() {} + + @Override + public void teleopInit() {} + + @Override + public void teleopPeriodic() { + /* Deadband the joystick */ + double leftY = m_joystick.getLeftY(); + if (Math.abs(leftY) < 0.1) leftY = 0; + + m_fx.setControl(m_mmReq.withPosition(leftY * 10).withSlot(0)); + if (m_joystick.getBButton()) { + m_fx.setPosition(Rotations.of(1)); + } + } + + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + @Override + public void testInit() {} + + @Override + public void testPeriodic() {} +} diff --git a/java/MotionMagicExpo/src/main/java/frc/robot/sim/PhysicsSim.java b/java/MotionMagicExpo/src/main/java/frc/robot/sim/PhysicsSim.java new file mode 100644 index 00000000..6000bca7 --- /dev/null +++ b/java/MotionMagicExpo/src/main/java/frc/robot/sim/PhysicsSim.java @@ -0,0 +1,81 @@ +package frc.robot.sim; + +import java.util.ArrayList; + +import com.ctre.phoenix6.Utils; +import com.ctre.phoenix6.hardware.TalonFX; + +/** + * Manages physics simulation for CTRE products. + */ +public class PhysicsSim { + private static final PhysicsSim sim = new PhysicsSim(); + + /** + * Gets the robot simulator instance. + */ + public static PhysicsSim getInstance() { + return sim; + } + + /** + * Adds a TalonFX controller to the simulator. + * + * @param talonFX + * The TalonFX device + * @param rotorInertia + * Rotational Inertia of the mechanism at the rotor + */ + public void addTalonFX(TalonFX talonFX, final double rotorInertia) { + if (talonFX != null) { + TalonFXSimProfile simTalonFX = new TalonFXSimProfile(talonFX, rotorInertia); + _simProfiles.add(simTalonFX); + } + } + + /** + * Runs the simulator: + * - enable the robot + * - simulate sensors + */ + public void run() { + // Simulate devices + for (SimProfile simProfile : _simProfiles) { + simProfile.run(); + } + } + + private final ArrayList _simProfiles = new ArrayList(); + + /** + * Holds information about a simulated device. + */ + static class SimProfile { + private double _lastTime; + private boolean _running = false; + + /** + * Runs the simulation profile. + * Implemented by device-specific profiles. + */ + public void run() { + } + + /** + * Returns the time since last call, in seconds. + */ + protected double getPeriod() { + // set the start time if not yet running + if (!_running) { + _lastTime = Utils.getCurrentTimeSeconds(); + _running = true; + } + + double now = Utils.getCurrentTimeSeconds(); + final double period = now - _lastTime; + _lastTime = now; + + return period; + } + } +} \ No newline at end of file diff --git a/java/MotionMagicExpo/src/main/java/frc/robot/sim/TalonFXSimProfile.java b/java/MotionMagicExpo/src/main/java/frc/robot/sim/TalonFXSimProfile.java new file mode 100644 index 00000000..9c7e3d1f --- /dev/null +++ b/java/MotionMagicExpo/src/main/java/frc/robot/sim/TalonFXSimProfile.java @@ -0,0 +1,58 @@ +package frc.robot.sim; + +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.sim.TalonFXSimState; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import frc.robot.sim.PhysicsSim.SimProfile; + +/** + * Holds information about a simulated TalonFX. + */ +class TalonFXSimProfile extends SimProfile { + private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation + private final TalonFXSimState _talonFXSim; + + private final DCMotorSim _motorSim; + + /** + * Creates a new simulation profile for a TalonFX device. + * + * @param talonFX + * The TalonFX device + * @param rotorInertia + * Rotational Inertia of the mechanism at the rotor + */ + public TalonFXSimProfile(final TalonFX talonFX, final double rotorInertia) { + this._talonFXSim = talonFX.getSimState(); + var gearbox = DCMotor.getKrakenX60Foc(1); + this._motorSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(gearbox, rotorInertia, 1.0), gearbox); + } + + /** + * Runs the simulation profile. + * + * This uses very rudimentary physics simulation and exists to allow users to + * test features of our products in simulation using our examples out of the + * box. Users may modify this to utilize more accurate physics simulation. + */ + public void run() { + /// DEVICE SPEED SIMULATION + + _motorSim.setInputVoltage(_talonFXSim.getMotorVoltage()); + + _motorSim.update(getPeriod()); + + /// SET SIM PHYSICS INPUTS + final double position_rot = _motorSim.getAngularPositionRotations(); + final double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec()); + + _talonFXSim.setRawRotorPosition(position_rot); + _talonFXSim.setRotorVelocity(velocity_rps); + + _talonFXSim.setSupplyVoltage(12 - _talonFXSim.getSupplyCurrent() * kMotorResistance); + } +} \ No newline at end of file diff --git a/java/MotionMagicExpo/vendordeps/Phoenix6-frc2025-latest.json b/java/MotionMagicExpo/vendordeps/Phoenix6-frc2025-latest.json new file mode 100644 index 00000000..d7bea576 --- /dev/null +++ b/java/MotionMagicExpo/vendordeps/Phoenix6-frc2025-latest.json @@ -0,0 +1,449 @@ +{ + "fileName": "Phoenix6-frc2025-latest.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.3.2", + "frcYear": "2025", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.3.2" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.3.2", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", 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