Robot code that we know works (#104)

* Change example items to drivetrain skeleton

* Format using the formatting tool in VScode

* Update FRC library version

* Update WPILIB extension, add motorcontrollers, and resolve merge conflicts

* Change example items to drivetrain (#2)

* Change example items to drivetrain skeleton

* Format using the formatting tool in VScode

* Update WPILIB extension, add motorcontrollers, and resolve merge conflicts

* Fix TeleopDrive

* Fix TeleopDrive for arcade and tank

* Fix Arcade Drive

* Split TeleopDrive.java into Arcade and Tank Drive

* Add SmartDashboard ports and Encoders

* add continuous integration (#6)

* add travis config and update README.md

* Fix copyright typo introduced in earlier commit.

* Add motor configuration methods for talons and victors

* Add gyros (note: there are some errors - that's because AHRS has not been added)

* Fix ArcadeDrive logic

* initial changes

* Add basic cargo syubsystem functionality

* Add squared joystick functionality

* clean up code and add comments

* add correct port numbers for motor controllers

* add correct port numbers for motor controllers (#8)

* add correct port numbers for motor controllers

* invert right motors

drivetrain motors run the opposite direction on each side, the right
motors run the incorrect direction

* Update cargo code to match this year's robot, and OI complements. Can now intake/eject

* Format and organize all changed files according to VSCode auto-formatter

* Set distance per pulse of drivetrain encoders

* add camera code

* improvements to cargo code (#12)

* add hatch code (#14)

* Add Climber code

* Remove test code (accidental commit)

* Make joysticks negative; correctly square joysticks; initialize OI; put Encoder values to S.D (#20)

* Add variable rollerPort for hasCargo() method.

* Move cargoPDPPort to RobotMap

* Move TODO statement to more relevant spot, formatted two documents

* Work around copySign problem

* Remove test prints and SmartDashboard

* Comment and format

* Add code for rails

* make motor controller initialization compatible with both robots (#24)

* Put piston state value to Smart Dashboard (#21)

* Put piston state value to Smart Dashboard

* Add default state for pistons

* Fix unreachable statement error in HatchPanel.toggle()

* Change names of pistonState

* Enter correct hatch solenoid numbers (#26)

* Cargo null error (#27)

* Enter correct hatch solenoid numbers

* Fix null error in cargo intake and eject

* Update names and organization to match rest of code and use AHRS

* Change climber code to reflect the use of the accelerometer to check climbing bounds

* Implement accelerometer code for the climber

* Fix logic, add rail button

* Fix logic in climber code

* Change climbing logic to single command

* Fix syntax error

* Fix additional syntax errors

* fix compilation errors and clean up code

* use navx instead of built in accelerometer

* format code

* requested changes

* add climb button and fix drivetrain/oi stuff (#29)

* add climb button and fix drivetrain/oi stuff

* format code

* Restructure climb into climb and retract, add manual override

* Change climb logic to enum State

* Make requested changes in climber

* Organize up into state and if/elses into switch

* add manipulator "enum" (#31)

Java enums don't really map to ints so I'm just making a fake enum

* Add encoder logic and clean up climbing logic

* Make buttons more descriptive in OI.java (#32)

* add manipulator "enum"

Java enums don't really map to ints so I'm just making a fake enum

* Make names in OI for buttons more descriptive

* Update to 3.2 (#33)

* Change climber port number to correct one

* changes from on-robot testing (#35)

* improvements to cargo code

* fix merge errors

* changes from on-robot testing

* Fix syntax error in OI.java

* Issue 38 (#40)

* Add cargo status in SmartDashboard

* Include accidentally unstaged change

* Fix finished/interrupted logic in cargo

* Address issue 37 by having the hatch stay out while intaking cargo (#41)

* Address issue 37 by having the hatch stay out while intaking cargo

* Make WaitMove only detect one-way movement

* Fix incorrect subtraction logic

* Add error checking (and printing) for the motor controller config statements (#47)

* fix right arcade drive trigger (#44)

* fix #43

* change default slow rotation value

* Change climber ports (#48)

* Add code to keep climber up (#53)

* Add code to keep climber up

* Remove extraneous variable, add to keepclimber logic

* Fix climber logic (#54)

* Fix climber logic

* Change logic to reflect new priority of changing directions too much (from climbing too often)

* Add resetting code to drivetrain encoders when they are created (#55)

* add manual climb

* update max climb height to be the height of the robot

* Put correct port number in hasCargo() (#58)

* Add wobbledrive capability

* Drivetrain characterization (#25)

* Copy drivetrain characterization code to Robot 2019

* Fix Dean's complaints and format

* Replace SpeedController with WPI_TalonSRX

* Merge IncreaseVoltageLinear and IncreaseVoltageStepwise into DrivetrainCharacterization Command.

* Remove old IncreaseVoltage commands

* Fix maxVoltage error

* Add Drivetrain Characterization Analysis

* Surround Scanner with Try-Catch in Drivetrain.java

* Fix try-catch in Drivetrain.java

* Reduce and simplify DrivetrainCharAnalysis.java

* Resolve building issues associated with the last two branches

* Resolve build changes in the last commit

* Try-Catch FileReader and CSVReader in DrivetrainCharacterization.java

* Add CharacterizedDrive capability

* Make DrivetrainAnalysis a SmartDashboard button

* Split kV, kA, vIntercept into left and right values

* Split kv,ka,vIntercept into forward-left, forward-right, backward-left, and backward-right values

* Fix parseCSV (now the code actually works!)

* Fix Characterized Drive

* Fix testing issues

* Utilize acceleration term in drivetrain characterization formula

* Fix CharDrive in TeleopDrive

* Partial Changes the night of 2/18/19

* Remove absolute value from leftDV and rightDV

* Fix turning issue with acceleration clipping

* Invert right encoder

* Change wobble to a whileHeld

* Add button to switch between arcade drive and tank drive (#67)

* Add button to switch between arcade drive and tank drive

* Auto-format files

* Add wobbledrive capability (#65)

* Add wobbledrive capability

* Change wobble to a whileHeld

* Add early stop when drivetrain is stuck during wobbling

* Add wobble reset when wobble button is released

* Fix logic in wobble drive

* Fix bug with wobbledrive looking at distance instead of rate

* Initial commit

* Fix cargo and climber ports

* Fix logic in finishing wobble drive

* Make wobble stop doing a finished side, fix logic

* Add SmartDashboard output when wobble done

* Catch singular matrix exception and dump X and Y matrices

* Set climb speeds to proven values

* Add timer to differentiate between climb levels

* Fix getAngle function in climber

* Fix getAngle function in climber

* Add lights code

* Fix bug calling wrong command from oi

* Add lights color to smartdashboard

* Replace timer with encoder to finish climb

* Fix syntax error, edit constant to more reasonable value.

* Update some TODO values with actual number

* Reverse climber encoder logic (and rename variables)

* Make requested change

* Capitalize SmartDashboard values

* different buttons for auto and manual climb

* change climb buttons to be consistent

(also because I'm adding hatch buttons but ignore that)

* Solves issue-88 (#89)

* add new hatch mech code (#86)

* add new hatch mech code

* minor changes and add comments

* Change climber piston ports

* change to manipulator controls for manual climbing (#96)

* change to manipulator controls for climbing

* im bad -kev

* update hatch code (#97)

* add new hatch mech code

* minor changes and add comments

* hardcode no delay for hatch eject

* change naming for clarity

* re-delete files from merge

* delete the imports of removed files

* Fix angles for climbing (#94)

* Fix angles for climbing

* Change climber piston ports

* Use atan for climber angle

* use pitch instead of accel calculations

* change rails to toggle

* Fix issue #98 (#102)

.travis.yml

@@ -0,0 +1,8 @@
+language: java
+script:
+  - cd Robot2019/
+  - ./gradlew check
+jdk:
+  - oraclejdk11
+env:
+  - TERM=dumb

.vscode/launch.json

@@ -0,0 +1,27 @@
+{
+    // 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": "java",
+            "name": "Debug (Launch) - Current File",
+            "request": "launch",
+            "mainClass": "${file}"
+        },
+        {
+            "type": "java",
+            "name": "Debug (Launch)-Main<Robot2019>",
+            "request": "launch",
+            "mainClass": "frc.robot.Main",
+            "projectName": "Robot2019"
+        },
+        {
+            "type": "java",
+            "name": "Debug (Launch)-DrivetrainCharacterization",
+            "request": "launch",
+            "mainClass": "DrivetrainCharacterization"
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "none",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 199
+}

README.md

@@ -1,2 +1,3 @@
-# RobotCode2019
+# RobotCode2019 [![Build Status](https://travis-ci.com/DeepBlueRobotics/RobotCode2019.svg?branch=dev)](https://travis-ci.com/DeepBlueRobotics/RobotCode2019)
+
 Our code for 2019 FRC Build Season.

Robot2019/.wpilib/wpilib_preferences.json

@@ -1,4 +1,6 @@
 {
+    "enableCppIntellisense": false,
     "currentLanguage": "java",
+    "projectYear": "2019",
     "teamNumber": 199
 }

Robot2019/build.gradle

@@ -1,54 +1,64 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.0.0-alpha-3"
+    id "edu.wpi.first.GradleRIO" version "2019.3.2"
 }
 
-def ROBOT_CLASS = "frc.robot.Robot"
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project EmbeddedTools.
 deploy {
     targets {
-        target("roborio", edu.wpi.first.gradlerio.frc.RoboRIO) {
+        roboRIO("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 = getTeamNumber()
+            team = frc.getTeamNumber()
         }
     }
     artifacts {
-        artifact('frcJava', edu.wpi.first.gradlerio.frc.FRCJavaArtifact) {
+        frcJavaArtifact('frcJava') {
             targets << "roborio"
             // Debug can be overridden by command line, for use with VSCode
-            debug = getDebugOrDefault(false)
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact('frcStaticFileDeploy') {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: 'src/main/deploy')
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = '/home/lvuser/deploy'
         }
     }
 }
 
-// Defining my dependencies. In this case, WPILib (+ friends), CTRE Toolsuite (Talon SRX)
-// and NavX.
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Maven central needed for JUnit
+repositories {
+    mavenCentral()
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
 dependencies {
-    compile wpilib()
-    compile ctre()
-    compile navx()
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    testCompile 'junit:junit:4.12'
+    compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1'
+    compile group: 'org.apache.commons', name: 'commons-lang3', version: '3.8.1'
+    compile group: 'org.apache.commons', name: 'commons-csv', version: '1.6'
 }
 
 // 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.compile.collect { it.isDirectory() ? it : zipTree(it) }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_CLASS)
-}
-
-// Force Java 8 Compatibility mode for deployed code, in case the develoment
-// system is using Java 10.
-compileJava {
-    sourceCompatibility = 1.8
-    targetCompatibility = 1.8
-}
-
-wrapper {
-    gradleVersion = '4.9'
+    from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
 }

Robot2019/gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.9-bin.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists

Robot2019/gradlew

@@ -28,7 +28,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+DEFAULT_JVM_OPTS='"-Xmx64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"

Robot2019/gradlew.bat

@@ -14,7 +14,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @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=
+set DEFAULT_JVM_OPTS="-Xmx64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome

Robot2019/settings.gradle

@@ -1,6 +1,25 @@
+import org.gradle.internal.os.OperatingSystem
+
 pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
+        String frcYear = '2019'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            frcHome = new File(publicFolder, "frc${frcYear}")
+        } else {
+            def userFolder = System.getProperty("user.home")
+            frcHome = new File(userFolder, "frc${frcYear}")
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
     }
 }

Robot2019/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 'FileUtilities.getFilePath' wpilib function
+to get a proper path relative to the deploy directory.