Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Code Review #1

Open
wants to merge 135 commits into
base: code-review
Choose a base branch
from
Open
Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
135 commits
Select commit Hold shift + click to select a range
dfea0a4
First commit
robertdeml Jan 15, 2020
bce118d
Adding the first set of files
robertdeml Jan 17, 2020
a8e4c7b
copied the joystick deffinitions into 2020
Ihedgehogs Jan 18, 2020
359c514
added talon constants.
robertdeml Jan 18, 2020
ed9cc01
Adding the drive subsystem.
robertdeml Jan 18, 2020
8d82e57
resyncing repository
Ihedgehogs Jan 18, 2020
22ffd9b
Adding the Util folder.
robertdeml Jan 18, 2020
10254be
Some files were put in the wrong folder.
robertdeml Jan 18, 2020
74ef319
Fixed the build
robertdeml Jan 18, 2020
7b85802
Create Intake.java
robertdeml Jan 18, 2020
dcb82ee
added shooter subsystem
Ihedgehogs Jan 18, 2020
fcdd6c4
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
Ihedgehogs Jan 18, 2020
67eee4a
Update Shooter.java
robertdeml Jan 18, 2020
359a2c1
added Climber and Magazine
Ihedgehogs Jan 18, 2020
ec30b0e
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
Ihedgehogs Jan 18, 2020
08842a6
added Talons to all subsystems
Ihedgehogs Jan 18, 2020
a6fa7e9
first take on tallon setting
Ihedgehogs Jan 18, 2020
4d621f2
added a diabled command. added shooter pid skeleton.
robertdeml Jan 21, 2020
4b2ab27
added drive to robot container
Ihedgehogs Jan 21, 2020
fddec81
Added Drive Zero Gyro.
robertdeml Jan 21, 2020
e2991d4
filing out the magazine and shooter
Ihedgehogs Jan 21, 2020
6d7c3eb
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
Ihedgehogs Jan 21, 2020
2ea98aa
Filling in the autonomous stuff
robertdeml Jan 21, 2020
502f751
configuring the talons in the climber and the magazine
Ihedgehogs Jan 21, 2020
320a650
Refactored robot container
robertdeml Jan 21, 2020
d332ce6
speed commands
robertdeml Jan 21, 2020
6e8127f
Update DriveStraightOnHeading.java
Ihedgehogs Jan 22, 2020
0d62f14
asigned buttons
Ihedgehogs Jan 22, 2020
79ba1fc
Fixed spelling. Added hood talon config.
robertdeml Jan 22, 2020
0cffede
Removing the subsystems from being passed.
robertdeml Jan 22, 2020
04d80d5
making the subsystems public
Ihedgehogs Jan 22, 2020
4bd36ac
Added Turret command. Still removing subsystem passing.
robertdeml Jan 22, 2020
7e8b5a0
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
Ihedgehogs Jan 22, 2020
7e85d5b
Compiles!
robertdeml Jan 22, 2020
81d6f19
Added tests for shooter.
robertdeml Jan 22, 2020
34ba71f
Shifting the buttons.
robertdeml Jan 22, 2020
476699f
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
robertdeml Jan 22, 2020
3782463
Mayhem Joysticks have public final buttons.
robertdeml Jan 24, 2020
a2063ff
added the drive default command
robertdeml Jan 24, 2020
384e08d
First code into the robot
robertdeml Jan 25, 2020
0493b07
fixed bug in autonomus added set chimney
Ihedgehogs Jan 28, 2020
4a41dea
added a readyAimFire
Ihedgehogs Jan 28, 2020
cdf8e62
config intake talon
Ihedgehogs Jan 28, 2020
66259b6
tested the intake rollers and pivot.
Ihedgehogs Feb 4, 2020
a3b5382
Fixed drive base talon direction, turned off "heading correction" in …
coach-streeter Feb 4, 2020
dcd7097
added a relax to the intake pivot. Added the drive periodic.
robertdeml Feb 4, 2020
bffb739
Intake and drive updates
Ihedgehogs Feb 5, 2020
0f9b60c
working on buttons for moving the intake up and down
Ihedgehogs Feb 7, 2020
eb3af18
Added shooter vbus
robertdeml Feb 8, 2020
3a8f48f
Climber Pistons
robertdeml Feb 8, 2020
5025663
Tweaks to Mayhem talon
robertdeml Feb 8, 2020
b929c84
PID Tuner, Gravity Assist, Init Robot Container.
robertdeml Feb 8, 2020
81004e9
shooter spins, intake pivots.
robertdeml Feb 9, 2020
ce3c46c
added magazine default
robertdeml Feb 12, 2020
c708917
seperated the chimney from the magazine subsystem
Ihedgehogs Feb 12, 2020
7730d6b
moved chimney from magazine into its own subsystem
Ihedgehogs Feb 12, 2020
2bd86cd
minor adjustments to driver
robertdeml Feb 12, 2020
209dd56
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
robertdeml Feb 12, 2020
0140934
changed chimney talon to true
robertdeml Feb 12, 2020
957a7ad
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
Ihedgehogs Feb 12, 2020
f457090
changed MagazineSetChimney to ChimneySetChimney
Ihedgehogs Feb 12, 2020
3a2f325
Revert "changed MagazineSetChimney to ChimneySetChimney"
Ihedgehogs Feb 13, 2020
74c594e
Create Compressor.java
Ihedgehogs Feb 13, 2020
d9d0273
added AirCompresorDefault
Ihedgehogs Feb 14, 2020
7265fa4
changed magazine to chimney
robertdeml Feb 14, 2020
6fb80be
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
robertdeml Feb 14, 2020
9907378
Update Climber.java
robertdeml Feb 14, 2020
2eac5f3
pre week 0
robertdeml Feb 15, 2020
1ce4114
Various minor changes to get rid of a few warnings, as well as see if…
coach-streeter Feb 15, 2020
e81a784
More code cleanup - removed some warnings, removed some dead code, up…
coach-streeter Feb 15, 2020
ada9e7d
Added a StayStill() autonomous program. Changed "DriveStraight" to d…
coach-streeter Feb 15, 2020
c17f55d
Changes from Week Zero tournament.
coach-streeter Feb 18, 2020
2be49c9
Changes from practice field on 20 Feb 2020: (1) Draft of "ShooterRea…
coach-streeter Feb 21, 2020
ff47b3d
Changes from practice field on Friday, 21 Feb 2020. Tuned azimuth co…
coach-streeter Feb 22, 2020
cd9d9aa
Changes from Saturday, 22 Feb at Mayhem and at field: (1) Added seco…
coach-streeter Feb 23, 2020
ac70bfe
Added @SuppressWarnings("removal") annotation to Robot.java, Drive.ja…
coach-streeter Feb 23, 2020
4b6d321
Changed climber controls to use "setInverted()" for left motor, rathe…
coach-streeter Feb 23, 2020
a969116
Re-scaled getThrottle() and getSteering() for increased sensitivity.
coach-streeter Feb 25, 2020
24047d6
Air Compresor Pause added and IR sensor code
Ihedgehogs Feb 25, 2020
2d86cbe
Changed TalonSRX to VictorSPX for Chimney and Intake.
coach-streeter Feb 25, 2020
8cd54cb
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
coach-streeter Feb 25, 2020
1825564
Tweaked aim point a little bit to the right by setting to 0.510 (had …
coach-streeter Feb 25, 2020
29f9c9d
added match number smartdashboard
Ihedgehogs Feb 26, 2020
fe5416d
Converted feed talon to victor spx.
coach-streeter Feb 26, 2020
c8567fe
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
coach-streeter Feb 26, 2020
468e7c1
Massive refactoring of Shooter into four different subsystems: Shoote…
coach-streeter Feb 26, 2020
e3da220
Also adding the newly-named files as part of the Shooter subsystem br…
coach-streeter Feb 26, 2020
76c801f
added safety init
coach-streeter Feb 27, 2020
afdeefe
adding new autonomous routines parts.
coach-streeter Feb 27, 2020
1e3550d
Changes from late night Wednesday before GSD. Mostly related to targ…
coach-streeter Feb 27, 2020
17a749b
Changes from at the practice field on the morning of GSD load-in day,…
coach-streeter Feb 28, 2020
7f1baeb
Code as of half-way through first day of Granite State District Event…
coach-streeter Feb 28, 2020
c25fa83
Changed shooter wheel to go to "idle speed" (1500rpm) after shooting,…
coach-streeter Feb 29, 2020
22d6fc5
Increased speed of revolver during ShooterFiringSequence to 100% to h…
coach-streeter Feb 29, 2020
7a4e3ee
Updated autonomous programs to pre-start shooter only up to IDLE_SPEE…
coach-streeter Feb 29, 2020
f2e2406
Changes from last day of Granite State District event. Added semi-au…
coach-streeter Mar 1, 2020
d01872a
Changes from first night after GSD event: (1) added current limits t…
coach-streeter Mar 4, 2020
2ef50e5
Update TrenchAuto.java
Ihedgehogs Mar 5, 2020
c20fa9a
Revert "Update TrenchAuto.java"
Ihedgehogs Mar 5, 2020
827f6c8
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
Ihedgehogs Mar 5, 2020
f094367
Vendor Library Updates: WPILib to 2020.3.2, CTRE Phoenix to 5.18.2, …
coach-streeter Mar 11, 2020
3cdef58
Changes from practice field during fall 2020 to change field of view …
coach-streeter Dec 4, 2020
1fe1e72
Change camera lag
coach-streeter Dec 4, 2020
7d2c831
Changed PIDF parameters for turret to now use P=0.7 and D=7.0 (from p…
coach-streeter Dec 10, 2020
79124e4
Make gradlew executable for Unix systems
cjdenio Dec 10, 2020
b212f88
Add turret integral zone
coach-streeter Dec 11, 2020
b03d4b6
Begin adding inner port targeting
coach-streeter Dec 11, 2020
858f150
Add build workflow
cjdenio Dec 11, 2020
84336a6
Merge pull request #6 from FRC1519/ci
cjdenio Dec 12, 2020
d440c8c
Add DriveSlalom path
coach-streeter Jan 16, 2021
2726873
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
coach-streeter Jan 16, 2021
70fd2ea
Add PathWeaver slalom path
cjdenio Jan 16, 2021
d4cccae
Cumulative changes to robot code during late Jan 2021 and early Feb 2…
coach-streeter Feb 12, 2021
1bfbc86
Merge branch 'master' of https://github.com/FRC1519/2020-Robot
coach-streeter Feb 12, 2021
a2e876f
Cleaned up various warnings in the code from unused imports.
coach-streeter Feb 12, 2021
9c65660
Fix TurnToHeading
cjdenio Feb 17, 2021
f699541
Migrate DriveSlalom to TurnToHeading
cjdenio Feb 17, 2021
f3f8427
Remove pull_request CI
cjdenio Feb 17, 2021
df48f57
Fix TurnToHeading and work on DriveSlalom
cjdenio Feb 22, 2021
626c1ee
Start writing barrel racing auto
cjdenio Feb 26, 2021
8df6811
Start bounce path and make TurnToHeading work in reverse
cjdenio Feb 26, 2021
053a041
Make bounce path and barrel racing work on actual robot
coach-streeter Mar 2, 2021
dd53c16
Increased speed of robot in DriveBarrelRacing.java to be 60% of maxim…
coach-streeter Mar 4, 2021
0e0b2ce
Add galatic search paths and tweak intake PID
coach-streeter Mar 9, 2021
ab84b08
Changes from 11 March 2021 at practice field: Tweaked PathARed.java …
coach-streeter Mar 14, 2021
762c0ed
Work on Galactic Search
cjdenio Apr 1, 2021
d779545
Finalize at-home autonomous routines
cjdenio Apr 26, 2021
dfc2bef
Adjust hood and shooter wheel speed continuously during firing sequence
cjdenio Apr 26, 2021
adb3486
CHeck in just before WPI Battlecry.
robertdeml Jul 30, 2021
796abe0
Impose current limit on drive motors
cjdenio Aug 25, 2021
f4292df
Add currentLimit to MayhemTalonSRX
cjdenio Aug 25, 2021
5498c71
Change current duration to 1s
cjdenio Aug 25, 2021
79e79ae
Various motor things
robertdeml Oct 26, 2021
787b123
Some changes for RiverRage
cjdenio Oct 29, 2021
519ce31
added ChimneyUnjam.java
robertdeml Nov 5, 2021
File filter

Filter by extension

Filter by extension


Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 13 additions & 0 deletions .github/workflows/build.yml
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
name: Build
on:
- push
jobs:
build:
name: Build
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- uses: actions/setup-java@v1
with:
java-version: "11.0.2"
- run: ./gradlew build
138 changes: 138 additions & 0 deletions .gitignore
Original file line number Diff line number Diff line change
@@ -1,3 +1,40 @@
# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode

### 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

Expand All @@ -21,3 +58,104 @@

# 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
.classpath
.project
.settings/
bin/
imgui.ini


# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
21 changes: 21 additions & 0 deletions .vscode/launch.json
Original file line number Diff line number Diff line change
@@ -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,
}
]
}
15 changes: 15 additions & 0 deletions .vscode/settings.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
{
"java.configuration.updateBuildConfiguration": "automatic",
"files.exclude": {
"**/.git": true,
"**/.svn": true,
"**/.hg": true,
"**/CVS": true,
"**/.DS_Store": true,
"bin/": true,
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
"**/.factorypath": true
}
}
6 changes: 6 additions & 0 deletions .wpilib/wpilib_preferences.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2020",
"teamNumber": 1519
}
14 changes: 14 additions & 0 deletions PathWeaver/Paths/slalom.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
1.261042710938696,-3.894811444030423,2.1092932851819723,0.02981333265274877,true,false,
2.595189347149202,-2.918424799652902,0.23105332805880252,0.4173866571384819,true,false,
3.4895893267316636,-1.956944821601756,0.9208748621429468,0.5341361651409312,false,false,
5.606335945076822,-1.9793048210913178,2.072026619366035,-0.9242133122352103,true,false,
6.865949249655455,-3.3581714562809455,0.3875733244857331,-0.864586646929713,true,false,
7.752895896074729,-3.909718110356797,1.050919976009392,-0.022359999489561577,true,false,
8.774002539431374,-3.0227714639375236,-0.18633332907968025,1.341599969373693,true,false,
7.849789227196162,-2.038931486396815,-1.1627199734571994,0.03726666581593596,true,false,
6.716882586391711,-3.0227714639375236,-0.30558665969067356,-1.5726532974324945,true,false,
5.747949275177379,-3.961891442499107,-1.140359973967639,-0.2981333265274868,true,false,
3.422509328262978,-3.917171443519984,-0.6782533178500332,0.2683199938747385,true,false,
2.0510960262365376,-2.79171813587872,-0.9465733117247719,1.6844532948803024,true,false,
0.5529760604359146,-2.1730914833341846,-0.8422266474401512,-0.03726666581593552,true,false,
9 changes: 9 additions & 0 deletions PathWeaver/pathweaver.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
{
"lengthUnit": "Meter",
"exportUnit": "Always Meters",
"maxVelocity": 5.0,
"maxAcceleration": 5.0,
"wheelBase": 5.0,
"gameName": "Slalom Path",
"outputDir": ""
}
68 changes: 68 additions & 0 deletions build.gradle
Original file line number Diff line number Diff line change
@@ -0,0 +1,68 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2020.3.2"
}

sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11

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 {
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 = frc.getTeamNumber()
}
}
artifacts {
frcJavaArtifact('frcJava') {
targets << "roborio"
// Debug can be overridden by command line, for use with VSCode
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'
}
}
}

// Set this to true to enable desktop support.
def includeDesktopSupport = false

// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 4.
dependencies {
implementation wpi.deps.wpilib()
nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)


implementation wpi.deps.vendor.java()
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)

testImplementation 'junit:junit:4.12'

// Enable simulation gui support. Must check the box in vscode to enable support
// upon debugging
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
}

// 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) } }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
}
Binary file added gradle/wrapper/gradle-wrapper.jar
Binary file not shown.
5 changes: 5 additions & 0 deletions gradle/wrapper/gradle-wrapper.properties
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
Loading