From b0cc0615b38de3116a955563f8fcc2600e9c7405 Mon Sep 17 00:00:00 2001 From: Sam Carlberg Date: Sun, 5 Jan 2025 09:21:46 -0500 Subject: [PATCH] Initial import from 2024 swerve codebase --- .../workflows/gradle-wrapper-validation.yml | 14 + .github/workflows/lint-format.yml | 26 ++ .github/workflows/test.yml | 14 + .gitignore | 187 +++++++++++ .tool-versions | 1 + .vscode/launch.json | 21 ++ .vscode/settings.json | 60 ++++ .wpilib/wpilib_preferences.json | 6 + WPILib-License.md | 24 ++ build.gradle | 199 ++++++++++++ .../workflows/gradle-wrapper-validation.yml | 14 + gradle/.github/workflows/lint-format.yml | 26 ++ gradle/.github/workflows/test.yml | 14 + gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 252 +++++++++++++++ gradlew.bat | 94 ++++++ settings.gradle | 30 ++ src/main/deploy/example.txt | 3 + src/main/java/frc/robot/Constants.java | 180 +++++++++++ src/main/java/frc/robot/Main.java | 25 ++ src/main/java/frc/robot/Robot.java | 163 ++++++++++ src/main/java/frc/robot/sim/BatterySim.java | 28 ++ .../frc/robot/sim/MAXSwerveModuleSim.java | 75 +++++ src/main/java/frc/robot/sim/MechanismSim.java | 52 +++ .../java/frc/robot/sim/PerfectBatterySim.java | 56 ++++ src/main/java/frc/robot/sim/Simulation.java | 11 + .../java/frc/robot/sim/SimulationContext.java | 127 ++++++++ .../subsystems/drive/DriveSubsystem.java | 303 ++++++++++++++++++ .../robot/subsystems/drive/MAXSwerveIO.java | 91 ++++++ .../robot/subsystems/drive/SimSwerveIO.java | 86 +++++ .../frc/robot/subsystems/drive/SwerveIO.java | 126 ++++++++ .../drive/swerve/MAXSwerveModuleIO.java | 108 +++++++ .../subsystems/drive/swerve/ModuleIO.java | 53 +++ .../subsystems/drive/swerve/SimModuleIO.java | 126 ++++++++ .../subsystems/drive/swerve/SwerveModule.java | 108 +++++++ .../frc/robot/sim/SwerveModuleSimTest.java | 61 ++++ .../subsystems/drive/DriveSubsystemTest.java | 117 +++++++ .../drive/swerve/SimModuleIOTest.java | 86 +++++ styleguide/checkstyle-suppressions.xml | 7 + styleguide/checkstyle.xml | 291 +++++++++++++++++ styleguide/pmd-ruleset.xml | 128 ++++++++ styleguide/spotbugs-exclude.xml | 6 + vendordeps/REVLib-2025.0.0.json | 74 +++++ vendordeps/WPILibNewCommands.json | 38 +++ 45 files changed, 3518 insertions(+) create mode 100644 .github/workflows/gradle-wrapper-validation.yml create mode 100644 .github/workflows/lint-format.yml create mode 100644 .github/workflows/test.yml create mode 100644 .gitignore create mode 100644 .tool-versions create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .wpilib/wpilib_preferences.json create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/.github/workflows/gradle-wrapper-validation.yml create mode 100644 gradle/.github/workflows/lint-format.yml create mode 100644 gradle/.github/workflows/test.yml create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100755 gradlew create mode 100644 gradlew.bat create mode 100644 settings.gradle create mode 100644 src/main/deploy/example.txt create mode 100644 src/main/java/frc/robot/Constants.java create mode 100644 src/main/java/frc/robot/Main.java create mode 100644 src/main/java/frc/robot/Robot.java create mode 100644 src/main/java/frc/robot/sim/BatterySim.java create mode 100644 src/main/java/frc/robot/sim/MAXSwerveModuleSim.java create mode 100644 src/main/java/frc/robot/sim/MechanismSim.java create mode 100644 src/main/java/frc/robot/sim/PerfectBatterySim.java create mode 100644 src/main/java/frc/robot/sim/Simulation.java create mode 100644 src/main/java/frc/robot/sim/SimulationContext.java create mode 100644 src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/drive/MAXSwerveIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/SimSwerveIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/SwerveIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/swerve/MAXSwerveModuleIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/swerve/ModuleIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/swerve/SimModuleIO.java create mode 100644 src/main/java/frc/robot/subsystems/drive/swerve/SwerveModule.java create mode 100644 src/test/java/frc/robot/sim/SwerveModuleSimTest.java create mode 100644 src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java create mode 100644 src/test/java/frc/robot/subsystems/drive/swerve/SimModuleIOTest.java create mode 100644 styleguide/checkstyle-suppressions.xml create mode 100644 styleguide/checkstyle.xml create mode 100644 styleguide/pmd-ruleset.xml create mode 100644 styleguide/spotbugs-exclude.xml create mode 100644 vendordeps/REVLib-2025.0.0.json create mode 100644 vendordeps/WPILibNewCommands.json diff --git a/.github/workflows/gradle-wrapper-validation.yml b/.github/workflows/gradle-wrapper-validation.yml new file mode 100644 index 0000000..d678bc4 --- /dev/null +++ b/.github/workflows/gradle-wrapper-validation.yml @@ -0,0 +1,14 @@ +name: "Validate Gradle Wrapper" +on: [pull_request, push] + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} + cancel-in-progress: true + +jobs: + validation: + name: "Validation" + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: gradle/wrapper-validation-action@v1 diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml new file mode 100644 index 0000000..ead0798 --- /dev/null +++ b/.github/workflows/lint-format.yml @@ -0,0 +1,26 @@ +name: Lint and Format + +on: + pull_request: + push: + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} + cancel-in-progress: true + +jobs: + javaformat: + name: "Java format" + runs-on: ubuntu-22.04 + container: wpilib/ubuntu-base:22.04 + steps: + - uses: actions/checkout@v3 + - name: Fix Git permissions + run: git config --global --add safe.directory "$GITHUB_WORKSPACE" + - name: Run Java format + run: ./gradlew javaFormat spotbugsMain spotbugsTest + - name: Check output + run: git --no-pager diff --exit-code HEAD + - name: Generate diff + run: git diff HEAD > javaformat-fixes.patch + if: ${{ failure() }} diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml new file mode 100644 index 0000000..00641a0 --- /dev/null +++ b/.github/workflows/test.yml @@ -0,0 +1,14 @@ +name: Test + +on: + push: + +jobs: + test: + name: "Test" + runs-on: ubuntu-22.04 + container: wpilib/ubuntu-base:22.04 + steps: + - uses: actions/checkout@v3 + - name: Run Tests + run: ./gradlew test diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..9a9ca7b --- /dev/null +++ b/.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/.tool-versions b/.tool-versions new file mode 100644 index 0000000..6f272a7 --- /dev/null +++ b/.tool-versions @@ -0,0 +1 @@ +java openjdk-17.0.2 diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..5b804e8 --- /dev/null +++ b/.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/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..dccbc7c --- /dev/null +++ b/.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/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..5b99dda --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 2084 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/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/build.gradle b/build.gradle new file mode 100644 index 0000000..18859f6 --- /dev/null +++ b/build.gradle @@ -0,0 +1,199 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.1.1" + + // linting, style, and static analysis tools + id 'com.diffplug.spotless' version '6.25.0' apply false + id 'net.ltgt.errorprone' version '3.1.0' apply false +} + +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' + + // Set text encoding to UTF-8 to support characters like "°", + // which are not part of the ASCII character set + options.encoding = 'UTF-8' +} + +// Linting, style, and static analysis tools +if (!project.hasProperty('skipJavaFormat')) { + apply plugin: 'checkstyle' + + checkstyle { + toolVersion = "10.12.5" + configDirectory = file("${project.rootDir}/styleguide") + config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml")) + } + + apply plugin: 'pmd' + + pmd { + toolVersion = '6.55.0' + consoleOutput = true + reportsDir = file("$project.buildDir/reports/pmd") + ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml")) + ruleSets = [] + } + + apply plugin: 'com.diffplug.spotless' + + spotless { + java { + target fileTree('.') { + include '**/*.java' + exclude '**/build/**', '**/build-*/**', '**/bin/**' + } + toggleOffOn() + googleJavaFormat() + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree('.') { + include '**/*.gradle' + exclude '**/build/**', '**/build-*/**', '**/bin/**' + } + greclipse() + indentWithSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + json { + target fileTree('.') { + include '**/*.json' + exclude '**/build/**', '**/build-*/**', '**/bin/**' + exclude '**/simgui-ds.json', '**/simgui-window.json', '**/simgui.json', '**/networktables.json' + exclude '.vscode/*.json' + exclude '.wpilib/*.json' + exclude 'vendordeps/*.json' + } + gson().indentWithSpaces(2) + } + format 'xml', { + target fileTree('.') { + include '**/*.xml' + exclude '**/build/**', '**/build-*/**', '**/bin/**', '**/.idea/**', '**/.run/**' + } + eclipseWtp('xml') + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } + format 'misc', { + target fileTree('.') { + include '**/*.md', '**/.gitignore' + exclude '**/build/**', '**/build-*/**', '**/bin/**' + } + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } + } +} + +task javaFormat { + dependsOn(tasks.withType(Checkstyle)) + dependsOn(tasks.withType(Pmd)) +} +javaFormat.dependsOn 'spotlessApply' diff --git a/gradle/.github/workflows/gradle-wrapper-validation.yml b/gradle/.github/workflows/gradle-wrapper-validation.yml new file mode 100644 index 0000000..d678bc4 --- /dev/null +++ b/gradle/.github/workflows/gradle-wrapper-validation.yml @@ -0,0 +1,14 @@ +name: "Validate Gradle Wrapper" +on: [pull_request, push] + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} + cancel-in-progress: true + +jobs: + validation: + name: "Validation" + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: gradle/wrapper-validation-action@v1 diff --git a/gradle/.github/workflows/lint-format.yml b/gradle/.github/workflows/lint-format.yml new file mode 100644 index 0000000..ead0798 --- /dev/null +++ b/gradle/.github/workflows/lint-format.yml @@ -0,0 +1,26 @@ +name: Lint and Format + +on: + pull_request: + push: + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} + cancel-in-progress: true + +jobs: + javaformat: + name: "Java format" + runs-on: ubuntu-22.04 + container: wpilib/ubuntu-base:22.04 + steps: + - uses: actions/checkout@v3 + - name: Fix Git permissions + run: git config --global --add safe.directory "$GITHUB_WORKSPACE" + - name: Run Java format + run: ./gradlew javaFormat spotbugsMain spotbugsTest + - name: Check output + run: git --no-pager diff --exit-code HEAD + - name: Generate diff + run: git diff HEAD > javaformat-fixes.patch + if: ${{ failure() }} diff --git a/gradle/.github/workflows/test.yml b/gradle/.github/workflows/test.yml new file mode 100644 index 0000000..00641a0 --- /dev/null +++ b/gradle/.github/workflows/test.yml @@ -0,0 +1,14 @@ +name: Test + +on: + push: + +jobs: + test: + name: "Test" + runs-on: ubuntu-22.04 + container: wpilib/ubuntu-base:22.04 + steps: + - uses: actions/checkout@v3 + - name: Run Tests + run: ./gradlew test diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..a4b76b9530d66f5e68d973ea569d8e19de379189 GIT binary patch literal 43583 zcma&N1CXTcmMvW9vTb(Rwr$&4wr$(C?dmSu>@vG-+vuvg^_??!{yS%8zW-#zn-LkA 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2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$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/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..9b42019 --- /dev/null +++ b/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/settings.gradle b/settings.gradle new file mode 100644 index 0000000..969c7b0 --- /dev/null +++ b/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/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..bb82515 --- /dev/null +++ b/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/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..6555480 --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,180 @@ +// 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.Amps; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.Minute; +import static edu.wpi.first.units.Units.RPM; +import static edu.wpi.first.units.Units.Radians; +import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.Rotations; +import static edu.wpi.first.units.Units.RotationsPerSecond; +import static edu.wpi.first.units.Units.Second; + +import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; +import com.revrobotics.spark.config.SparkMaxConfig; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; + +/** + * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean + * constants. This class should not be used for any other purpose. All constants should be declared + * globally (i.e. public static). Do not put anything functional in this class. + * + *

It is advised to statically import this class (or one of its inner classes) wherever the + * constants are needed, to reduce verbosity. + */ +public final class Constants { + public static final class DriveConstants { + // Driving Parameters - Note that these are not the maximum capable speeds of + // the robot, rather the allowed maximum speeds + public static final LinearVelocity maxSpeed = MetersPerSecond.of(4.5); + public static final AngularVelocity maxAngularSpeed = RotationsPerSecond.of(2.0); + + // Chassis configuration + public static final Distance trackWidth = Inches.of(26.5); + // Distance between centers of right and left wheels on robot + public static final Distance wheelBase = Inches.of(26.5); + // Distance between front and back wheels on robot + public static final SwerveDriveKinematics driveKinematics = + new SwerveDriveKinematics( + new Translation2d(wheelBase.div(2), trackWidth.div(2)), + new Translation2d(wheelBase.div(2), trackWidth.div(-2)), + new Translation2d(wheelBase.div(-2), trackWidth.div(2)), + new Translation2d(wheelBase.div(-2), trackWidth.div(-2))); + + // Angular offsets here describe how the swerve modules are physically rotated with respect to + // to the chassis. There should be offsets at 0, 90, 180, and 270 degrees for a rectangular + // chassis. + public static final Rotation2d frontLeftChassisAngularOffset = Rotation2d.fromDegrees(-90); + public static final Rotation2d frontRightChassisAngularOffset = Rotation2d.fromDegrees(180); + public static final Rotation2d rearLeftChassisAngularOffset = Rotation2d.fromDegrees(180); + public static final Rotation2d rearRightChassisAngularOffset = Rotation2d.fromDegrees(90); + + // SPARK MAX CAN IDs + public static final int frontLeftDrivingCanId = 7; + public static final int rearLeftDrivingCanId = 4; + public static final int frontRightDrivingCanId = 12; + public static final int rearRightDrivingCanId = 8; + + public static final int frontLeftTurningCanId = 14; + public static final int rearLeftTurningCanId = 3; + public static final int frontRightTurningCanId = 10; + public static final int rearRightTurningCanId = 25; + } + + public static final class ModuleConstants { + // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T. + // This changes the drive speed of the module (a pinion gear with more teeth will result in a + // robot that drives faster). + public static final int drivingMotorPinionTeeth = 14; + + // Invert the turning encoder, since the output shaft rotates in the opposite direction of + // the steering motor in the MAXSwerve Module. + public static final boolean turningEncoderInverted = true; + + // Calculations required for driving motor conversion factors and feed forward + public static final Distance wheelDiameter = Inches.of(3); + public static final Distance wheelCircumference = wheelDiameter.times(Math.PI); + // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the + // bevel pinion + public static final double drivingMotorReduction = (45.0 * 22) / (drivingMotorPinionTeeth * 15); + // Gear ratio of the turning (aka "azimuth") motor. ~46.42:1 + public static final double turningMotorReduction = 9424.0 / 203; + public static final LinearVelocity driveWheelFreeSpeed = + wheelCircumference + .times(NeoMotorConstants.freeSpeedRpm.in(RotationsPerSecond)) + .div(drivingMotorReduction) + .per(Second); + + public static final Distance drivingEncoderPositionFactor = + wheelDiameter.times(Math.PI / drivingMotorReduction); + public static final LinearVelocity drivingEncoderVelocityFactor = + wheelDiameter.times(Math.PI / drivingMotorReduction).per(Minute); + + public static final Angle turningEncoderPositionFactor = Rotations.of(1.0); + public static final AngularVelocity turningEncoderVelocityFactor = RotationsPerSecond.of(1.0); + + public static final Angle turningEncoderPositionPIDMinInput = Radians.of(0.0); + public static final Angle turningEncoderPositionPIDMaxInput = turningEncoderPositionFactor; + + public static final Current drivingCurrentLimit = Amps.of(50); + public static final Current turningCurrentLimit = Amps.of(20); + + public static final double drivingP = 0.04; + public static final double drivingI = 0; + public static final double drivingD = 0; + public static final double drivingFF = 1 / driveWheelFreeSpeed.in(MetersPerSecond); + + public static final double turningP = 1; + public static final double turningI = 0; + public static final double turningD = 0; + public static final double turningFF = 0; + + public static final Current drivingMotorCurrentLimit = Amps.of(50); + public static final Current turningMotorCurrentLimit = Amps.of(20); + + public static final SparkMaxConfig drivingConfig = new SparkMaxConfig(); + public static final SparkMaxConfig turningConfig = new SparkMaxConfig(); + + static { + // Note: All unit-based configuration values should use SI units (meters, radians, seconds, + // etc) for consistency + + drivingConfig.idleMode(IdleMode.kBrake).smartCurrentLimit((int) drivingCurrentLimit.in(Amps)); + drivingConfig + .encoder + .positionConversionFactor(drivingEncoderPositionFactor.in(Meters)) + .velocityConversionFactor(drivingEncoderVelocityFactor.in(MetersPerSecond)); + drivingConfig + .closedLoop + .feedbackSensor(FeedbackSensor.kPrimaryEncoder) + .pid(drivingP, drivingI, drivingD) + .velocityFF(drivingFF) + .outputRange(-1, 1); + + turningConfig.idleMode(IdleMode.kBrake).smartCurrentLimit((int) turningCurrentLimit.in(Amps)); + turningConfig + .absoluteEncoder + .inverted(turningEncoderInverted) + .positionConversionFactor(turningEncoderPositionFactor.in(Radians)) + .velocityConversionFactor(turningEncoderVelocityFactor.in(RadiansPerSecond)); + turningConfig + .closedLoop + .feedbackSensor(FeedbackSensor.kAbsoluteEncoder) + .pid(turningP, turningI, turningD) + .velocityFF(turningFF) + .positionWrappingEnabled(true) + .positionWrappingInputRange(0, Rotations.one().in(Radians)); + } + } + + public static final class OIConstants { + public static final int driverControllerPort = 1; + public static final double driveDeadband = 1; + public static final int leftJoystickPort = 2; + public static final int rightJoystickPort = 3; + } + + public static final class AutoConstants { + public static final double pXController = 4; + public static final double pYController = 4; + public static final double pThetaController = 2; + } + + public static final class NeoMotorConstants { + public static final AngularVelocity freeSpeedRpm = RPM.of(5676); + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..8776e5d --- /dev/null +++ b/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/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..9346b78 --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,163 @@ +// 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.epilogue.Epilogue; +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.sim.SimulationContext; +import frc.robot.subsystems.drive.DriveSubsystem; +import frc.robot.subsystems.drive.MAXSwerveIO; +import frc.robot.subsystems.drive.SimSwerveIO; + +@Logged +public class Robot extends TimedRobot { + private Command autonomousCommand; + + // The robot's subsystems + private final DriveSubsystem drive; + + // Driver and operator controls + private final XboxController driverController; // NOPMD + private final Joystick lStick; // NOPMD + private final Joystick rStick; // NOPMD + + public Robot() { + // Initialize our subsystems. If our program is running in simulation mode (either from the + // simulate command in vscode or from running in unit tests), then we use the simulation IO + // layers. Otherwise, the IO layers that interact with real hardware are used. + + if (Robot.isSimulation()) { + drive = new DriveSubsystem(new SimSwerveIO()); + } else { + // Running on real hardware + drive = new DriveSubsystem(new MAXSwerveIO()); + } + + driverController = new XboxController(Constants.OIConstants.driverControllerPort); + lStick = new Joystick(Constants.OIConstants.leftJoystickPort); + rStick = new Joystick(Constants.OIConstants.rightJoystickPort); + + // Configure the button bindings and automatic bindings + configureButtonBindings(); + configureAutomaticBindings(); + + // Configure default commands + drive.setDefaultCommand(drive.driveWithJoysticks(rStick::getY, rStick::getX, lStick::getTwist)); + + // Start data logging + + Epilogue.configure( + config -> { + // TODO: Set up the epilogue data logging configuration + // By default, data will only be logged to network tables. We should log to disk if + // there's a USB drive plugged in + }); + + Epilogue.bind(this); + } + + private void configureButtonBindings() { + // TODO: Bind commands to joystick buttons for the driver and operator + } + + private void configureAutomaticBindings() { + // TODO: Bind commands to automatic triggers + } + + /** + * Gets the command to run in autonomous based on user selection in a dashboard. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // TODO + return Commands.none(); + } + + @Logged(name = "Battery Voltage") + public double getBatteryVoltage() { + return RobotController.getBatteryVoltage(); + } + + @Logged(name = "Current Draw") + public double getBatteryCurrentDraw() { + return RobotController.getInputCurrent(); + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled + // commands, running already-scheduled commands, removing finished or interrupted commands, + // and running subsystem periodic() methods. This must be called from the robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + @Override + public void simulationPeriodic() { + SimulationContext.getDefault().update(getPeriod()); + } + + /** This function is called once each time the robot enters Disabled mode. */ + @Override + public void disabledInit() {} + + @Override + public void disabledPeriodic() {} + + /** This autonomous runs the autonomous command selected by the {@link #autoChooser}. */ + @Override + public void autonomousInit() { + autonomousCommand = getAutonomousCommand(); + + // schedule the autonomous command (example) + if (autonomousCommand != null) { + autonomousCommand.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (autonomousCommand != null) { + autonomousCommand.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() {} + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} +} diff --git a/src/main/java/frc/robot/sim/BatterySim.java b/src/main/java/frc/robot/sim/BatterySim.java new file mode 100644 index 0000000..884724e --- /dev/null +++ b/src/main/java/frc/robot/sim/BatterySim.java @@ -0,0 +1,28 @@ +package frc.robot.sim; + +/** + * Simulates a battery. Different batteries have different characteristics determined by the + * implementations of this interface. The most simple implementation would be a battery that outputs + * a constant voltage, while more a sophisticated implementation + */ +public interface BatterySim { + /** + * Sets the current draw generated by all running mechanisms. Call {@link #update(double) + * update()} and then {@link #getVoltage()} to determine the output voltage of the battery after + * setting the current draw. + */ + void setCurrentDraw(double current); + + /** + * Updates the simulation by stepping the simulation forward in time. + * + * @param timestep how much time has elapsed since the most recent update, in seconds. + */ + void update(double timestep); + + /** + * Gets the voltage output of the battery at the current moment in simulation. It is safe to call + * this method multiple times in the same update tick. + */ + double getVoltage(); +} diff --git a/src/main/java/frc/robot/sim/MAXSwerveModuleSim.java b/src/main/java/frc/robot/sim/MAXSwerveModuleSim.java new file mode 100644 index 0000000..dbb21f6 --- /dev/null +++ b/src/main/java/frc/robot/sim/MAXSwerveModuleSim.java @@ -0,0 +1,75 @@ +package frc.robot.sim; + +import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.Volts; +import static frc.robot.Constants.ModuleConstants.drivingMotorReduction; +import static frc.robot.Constants.ModuleConstants.turningMotorReduction; + +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.MutAngularVelocity; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj.simulation.FlywheelSim; + +/** + * Simulates a MAX Swerve module with a single NEO driving the wheel and a single NEO 550 + * controlling the module's heading. + */ +@Logged +public class MAXSwerveModuleSim implements MechanismSim { + // Simulate both the wheel and module azimuth control as simple flywheels + // Note that this does not perfectly model reality - in particular, friction is not modeled. + // The wheel simulation has a much higher moment of inertia than the physical wheel in order to + // account for the inertia of the rest of the robot. (This is a /very/ rough approximation) + private final FlywheelSim wheelSim = + new FlywheelSim( + LinearSystemId.createFlywheelSystem(DCMotor.getNEO(1), 0.025, drivingMotorReduction), + DCMotor.getNEO(1)); + private final FlywheelSim turnSim = + new FlywheelSim( + LinearSystemId.createFlywheelSystem(DCMotor.getNeo550(1), 0.001, turningMotorReduction), + DCMotor.getNeo550(1)); + + private final MutAngularVelocity wheelVelocity = RadiansPerSecond.mutable(0); + private final MutAngularVelocity turnVelocity = RadiansPerSecond.mutable(0); + + public MAXSwerveModuleSim() { + SimulationContext.getDefault().addMechanism(this); + } + + @Override + public void update(double timestep) { + // Update the simulations with most recently commanded voltages + wheelSim.update(timestep); + turnSim.update(timestep); + + // Cache the computed velocities + wheelVelocity.mut_replace(wheelSim.getAngularVelocityRadPerSec(), RadiansPerSecond); + turnVelocity.mut_replace(turnSim.getAngularVelocityRadPerSec(), RadiansPerSecond); + } + + public void setDriveVoltage(Voltage volts) { + wheelSim.setInputVoltage(outputVoltage(volts.in(Volts))); + } + + public void setTurnVoltage(Voltage volts) { + turnSim.setInputVoltage(outputVoltage(volts.in(Volts))); + } + + /** Gets the angular velocity of the wheel. */ + public AngularVelocity getWheelVelocity() { + return wheelVelocity; + } + + /** Gets the angular velocity of the azimuth control. */ + public AngularVelocity getTurnVelocity() { + return turnVelocity; + } + + @Override + public double getCurrentDraw() { + return wheelSim.getCurrentDrawAmps() + turnSim.getCurrentDrawAmps(); + } +} diff --git a/src/main/java/frc/robot/sim/MechanismSim.java b/src/main/java/frc/robot/sim/MechanismSim.java new file mode 100644 index 0000000..6617bd1 --- /dev/null +++ b/src/main/java/frc/robot/sim/MechanismSim.java @@ -0,0 +1,52 @@ +package frc.robot.sim; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.RobotController; + +/** + * Simulates a mechanism and determines the current draw pulled by the mechanism over time. All + * mechanism simulations should be run by the same {@link SimulationContext} in order to accurately + * determine overall behavior like voltage drop on the battery caused by the current loads of all + * the powered mechanisms. + */ +public interface MechanismSim { + /** Gets the current draw of the mechanism, in amps. */ + double getCurrentDraw(); + + /** + * Updates the simulation by stepping the simulation forward in time. + * + * @param timestep how much time has elapsed since the most recent update, in seconds. + */ + void update(double timestep); + + /** + * Computes the voltage that can actually be applied. A disabled robot will always output 0 volts + * due to motor safety. Otherwise, the input voltage will be bound to be no greater than the + * current battery voltage. + * + * @param inputVoltage the desired voltage + * @return the actual voltage to apply + */ + default double outputVoltage(double inputVoltage) { + if (DriverStation.isDisabled()) { + return 0; + } + + return MathUtil.clamp(inputVoltage, -getBatteryVoltage(), getBatteryVoltage()); + } + + /** + * Gets the current voltage of the battery, in volts. In simulation, this will be calculated by + * the {@link SimulationContext#update(double)} method. This is a convenience method for {@link + * RobotController#getBatteryVoltage()}. Note that this will lag behind the simulation by one + * timestep - for example, a mechanism drawing 100 amps of current will see the full 12 volts of + * voltage available on the first call to {@link #update(double)}, but see the voltage drop to + * 10.5 volts on the second call due to the induced voltage drop (assuming a battery with 15 mOhm + * internal resistance). + */ + default double getBatteryVoltage() { + return RobotController.getBatteryVoltage(); + } +} diff --git a/src/main/java/frc/robot/sim/PerfectBatterySim.java b/src/main/java/frc/robot/sim/PerfectBatterySim.java new file mode 100644 index 0000000..ada9128 --- /dev/null +++ b/src/main/java/frc/robot/sim/PerfectBatterySim.java @@ -0,0 +1,56 @@ +package frc.robot.sim; + +/** + * A simulation of a perfect battery that always has a open-circuit voltage of 12 volts, and only + * loses voltage output from current draw. + */ +public class PerfectBatterySim implements BatterySim { + private final double nominalVoltage; + private final double internalResistance; + private double current = 0; + + public PerfectBatterySim(double nominalVoltage, double internalResistance) { + this.nominalVoltage = nominalVoltage; + this.internalResistance = internalResistance; + } + + /** + * Creates a simulation of a nominal 12-volt FRC battery with 15 milliohms of internal resistance. + */ + public static PerfectBatterySim nominal() { + return new PerfectBatterySim(12, 0.015); + } + + /** + * Creates a simulation of an excellent FRC battery with 13 volts nominal and 12 milliohms of + * internal resistance. + */ + public static PerfectBatterySim excellent() { + return new PerfectBatterySim(13, 0.012); + } + + /** + * Creates a simulation of the ideal 12-volt battery with no internal resistance. This battery + * will output a constant 12 volts regardless of load. + */ + public static PerfectBatterySim ideal() { + return new PerfectBatterySim(12, 0); + } + + @Override + public void setCurrentDraw(double current) { + this.current = current; + } + + @Override + public void update(double timestep) { + // Nothing to do here + // A simulation of a limited-capacity battery like the ones we use on robots would use this + // function to calculate how much capacity was drawn out from the battery + } + + @Override + public double getVoltage() { + return nominalVoltage - (current * internalResistance); + } +} diff --git a/src/main/java/frc/robot/sim/Simulation.java b/src/main/java/frc/robot/sim/Simulation.java new file mode 100644 index 0000000..4fcb679 --- /dev/null +++ b/src/main/java/frc/robot/sim/Simulation.java @@ -0,0 +1,11 @@ +package frc.robot.sim; + +@FunctionalInterface +public interface Simulation { + /** + * Updates the simulation by stepping the simulation forward in time. + * + * @param timestep how much time has elapsed since the most recent update, in seconds. + */ + void update(double timestep); +} diff --git a/src/main/java/frc/robot/sim/SimulationContext.java b/src/main/java/frc/robot/sim/SimulationContext.java new file mode 100644 index 0000000..fa02898 --- /dev/null +++ b/src/main/java/frc/robot/sim/SimulationContext.java @@ -0,0 +1,127 @@ +package frc.robot.sim; + +import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.simulation.RoboRioSim; +import java.util.ArrayList; +import java.util.Collection; + +/** + * Responsible for coordinating periodic simulation updates. Provide a {@link BatterySim battery} + * and a set of {@link MechanismSim mechanisms} to simulate, then call {@link #update(double)} to + * step the simulation forward. It is recommended to call {@code update} in a robot's {@link + * TimedRobot#simulationPeriodic()} method. + */ +public class SimulationContext { + private final BatterySim battery; + private final Collection mechanisms; + private final Collection simulations; + + private static final SimulationContext defaultSimulation = + new SimulationContext(PerfectBatterySim.nominal()); + + /** + * Gets the default simulation context. Useful for convenient simulation registration, but should + * not be used in unit tests. The simulation uses a nominal 12-volt battery with no capacity loss + * over time, i.e. it will always output exactly 12 volts when not under load. + */ + public static SimulationContext getDefault() { + return defaultSimulation; + } + + public BatterySim getBattery() { + return battery; + } + + /** + * Creates a new simulation context. + * + * @param battery the battery the simulation should use. + */ + public SimulationContext(BatterySim battery) { + this.battery = battery; + this.mechanisms = new ArrayList<>(); + this.simulations = new ArrayList<>(); + } + + /** + * Adds a mechanism to the simulation. + * + * @param mechanism the mechanism to add + * @param the type of the mechanism simulation + * @return the added mechanism, or null if the mechanism could not be added + */ + public M addMechanism(M mechanism) { + if (!mechanisms.contains(mechanism) && mechanisms.add(mechanism)) { + return mechanism; + } else { + return null; + } + } + + /** + * Removes a mechanism from simulation. Does nothing if the mechanism is not already in the + * simulation. + * + * @param mechanism the mechanism to remove + */ + public void removeMechanism(MechanismSim mechanism) { + mechanisms.remove(mechanism); + } + + /** + * Adds a generic simulation to run periodically. Mechanism simulations should be added with + * {@link #addMechanism(MechanismSim)} instead of with this method + * + * @param sim the simulation to add + */ + public void addPeriodic(Simulation sim) { + if (!simulations.contains(sim)) { + simulations.add(sim); + } + } + + /** + * Removes a generic simulation to no longer run it as part of the periodic update loop. + * + * @param sim the simulation to remove + */ + public void removePeriodic(Simulation sim) { + simulations.remove(sim); + } + + public void removeAll() { + simulations.clear(); + mechanisms.clear(); + } + + /** + * Updates the simulation by moving it forward one timestep. This will update all the mechanism + * simulations currently in this context and update the robot's battery voltage to account for the + * voltage drop caused by the currents drawn by all the mechanisms. The voltage can be read via + * {@link RobotController#getBatteryVoltage()} or from a mechanism simulation's {@link + * MechanismSim#getBatteryVoltage()} convenience method. + * + * @param timestep how far forward to move the simulation, in seconds. + */ + public void update(double timestep) { + double totalCurrentDraw = 0; + + for (var mechanism : mechanisms) { + mechanism.update(timestep); + totalCurrentDraw += mechanism.getCurrentDraw(); + } + + // Update generic simulations after mechanisms; subsystem simulations, in particular, should + // run after all their mechanisms to give them same-tick data + for (var simulation : simulations) { + simulation.update(timestep); + } + + // Calculate the new battery voltage. Mechanism simulations can read it via getBatteryVoltage() + battery.setCurrentDraw(totalCurrentDraw); + battery.update(timestep); + RoboRioSim.setVInVoltage(battery.getVoltage()); + RoboRioSim.setVInCurrent(totalCurrentDraw); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java new file mode 100644 index 0000000..64645d8 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java @@ -0,0 +1,303 @@ +// 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.subsystems.drive; + +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Feet; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.Radians; +import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.Volts; + +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.units.measure.Voltage; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import frc.robot.Constants; +import frc.robot.Constants.DriveConstants; +import java.util.Arrays; +import java.util.function.DoubleSupplier; + +@Logged +public class DriveSubsystem extends SubsystemBase implements AutoCloseable { + private final SwerveIO io; + private final PIDController xController = + new PIDController(Constants.AutoConstants.pXController, 0, 0); + private final PIDController yController = + new PIDController(Constants.AutoConstants.pYController, 0, 0); + private final PIDController thetaController = + new PIDController(Constants.AutoConstants.pThetaController, 0, 0); + + // Odometry class for tracking robot pose + private final SwerveDrivePoseEstimator poseEstimator; + + private final Field2d field = new Field2d(); + + public enum ReferenceFrame { + ROBOT, + FIELD + } + + /** Creates a new DriveSubsystem. */ + public DriveSubsystem(SwerveIO io) { + this.io = io; + thetaController.enableContinuousInput(-Math.PI, Math.PI); + poseEstimator = + new SwerveDrivePoseEstimator( + DriveConstants.driveKinematics, + Rotation2d.fromDegrees(0), + io.getModulePositions(), + new Pose2d(Feet.zero(), Feet.zero(), new Rotation2d(Degrees.zero())), + // Use default standard deviations of ±4" and ±6° for odometry-derived position data + // (i.e. 86% of results will be within 4" and 6° of the true value, and 95% will + // be within ±8" and ±12°) + VecBuilder.fill( + Inches.of(4).in(Meters), Inches.of(4).in(Meters), Degrees.of(6).in(Radians)), + // Use default standard deviations of ±35" and ±52° for vision-derived position data + VecBuilder.fill( + Inches.of(35).in(Meters), Inches.of(35).in(Meters), Degrees.of(52).in(Radians))); + + Shuffleboard.getTab("Drive") + .add("Zero Heading", runOnce(this::zeroHeading).ignoringDisable(true)); + + Shuffleboard.getTab("Drive").add("Field", field); + } + + @Override + public void periodic() { + // Update the odometry in the periodic block + poseEstimator.update(io.getHeading(), io.getModulePositions()); + field.setRobotPose(poseEstimator.getEstimatedPosition()); + } + + /** + * Returns the currently-estimated pose of the robot. + * + * @return The pose. + */ + public Pose2d getPose() { + return poseEstimator.getEstimatedPosition(); + } + + /** + * Resets the odometry to the specified pose. + * + * @param pose The pose to which to set the odometry. + */ + public void resetOdometry(Pose2d pose) { + io.resetHeading(pose.getRotation()); + poseEstimator.resetPosition(io.getHeading(), io.getModulePositions(), pose); + } + + /** + * Method to drive the robot using joystick info. + * + * @param xSpeed Speed of the robot in the x direction (forward) + * @param ySpeed Speed of the robot in the y direction (sideways). + * @param rot Angular rate of the robot. + * @param orientation What reference frame the speeds are in + */ + public void drive( + LinearVelocity xSpeed, + LinearVelocity ySpeed, + AngularVelocity rot, + ReferenceFrame orientation) { + var speeds = + switch (orientation) { + case ROBOT -> new ChassisSpeeds(xSpeed, ySpeed, rot); + case FIELD -> ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, io.getHeading()); + }; + drive(speeds); + } + + /** + * Drives the robot with the given chassis speeds. Note that chassis speeds are relative to the + * robot's reference frame. + * + * @param speeds the speeds at which the robot should move + */ + public void drive(ChassisSpeeds speeds) { + var swerveModuleStates = DriveConstants.driveKinematics.toSwerveModuleStates(speeds); + + io.setDesiredModuleStates(swerveModuleStates); + } + + /** Sets the wheels into an X formation to prevent movement. */ + public void setX() { + io.setDesiredModuleStates( + new SwerveModuleState[] { + new SwerveModuleState(0, Rotation2d.fromDegrees(45)), + new SwerveModuleState(0, Rotation2d.fromDegrees(-45)), + new SwerveModuleState(0, Rotation2d.fromDegrees(-45)), + new SwerveModuleState(0, Rotation2d.fromDegrees(45)) + }); + } + + /** Resets the drive encoders to currently read a position of 0. */ + public void resetEncoders() { + io.resetEncoders(); + } + + /** Zeroes the heading of the robot. */ + public void zeroHeading() { + io.zeroHeading(); + } + + /** + * Returns the heading of the robot. + * + * @return the robot's heading in degrees, from -180 to 180 + */ + public Rotation2d getHeading() { + return io.getHeading(); + } + + public SwerveModulePosition[] getModulePositions() { + return io.getModulePositions(); + } + + public SwerveModuleState[] getModuleStates() { + return io.getModuleStates(); + } + + public Command setXCommand() { + return run(this::setX) + .until( + () -> { + return Arrays.stream(getModuleStates()) + .allMatch( + state -> { + double v = Math.abs(state.speedMetersPerSecond); + double angle = state.angle.getDegrees(); + return v <= 0.01 && Math.abs(angle % 45) <= 1.5; + }); + }) + .withName("Set X"); + } + + /** + * Creates a command that uses joystick inputs to drive the robot. The speeds are field-relative. + * + * @param x a supplier for the relative speed that the robot should move on the field's X-axis, as + * a number from -1 (towards the alliance wall) to +1 (towards the opposing alliance wall). + * @param y a supplier for the relative speed that the robot should move on the field's Y-axis, as + * a number from -1 (towards the right side of the field) to +1 (towards the left side of the + * field). + * @param omega a supplier for the relative speed that the robot should spin about its own axis, + * as a number from -1 (maximum clockwise speed) to +1 (maximum counter-clockwise speed). + * @return the driving command + */ + public Command driveWithJoysticks(DoubleSupplier x, DoubleSupplier y, DoubleSupplier omega) { + var xSpeed = MetersPerSecond.mutable(0); + var ySpeed = MetersPerSecond.mutable(0); + var omegaSpeed = RadiansPerSecond.mutable(0); + + return run(() -> { + xSpeed.mut_setMagnitude( + MathUtil.applyDeadband(x.getAsDouble(), 0.01) + * DriveConstants.maxSpeed.in(MetersPerSecond)); + ySpeed.mut_setMagnitude( + MathUtil.applyDeadband(y.getAsDouble(), 0.01) + * DriveConstants.maxSpeed.in(MetersPerSecond)); + omegaSpeed.mut_setMagnitude( + MathUtil.applyDeadband(-omega.getAsDouble(), 0.08) + * DriveConstants.maxAngularSpeed.in(RadiansPerSecond)); + + drive(xSpeed, ySpeed, omegaSpeed, ReferenceFrame.FIELD); + }) + .finallyDo(this::setX) + .withName("Drive With Joysticks"); + } + + @Override + public void close() { + io.close(); + } + + // Creates a SysIdRoutine + private final SysIdRoutine routine = + new SysIdRoutine( + new SysIdRoutine.Config(), + new SysIdRoutine.Mechanism(this::voltageDrive, this::logMotors, this)); + + private Voltage appliedSysidVoltage = Volts.zero(); + + private void voltageDrive(Voltage v) { + io.frontLeft().setVoltageForDrivingMotor(v); + io.frontRight().setVoltageForDrivingMotor(v); + io.rearLeft().setVoltageForDrivingMotor(v); + io.rearRight().setVoltageForDrivingMotor(v); + appliedSysidVoltage = v; + } + + private void logMotors(SysIdRoutineLog s) { + s.motor("frontLeft") + .linearPosition(Meters.of(io.frontLeft().getPosition().distanceMeters)) + .linearVelocity(MetersPerSecond.of(io.frontLeft().getState().speedMetersPerSecond)) + .voltage(appliedSysidVoltage); + s.motor("rearLeft") + .linearPosition(Meters.of(io.rearLeft().getPosition().distanceMeters)) + .linearVelocity(MetersPerSecond.of(io.rearLeft().getState().speedMetersPerSecond)) + .voltage(appliedSysidVoltage); + s.motor("frontRight") + .linearPosition(Meters.of(io.frontRight().getPosition().distanceMeters)) + .linearVelocity(MetersPerSecond.of(io.frontRight().getState().speedMetersPerSecond)) + .voltage(appliedSysidVoltage); + s.motor("rearRight") + .linearPosition(Meters.of(io.rearRight().getPosition().distanceMeters)) + .linearVelocity(MetersPerSecond.of(io.rearRight().getState().speedMetersPerSecond)) + .voltage(appliedSysidVoltage); + } + + public Command sysIdQuasistatic( + SysIdRoutine.Direction direction) { // can bind to controller buttons + return routine.quasistatic(direction); + } + + public Command sysIdDynamic(SysIdRoutine.Direction direction) { // can bind to controller buttons + return routine.dynamic(direction); + } + + public Command pointForward() { + return run(this::setForward) + .until( + () -> { + return Arrays.stream(getModuleStates()) + .allMatch( + state -> { + double angle = state.angle.getDegrees(); + return 1.5 >= angle && angle >= -1.5; + }); + }) + .withName("Set 0"); + } + + private void setForward() { + io.setDesiredStateWithoutOptimization( + new SwerveModuleState[] { + new SwerveModuleState(0, Rotation2d.fromDegrees(0)), + new SwerveModuleState(0, Rotation2d.fromDegrees(0)), + new SwerveModuleState(0, Rotation2d.fromDegrees(0)), + new SwerveModuleState(0, Rotation2d.fromDegrees(0)) + }); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/MAXSwerveIO.java b/src/main/java/frc/robot/subsystems/drive/MAXSwerveIO.java new file mode 100644 index 0000000..538de0e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/MAXSwerveIO.java @@ -0,0 +1,91 @@ +package frc.robot.subsystems.drive; + +import static frc.robot.Constants.DriveConstants.frontLeftChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.frontLeftDrivingCanId; +import static frc.robot.Constants.DriveConstants.frontLeftTurningCanId; +import static frc.robot.Constants.DriveConstants.frontRightChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.frontRightDrivingCanId; +import static frc.robot.Constants.DriveConstants.frontRightTurningCanId; +import static frc.robot.Constants.DriveConstants.rearLeftChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.rearLeftDrivingCanId; +import static frc.robot.Constants.DriveConstants.rearLeftTurningCanId; +import static frc.robot.Constants.DriveConstants.rearRightChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.rearRightDrivingCanId; +import static frc.robot.Constants.DriveConstants.rearRightTurningCanId; + +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.SparkMax; +import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.subsystems.drive.swerve.MAXSwerveModuleIO; +import frc.robot.subsystems.drive.swerve.SwerveModule; + +/** + * IO for a swerve drive using REV MAXSwerve modules driven by a NEO motor and turned by a NEO 550 + * motor. + */ +public class MAXSwerveIO implements SwerveIO { + private final SwerveModule frontLeft = + new SwerveModule( + new MAXSwerveModuleIO( + new SparkMax(frontLeftDrivingCanId, MotorType.kBrushless), + new SparkMax(frontLeftTurningCanId, MotorType.kBrushless)), + frontLeftChassisAngularOffset); + private final SwerveModule frontRight = + new SwerveModule( + new MAXSwerveModuleIO( + new SparkMax(frontRightDrivingCanId, MotorType.kBrushless), + new SparkMax(frontRightTurningCanId, MotorType.kBrushless)), + frontRightChassisAngularOffset); + private final SwerveModule rearLeft = + new SwerveModule( + new MAXSwerveModuleIO( + new SparkMax(rearLeftDrivingCanId, MotorType.kBrushless), + new SparkMax(rearLeftTurningCanId, MotorType.kBrushless)), + rearLeftChassisAngularOffset); + private final SwerveModule rearRight = + new SwerveModule( + new MAXSwerveModuleIO( + new SparkMax(rearRightDrivingCanId, MotorType.kBrushless), + new SparkMax(rearRightTurningCanId, MotorType.kBrushless)), + rearRightChassisAngularOffset); + + // The gyro sensor + // TODO: Need to wait for the 2025 navx vendor library release + // AHRS gyro = new AHRS(SPI.Port.kMXP); + + @Override + public SwerveModule frontLeft() { + return frontLeft; + } + + @Override + public SwerveModule frontRight() { + return frontRight; + } + + @Override + public SwerveModule rearLeft() { + return rearLeft; + } + + @Override + public SwerveModule rearRight() { + return rearRight; + } + + @Override + public Rotation2d getHeading() { + // return gyro.getRotation2d(); + return Rotation2d.kZero; // TODO: Replace with gyro reading + } + + @Override + public void resetHeading(Rotation2d heading) { + // gyro.setAngleAdjustment(heading.getDegrees()); + } + + @Override + public void zeroHeading() { + // gyro.reset(); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/SimSwerveIO.java b/src/main/java/frc/robot/subsystems/drive/SimSwerveIO.java new file mode 100644 index 0000000..e434d83 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/SimSwerveIO.java @@ -0,0 +1,86 @@ +package frc.robot.subsystems.drive; + +import static frc.robot.Constants.DriveConstants.driveKinematics; +import static frc.robot.Constants.DriveConstants.frontLeftChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.frontRightChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.rearLeftChassisAngularOffset; +import static frc.robot.Constants.DriveConstants.rearRightChassisAngularOffset; + +import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.sim.Simulation; +import frc.robot.sim.SimulationContext; +import frc.robot.subsystems.drive.swerve.SimModuleIO; +import frc.robot.subsystems.drive.swerve.SwerveModule; + +public class SimSwerveIO implements SwerveIO { + private final SwerveModule frontLeft; + private final SwerveModule frontRight; + private final SwerveModule rearLeft; + private final SwerveModule rearRight; + + private final Simulation update = this::update; + + // Assume a 0° starting heading + private Rotation2d heading = Rotation2d.fromDegrees(0); + + public SimSwerveIO() { + frontLeft = new SwerveModule(new SimModuleIO(), frontLeftChassisAngularOffset); + frontRight = new SwerveModule(new SimModuleIO(), frontRightChassisAngularOffset); + rearLeft = new SwerveModule(new SimModuleIO(), rearLeftChassisAngularOffset); + rearRight = new SwerveModule(new SimModuleIO(), rearRightChassisAngularOffset); + + SimulationContext.getDefault().addPeriodic(update); + } + + private void update(double timestep) { + // Compute the current chassis speeds (x, y, ω) + var speeds = + driveKinematics.toChassisSpeeds( + frontLeft.getState(), frontRight.getState(), rearLeft.getState(), rearRight.getState()); + + // Update the heading by integrating the angular velocity by the timestep + // (note: smaller timesteps will give more accurate results) + heading = heading.plus(Rotation2d.fromRadians(speeds.omegaRadiansPerSecond * timestep)); + } + + @Override + public SwerveModule frontLeft() { + return frontLeft; + } + + @Override + public SwerveModule frontRight() { + return frontRight; + } + + @Override + public SwerveModule rearLeft() { + return rearLeft; + } + + @Override + public SwerveModule rearRight() { + return rearRight; + } + + @Override + public Rotation2d getHeading() { + return heading; + } + + @Override + public void resetHeading(Rotation2d heading) { + this.heading = heading; + } + + @Override + public void zeroHeading() { + heading = Rotation2d.fromDegrees(0); + } + + @Override + public void close() { + SwerveIO.super.close(); + SimulationContext.getDefault().removePeriodic(update); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveIO.java b/src/main/java/frc/robot/subsystems/drive/SwerveIO.java new file mode 100644 index 0000000..671c483 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/SwerveIO.java @@ -0,0 +1,126 @@ +package frc.robot.subsystems.drive; + +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import frc.robot.Constants.DriveConstants; +import frc.robot.subsystems.drive.swerve.SwerveModule; + +/** + * Common input-output interface for the swerve drive. This is responsible for assigning + * higher-level goals and reading the current state of the chassis. + */ +@Logged +public interface SwerveIO extends AutoCloseable { + SwerveModule frontLeft(); + + SwerveModule frontRight(); + + SwerveModule rearLeft(); + + SwerveModule rearRight(); + + /** Gets the current heading of the chassis. */ + Rotation2d getHeading(); + + void resetHeading(Rotation2d heading); + + /** + * Zeroes out the internal heading. Whatever direction the robot is currently facing will be the + * new zero point from which all later calls to {@link #getHeading()} will be relative to. + */ + void zeroHeading(); + + /** + * Stops driving and halts movement. The robot may skid or continue to coast for a short period + * after motor outputs are set to zero. + */ + default void stop() { + frontLeft().stop(); + frontRight().stop(); + rearLeft().stop(); + rearRight().stop(); + } + + /** + * Gets the positions of all four modules. Modules are indexed like so: + * + *

    + *
  1. Front left + *
  2. Front right + *
  3. Rear left + *
  4. Rear right + *
+ */ + default SwerveModulePosition[] getModulePositions() { + return new SwerveModulePosition[] { + frontLeft().getPosition(), + frontRight().getPosition(), + rearLeft().getPosition(), + rearRight().getPosition() + }; + } + + /** + * Gets the states of all four modules. Modules are indexed like so: + * + *
    + *
  1. Front left + *
  2. Front right + *
  3. Rear left + *
  4. Rear right + *
+ */ + default SwerveModuleState[] getModuleStates() { + return new SwerveModuleState[] { + frontLeft().getState(), frontRight().getState(), rearLeft().getState(), rearRight().getState() + }; + } + + /** + * Sets the desired states for all four modules. Module states should be indexed like so: + * + *
    + *
  1. Front left + *
  2. Front right + *
  3. Rear left + *
  4. Rear right + *
+ */ + default void setDesiredModuleStates(SwerveModuleState[] desiredStates) { + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, DriveConstants.maxSpeed); + frontLeft().setDesiredState(desiredStates[0]); + frontRight().setDesiredState(desiredStates[1]); + rearLeft().setDesiredState(desiredStates[2]); + rearRight().setDesiredState(desiredStates[3]); + } + + /** + * Resets the internal module distances to 0 meters. Future results from {@link + * #getModulePositions()} will return distance values relative to their current positions. + */ + default void resetEncoders() { + frontLeft().resetEncoders(); + frontRight().resetEncoders(); + rearLeft().resetEncoders(); + rearRight().resetEncoders(); + } + + @Override + default void close() { + frontLeft().close(); + frontRight().close(); + rearLeft().close(); + rearRight().close(); + } + + default void setDesiredStateWithoutOptimization(SwerveModuleState[] desiredStates) { + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, DriveConstants.maxSpeed); + frontLeft().setDesiredStateWithoutOptimization(desiredStates[0]); + frontRight().setDesiredStateWithoutOptimization(desiredStates[1]); + rearLeft().setDesiredStateWithoutOptimization(desiredStates[2]); + rearRight().setDesiredStateWithoutOptimization(desiredStates[3]); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/swerve/MAXSwerveModuleIO.java b/src/main/java/frc/robot/subsystems/drive/swerve/MAXSwerveModuleIO.java new file mode 100644 index 0000000..743fdb3 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/swerve/MAXSwerveModuleIO.java @@ -0,0 +1,108 @@ +package frc.robot.subsystems.drive.swerve; + +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.Volts; +import static frc.robot.Constants.ModuleConstants.drivingConfig; +import static frc.robot.Constants.ModuleConstants.turningConfig; + +import com.revrobotics.AbsoluteEncoder; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkMax; +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.units.measure.Voltage; + +/** + * Swerve module IO implemented using REV SparkMaxes, a NEO driving motor, and a NEO 550 turning + * motor. + */ +@Logged +public class MAXSwerveModuleIO implements ModuleIO { + private final SparkMax drivingSparkMax; + private final SparkMax turningSparkMax; + + private final RelativeEncoder drivingEncoder; + private final AbsoluteEncoder turningEncoder; + + private final SparkClosedLoopController drivingPIDController; + private final SparkClosedLoopController turningPIDController; + + public MAXSwerveModuleIO(SparkMax drivingSparkMax, SparkMax turningSparkMax) { + this.drivingSparkMax = drivingSparkMax; + drivingPIDController = drivingSparkMax.getClosedLoopController(); + drivingEncoder = drivingSparkMax.getEncoder(); + + this.turningSparkMax = turningSparkMax; + turningEncoder = turningSparkMax.getAbsoluteEncoder(); + turningPIDController = turningSparkMax.getClosedLoopController(); + + // Send SPARK MAX configurations to the controllers. + drivingSparkMax.configure( + drivingConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); + turningSparkMax.configure( + turningConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); + + resetEncoders(); + } + + @Override + public LinearVelocity getWheelVelocity() { + return MetersPerSecond.of(drivingEncoder.getVelocity()); + } + + @Override + public Distance getWheelDistance() { + return Meters.of(drivingEncoder.getPosition()); + } + + @Override + public Rotation2d getModuleRotation() { + return Rotation2d.fromRadians(turningEncoder.getPosition()); + } + + @Override + public void setDesiredState(SwerveModuleState state) { + // Command driving and turning SPARKS MAX towards their respective setpoints. + drivingPIDController.setReference(state.speedMetersPerSecond, SparkBase.ControlType.kVelocity); + turningPIDController.setReference(state.angle.getRadians(), SparkBase.ControlType.kPosition); + } + + @Override + public void stop() { + // Write 0 volts to the motor controllers + drivingSparkMax.setVoltage(0); + turningSparkMax.setVoltage(0); + drivingPIDController.setReference(0, SparkBase.ControlType.kVoltage); + turningPIDController.setReference(0, SparkBase.ControlType.kVoltage); + } + + @Override + public void resetEncoders() { + drivingEncoder.setPosition(0); + } + + @Override + public void close() { + drivingSparkMax.close(); + turningSparkMax.close(); + } + + @Override + public Voltage getTurnVoltage() { + return Volts.of(turningSparkMax.getAppliedOutput()); + } + + @Override + public void setDrivingMotorVoltage(Voltage v) { + drivingSparkMax.setVoltage(v.in(Volts)); + turningPIDController.setReference(0, SparkBase.ControlType.kPosition); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/swerve/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/swerve/ModuleIO.java new file mode 100644 index 0000000..191411e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/swerve/ModuleIO.java @@ -0,0 +1,53 @@ +package frc.robot.subsystems.drive.swerve; + +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.units.measure.Voltage; + +/** + * Common input-output interface for a single swerve module. This is responsible for assigning + * higher-level inputs (eg a target module angle or wheel velocity). + */ +@Logged +public interface ModuleIO extends AutoCloseable { + /** Gets the current tangential linear speed of the wheel, in meters per second. */ + LinearVelocity getWheelVelocity(); + + /** + * Gets the total distance driven by the wheel since the beginning of the simulation. This + * distance can be reset to zero by calling {@link #resetEncoders()} at any time. + * + *

Wheel distances are measured in meters. + */ + Distance getWheelDistance(); + + /** + * Gets the rotation of the module with respect to the internal zero point. This should not + * include any chassis angular offsets. + */ + Rotation2d getModuleRotation(); + + /** Sets the desired state (speed and angle) of the module. */ + void setDesiredState(SwerveModuleState state); + + /** Immediately stops all motors. */ + void stop(); + + /** + * Resets the internal distance tracking to zero. + * + * @see #getWheelDistance() getWheelDistance() + */ + void resetEncoders(); + + /** Closes the IO object and frees or destroys any held resources. */ + @Override + void close(); + + Voltage getTurnVoltage(); + + void setDrivingMotorVoltage(Voltage v); +} diff --git a/src/main/java/frc/robot/subsystems/drive/swerve/SimModuleIO.java b/src/main/java/frc/robot/subsystems/drive/swerve/SimModuleIO.java new file mode 100644 index 0000000..3f12ec8 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/swerve/SimModuleIO.java @@ -0,0 +1,126 @@ +package frc.robot.subsystems.drive.swerve; + +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.RotationsPerSecond; +import static edu.wpi.first.units.Units.Volts; +import static frc.robot.Constants.ModuleConstants.wheelCircumference; + +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.LinearVelocity; +import edu.wpi.first.units.measure.Voltage; +import frc.robot.sim.MAXSwerveModuleSim; +import frc.robot.sim.Simulation; +import frc.robot.sim.SimulationContext; + +@Logged +public class SimModuleIO implements ModuleIO { + /** Hardware simulation for the swerve module. */ + private final MAXSwerveModuleSim sim; + + // PID constants are different in simulation than in real life + private final PIDController drivePID = new PIDController(12, 0, 0); + private final SimpleMotorFeedforward driveFeedForward = new SimpleMotorFeedforward(0.8, 2.445); + private final PIDController turnPID = new PIDController(10, 0, 0); + + private final SwerveModulePosition currentPosition = new SwerveModulePosition(); + private final Simulation update = this::update; + + private Voltage lastVoltage = Volts.zero(); + + private SwerveModuleState desiredState = new SwerveModuleState(); + + private Voltage turnVolts = Volts.zero(); + + public SimModuleIO(MAXSwerveModuleSim sim) { + this.sim = sim; + + turnPID.enableContinuousInput(0, 2 * Math.PI); + SimulationContext.getDefault().addPeriodic(update); + } + + public SimModuleIO() { + this(new MAXSwerveModuleSim()); + } + + private void update(double timestep) { + // Set simulation motor voltages based on the commanded inputs to the module + Voltage driveVolts = + Volts.of( + drivePID.calculate(getWheelVelocity().in(MetersPerSecond)) + + driveFeedForward.calculate(desiredState.speedMetersPerSecond)); + turnVolts = Volts.of(turnPID.calculate(getModuleRotation().getRadians())); + + lastVoltage = driveVolts; + + sim.setDriveVoltage(driveVolts); + sim.setTurnVoltage(turnVolts); + + // Write "sensor" values by integrating the simulated velocities over the past timestep + currentPosition.angle = + currentPosition.angle.plus( + Rotation2d.fromRadians(sim.getTurnVelocity().in(RadiansPerSecond) * timestep)); + currentPosition.distanceMeters += getWheelVelocity().in(MetersPerSecond) * timestep; + } + + @Override + public LinearVelocity getWheelVelocity() { + return MetersPerSecond.of( + sim.getWheelVelocity().in(RotationsPerSecond) * wheelCircumference.in(Meters)); + } + + @Override + public Distance getWheelDistance() { + return Meters.of(currentPosition.distanceMeters); + } + + @Override + public Rotation2d getModuleRotation() { + return currentPosition.angle; + } + + @Override + public void setDesiredState(SwerveModuleState state) { + this.desiredState = state; + drivePID.setSetpoint(state.speedMetersPerSecond); + turnPID.setSetpoint(state.angle.getRadians()); + } + + @Override + public void stop() { + setDesiredState(new SwerveModuleState(0, getModuleRotation())); + } + + @Override + public void resetEncoders() { + currentPosition.distanceMeters = 0; + } + + public Voltage getDriveVoltage() { + return lastVoltage; + } + + @Override + public void close() { + // Stop simulating the mechanism + SimulationContext.getDefault().removeMechanism(sim); + SimulationContext.getDefault().removePeriodic(update); + } + + @Override + public Voltage getTurnVoltage() { + return turnVolts; + } + + @Override + public void setDrivingMotorVoltage(Voltage v) { + sim.setDriveVoltage(v); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/swerve/SwerveModule.java b/src/main/java/frc/robot/subsystems/drive/swerve/SwerveModule.java new file mode 100644 index 0000000..1b61d35 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/swerve/SwerveModule.java @@ -0,0 +1,108 @@ +// 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.subsystems.drive.swerve; + +import edu.wpi.first.epilogue.Logged; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.units.measure.Voltage; + +@Logged +public class SwerveModule implements AutoCloseable { + /** The I/O layer used to communicate with the module hardware. */ + private final ModuleIO io; + + /** + * The angular offset of this module relative to the center of the chassis. An angle of 0 is + * straight forward, with positive values increasing counter-clockwise. + */ + private final Rotation2d angularOffset; + + @Logged(name = "Target State") + private SwerveModuleState targetState = new SwerveModuleState(0, Rotation2d.fromDegrees(0)); + + /** + * Constructs a swerve module. + * + * @param io the IO object to use to interact with the swerve module hardware + * @param angularOffset the angular + */ + public SwerveModule(ModuleIO io, Rotation2d angularOffset) { + this.io = io; + this.angularOffset = angularOffset; + } + + /** + * Returns the current state of the module. + * + * @return The current state of the module. + */ + public SwerveModuleState getState() { + // Apply chassis angular offset to the encoder position to get the position + // relative to the chassis. + return new SwerveModuleState( + io.getWheelVelocity(), io.getModuleRotation().minus(angularOffset)); + } + + /** + * Returns the current position of the module. + * + * @return The current position of the module. + */ + public SwerveModulePosition getPosition() { + // Apply chassis angular offset to the encoder position to get the position + // relative to the chassis. + return new SwerveModulePosition( + io.getWheelDistance(), io.getModuleRotation().minus(angularOffset)); + } + + /** + * Sets the desired state for the module. + * + * @param desiredState Desired state with speed and angle. + */ + public void setDesiredState(SwerveModuleState desiredState) { + // Apply chassis angular offset to the desired state. + var correctedState = + new SwerveModuleState( + desiredState.speedMetersPerSecond, desiredState.angle.plus(angularOffset)); + + // Optimize the reference state to avoid spinning further than 90 degrees. + var optimizedState = SwerveModuleState.optimize(correctedState, io.getModuleRotation()); + this.targetState = optimizedState; + + io.setDesiredState(optimizedState); + } + + public void setDesiredStateWithoutOptimization(SwerveModuleState desiredState) { + // Apply chassis angular offset to the desired state. + var correctedState = + new SwerveModuleState( + desiredState.speedMetersPerSecond, desiredState.angle.plus(angularOffset)); + this.targetState = correctedState; + + io.setDesiredState(correctedState); + } + + /** Zeroes all the swerve module encoders. */ + public void resetEncoders() { + io.resetEncoders(); + } + + /** Immediately stops all motors on the module and halts movement. */ + public void stop() { + io.stop(); + } + + @Override + public void close() { + io.close(); + } + + public void setVoltageForDrivingMotor(Voltage v) { + io.setDrivingMotorVoltage(v); + } +} diff --git a/src/test/java/frc/robot/sim/SwerveModuleSimTest.java b/src/test/java/frc/robot/sim/SwerveModuleSimTest.java new file mode 100644 index 0000000..cc62acd --- /dev/null +++ b/src/test/java/frc/robot/sim/SwerveModuleSimTest.java @@ -0,0 +1,61 @@ +package frc.robot.sim; + +import static edu.wpi.first.units.Units.Volts; +import static org.junit.jupiter.api.Assertions.assertTrue; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.simulation.DriverStationSim; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeAll; +import org.junit.jupiter.api.Test; + +/** Note: all tests run with a constant 12V battery input. */ +class SwerveModuleSimTest { + @BeforeAll + static void wpilibSetup() { + HAL.initialize(500, 0); + DriverStationSim.setEnabled(true); + DriverStationSim.notifyNewData(); // "enable" the robot so motor controllers will work + } + + @AfterEach + void teardown() { + SimulationContext.getDefault().removeAll(); + } + + @Test + void updatesPositiveVelocity() { + var sim = new MAXSwerveModuleSim(); + sim.setDriveVoltage(Volts.of(12)); + sim.update(0.02); + assertTrue( + sim.getWheelVelocity().magnitude() > 0, sim.getWheelVelocity() + " should be positive"); + } + + @Test + void updatesNegativeVelocity() { + var sim = new MAXSwerveModuleSim(); + sim.setDriveVoltage(Volts.of(-12)); + sim.update(0.02); + assertTrue( + sim.getWheelVelocity().magnitude() < 0, sim.getWheelVelocity() + " should be negative"); + } + + @Test + void updatesPositiveAngle() { + var sim = new MAXSwerveModuleSim(); + sim.setTurnVoltage(Volts.of(12)); + sim.update(0.02); + assertTrue( + sim.getTurnVelocity().magnitude() > 0, sim.getTurnVelocity() + " should be positive"); + } + + @Test + void updatesNegativeAngle() { + var sim = new MAXSwerveModuleSim(); + sim.setTurnVoltage(Volts.of(-12)); + sim.update(0.02); + assertTrue( + sim.getTurnVelocity().magnitude() < 0, sim.getTurnVelocity() + " should be positive"); + } +} diff --git a/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java b/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java new file mode 100644 index 0000000..31063de --- /dev/null +++ b/src/test/java/frc/robot/subsystems/drive/DriveSubsystemTest.java @@ -0,0 +1,117 @@ +package frc.robot.subsystems.drive; + +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.RotationsPerSecond; +import static org.junit.jupiter.api.Assertions.assertEquals; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.simulation.DriverStationSim; +import frc.robot.sim.SimulationContext; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeAll; +import org.junit.jupiter.api.BeforeEach; +import org.junit.jupiter.api.Test; + +class DriveSubsystemTest { + // NOTE: the drive method relies on real wall time for rate limiting to work, which means we + // either have to run tests in real time (which is slow) or avoid using rate limiting + // in our tests + DriveSubsystem drivetrain; + + @BeforeAll + static void wpilibSetup() { + HAL.initialize(500, 0); + DriverStationSim.setEnabled(true); + DriverStationSim.notifyNewData(); // "enable" the robot so motor controllers will work + } + + @BeforeEach + void setup() { + drivetrain = new DriveSubsystem(new SimSwerveIO()); + } + + @AfterEach + void teardown() { + drivetrain.close(); + SimulationContext.getDefault().removeAll(); + } + + @Test + void startingConfig() { + assertEquals(0, drivetrain.getHeading().getDegrees()); + assertEquals(0, drivetrain.getPose().getRotation().getDegrees()); + assertEquals(0, drivetrain.getPose().getX()); + assertEquals(0, drivetrain.getPose().getY()); + } + + @Test + void headingIncreasesWithPositiveRotation() { + // simulate 400ms of time + for (int i = 0; i < 20; i++) { + drivetrain.drive( + MetersPerSecond.zero(), + MetersPerSecond.zero(), + RotationsPerSecond.of(1), + DriveSubsystem.ReferenceFrame.ROBOT); + tick(); + } + var heading = drivetrain.getHeading(); + assertEquals(90, heading.getDegrees(), 10); + + // odometry should update to match the heading (only relevant for sim - odometry won't + // be 100% accurate in real life) + assertEquals(heading, drivetrain.getPose().getRotation()); + } + + @Test + void headingDecreasesWithNegativeRotation() { + // simulate 400ms of time + for (int i = 0; i < 20; i++) { + drivetrain.drive( + MetersPerSecond.zero(), + MetersPerSecond.zero(), + RotationsPerSecond.of(-1), + DriveSubsystem.ReferenceFrame.ROBOT); + tick(); + } + var heading = drivetrain.getHeading(); + assertEquals(-90, heading.getDegrees(), 10); + + // odometry should update to match the heading (only relevant for sim - odometry won't + // be 100% accurate in real life) + assertEquals(heading, drivetrain.getPose().getRotation()); + } + + @Test + void setX() { + drivetrain.setX(); + + // simulate 400ms of time + for (int i = 0; i < 20; i++) { + tick(); + } + + // ... robot shouldn't move ... + var pose = drivetrain.getPose(); + assertEquals(0, pose.getRotation().getDegrees()); + assertEquals(0, pose.getX()); + assertEquals(0, pose.getY()); + + // ... module speeds should all be 0 ... + assertEquals(0, drivetrain.getModuleStates()[0].speedMetersPerSecond, 1e-6); + assertEquals(0, drivetrain.getModuleStates()[1].speedMetersPerSecond, 1e-6); + assertEquals(0, drivetrain.getModuleStates()[2].speedMetersPerSecond, 1e-6); + assertEquals(0, drivetrain.getModuleStates()[3].speedMetersPerSecond, 1e-6); + + // ... and be rotated 45° inward towards the center of the robot, within ±1° + assertEquals(45, drivetrain.getModuleStates()[0].angle.getDegrees(), 1); + assertEquals(135, drivetrain.getModuleStates()[1].angle.getDegrees(), 1); + assertEquals(135, drivetrain.getModuleStates()[2].angle.getDegrees(), 1); + assertEquals(-135, drivetrain.getModuleStates()[3].angle.getDegrees(), 1); + } + + private void tick() { + SimulationContext.getDefault().update(0.020); + drivetrain.periodic(); + } +} diff --git a/src/test/java/frc/robot/subsystems/drive/swerve/SimModuleIOTest.java b/src/test/java/frc/robot/subsystems/drive/swerve/SimModuleIOTest.java new file mode 100644 index 0000000..5c1eadd --- /dev/null +++ b/src/test/java/frc/robot/subsystems/drive/swerve/SimModuleIOTest.java @@ -0,0 +1,86 @@ +package frc.robot.subsystems.drive.swerve; + +import static edu.wpi.first.units.Units.MetersPerSecond; +import static org.junit.jupiter.api.Assertions.assertEquals; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.simulation.DriverStationSim; +import frc.robot.sim.MAXSwerveModuleSim; +import frc.robot.sim.SimulationContext; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeAll; +import org.junit.jupiter.api.BeforeEach; +import org.junit.jupiter.api.Test; + +class SimModuleIOTest { + MAXSwerveModuleSim sim; + SimModuleIO io; + + @BeforeAll + static void wpilibSetup() { + HAL.initialize(500, 0); + DriverStationSim.setEnabled(true); + DriverStationSim.notifyNewData(); // "enable" the robot so motor controllers will work + } + + @BeforeEach + void setup() { + sim = new MAXSwerveModuleSim(); + io = new SimModuleIO(sim); + } + + @AfterEach + void teardown() { + SimulationContext.getDefault().removeAll(); + } + + @Test + void convergesOnPositiveVelocity() { + double targetMps = 4; + io.setDesiredState(new SwerveModuleState(targetMps, new Rotation2d())); + for (int i = 0; i < 50; i++) { + SimulationContext.getDefault().update(0.02); + } + assertEquals( + targetMps, + io.getWheelVelocity().in(MetersPerSecond), + 0.075, + "Wheel velocity did not converge within 1 second"); + } + + @Test + void convergesOnNegativeVelocity() { + double targetMps = -4; + io.setDesiredState(new SwerveModuleState(targetMps, new Rotation2d())); + for (int i = 0; i < 50; i++) { + SimulationContext.getDefault().update(0.02); + } + assertEquals( + targetMps, + io.getWheelVelocity().in(MetersPerSecond), + 0.075, + "Wheel velocity did not converge within 1 second"); + } + + @Test + void testConvergesOnPositiveAngle() { + io.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(90))); + for (int i = 0; i < 50; i++) { + SimulationContext.getDefault().update(0.02); + } + double angle = io.getModuleRotation().getDegrees(); + assertEquals(90, angle, 1e-3, "Module angle did not converge"); + } + + @Test + void testConvergesOnNegativeAngle() { + io.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-90))); + for (int i = 0; i < 50; i++) { + SimulationContext.getDefault().update(0.02); + } + double angle = io.getModuleRotation().getDegrees(); + assertEquals(-90, angle, 1e-3, "Module angle did not converge"); + } +} diff --git a/styleguide/checkstyle-suppressions.xml b/styleguide/checkstyle-suppressions.xml new file mode 100644 index 0000000..1cc5545 --- /dev/null +++ b/styleguide/checkstyle-suppressions.xml @@ -0,0 +1,7 @@ + + + + + diff --git a/styleguide/checkstyle.xml b/styleguide/checkstyle.xml new file mode 100644 index 0000000..a2ca549 --- /dev/null +++ b/styleguide/checkstyle.xml @@ -0,0 +1,291 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/styleguide/pmd-ruleset.xml b/styleguide/pmd-ruleset.xml new file mode 100644 index 0000000..be526a2 --- /dev/null +++ b/styleguide/pmd-ruleset.xml @@ -0,0 +1,128 @@ + + + + PMD Ruleset for WPILib + + .*/*JNI.* + .*/*IntegrationTests.* + .*/quickbuf/.* + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Use Objects.requireNonNull() instead of throwing a + NullPointerException yourself. + + + + + + + + 3 + + + + + diff --git a/styleguide/spotbugs-exclude.xml b/styleguide/spotbugs-exclude.xml new file mode 100644 index 0000000..df9457b --- /dev/null +++ b/styleguide/spotbugs-exclude.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/vendordeps/REVLib-2025.0.0.json b/vendordeps/REVLib-2025.0.0.json new file mode 100644 index 0000000..cde6011 --- /dev/null +++ b/vendordeps/REVLib-2025.0.0.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib-2025.0.0.json", + "name": "REVLib", + "version": "2025.0.0", + "frcYear": "2025", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2025.0.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2025.0.0", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.0", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000..3718e0a --- /dev/null +++ b/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2025", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +}