diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 0000000..26a08b6 --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,2 @@ +# Require approval from reviewers +* @SouthEugeneRoboticsTeam/reviewers diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..e06e5aa --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +.DS_Store +.gradle +.idea/* +!.idea/codeStyles +**.iml +build diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml new file mode 100644 index 0000000..5ed2e20 --- /dev/null +++ b/.idea/codeStyles/Project.xml @@ -0,0 +1,742 @@ + + + + + + \ No newline at end of file diff --git a/.idea/codeStyles/codeStyleConfig.xml b/.idea/codeStyles/codeStyleConfig.xml new file mode 100644 index 0000000..79ee123 --- /dev/null +++ b/.idea/codeStyles/codeStyleConfig.xml @@ -0,0 +1,5 @@ + + + + \ No newline at end of file diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..19ccf2c --- /dev/null +++ b/.travis.yml @@ -0,0 +1,11 @@ +language: java +jdk: oraclejdk8 +before_cache: + - rm -f $HOME/.gradle/caches/modules-2/modules-2.lock + - rm -fr $HOME/.gradle/caches/*/plugin-resolution/ +cache: + directories: + - $HOME/.gradle/caches/ + - $HOME/.gradle/wrapper/ +before_install: chmod +x gradlew +script: ./gradlew build diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..68921a6 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2017 South Eugene Robotics Team #2521 + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..e16ffd4 --- /dev/null +++ b/README.md @@ -0,0 +1,26 @@ +# PowerUp + +[![Travis][travis-img]][travis-url] +[![Coveralls][coveralls-img]][coveralls-url] + +SERT's robot code for the 2018 PowerUp game. + +## Building + +Unfortunately, GradleRIO made a bad decision to use dynamic versioning which is a feature Gradle has +that will find the latest version of a dependency for you. This sounds good, but is very bad for +several reasons: lack of build reproducibility, stuff could change under you without notice, Gradle +makes a network call to check if you have the latest version of a dependency on every build, etc. +The last example is the main issue because it prevents building robot code unless you have an +internet connection (which the robot doesn't). To get around this issue, you have to push code to +the robot with the `--offline` flag. + +### TL;DR + +1. To get everything downloaded and setup, run `./gradlew build` once **while online** +2. When pushing code to the robot, use `./gradlew deploy --offline` + +[travis-img]: https://img.shields.io/travis/SouthEugeneRoboticsTeam/PowerUp-2018.svg?style=flat-square +[travis-url]: https://travis-ci.org/SouthEugeneRoboticsTeam/PowerUp-2018 +[coveralls-img]: https://img.shields.io/coveralls/SouthEugeneRoboticsTeam/PowerUp-2018.svg?style=flat-square +[coveralls-url]: https://coveralls.io/github/SouthEugeneRoboticsTeam/PowerUp-2018 diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..496025e --- /dev/null +++ b/build.gradle @@ -0,0 +1,93 @@ +buildscript { + ext.kotlinVersion = "1.2.20" + + repositories { + jcenter() + maven { url "https://plugins.gradle.org/m2/" } + } + + dependencies { + classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlinVersion" + classpath "gradle.plugin.jaci.openrio.gradle:GradleRIO:2018.01.11" + } +} + +apply plugin: "java" +apply plugin: "kotlin" +apply plugin: "jaci.openrio.gradle.GradleRIO" +tasks.whenTaskAdded { task -> + if (task.name == "deploy") task.dependsOn 'assemble' +} +check.dependsOn "ktlint" + +repositories { + google() + jcenter() + maven { url 'https://jitpack.io' } +} + +configurations { + ktlint +} + +dependencies { + compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlinVersion" + + compile "org.sert2521.sertain:core:d9c87c5cef" + + compile wpilib() + compile navx() + compile ctre() + compile pathfinder() + + ktlint 'com.github.shyiko:ktlint:0.15.0' +} + +compileKotlin { + kotlinOptions.jvmTarget = "1.8" +} + +deploy { + targets { + target('roborio', jaci.openrio.gradle.frc.RoboRIO) { + team = 2521 + addresses << '10.25.21.89' + } + } + + artifacts { + artifact('main', jaci.openrio.gradle.frc.FRCJavaArtifact) { + targets << 'roborio' + + debug = false + } + } +} + +// Latest versions: +// https://github.com/Open-RIO/GradleRIO/tree/\ +// 34b602a105703fa4635398b12e824fc2a70041d9/src/main/groovy/jaci/openrio/gradle/wpi/dependencies +wpi { + wpilibVersion = '2018.2.1' + ntcoreVersion = '4.0.0' + opencvVersion = '3.2.0' + cscoreVersion = '1.1.0' + wpiutilVersion = '3.0.0' + + ctreVersion = '5.1.2.1' + navxVersion = '3.0.346' + + smartDashboardVersion = '2.0.4' + shuffleboardVersion = '1.0.0' +} + +jar { + from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } + manifest jaci.openrio.gradle.GradleRIOPlugin.javaManifest('org.sert2521.powerup.RobotName') +} + +task ktlint(type: JavaExec) { + main = "com.github.shyiko.ktlint.Main" + classpath = configurations.ktlint + args "src/**/*.kt" +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..70489ce Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..1bb0a98 --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,5 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=wrapper/dists +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-4.5-rc-1-all.zip diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..cccdd3d --- /dev/null +++ b/gradlew @@ -0,0 +1,172 @@ +#!/usr/bin/env sh + +############################################################################## +## +## Gradle start up script for UN*X +## +############################################################################## + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS="" + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn () { + echo "$*" +} + +die () { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; + NONSTOP* ) + nonstop=true + ;; +esac + +CLASSPATH=$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: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + JAVACMD=`cygpath --unix "$JAVACMD"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " +} +APP_ARGS=$(save "$@") + +# Collect all arguments for the java command, following the shell quoting and substitution rules +eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" + +# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong +if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then + cd "$(dirname "$0")" +fi + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..f955316 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,84 @@ +@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=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS= + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:init +@rem Get command-line arguments, handling Windows variants + +if not "%OS%" == "Windows_NT" goto win9xME_args + +:win9xME_args +@rem Slurp the command line arguments. +set CMD_LINE_ARGS= +set _SKIP=2 + +:win9xME_args_slurp +if "x%~1" == "x" goto execute + +set CMD_LINE_ARGS=%* + +: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 %CMD_LINE_ARGS% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="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! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/src/main/java/org/sert2521/powerup/RobotName.kt b/src/main/java/org/sert2521/powerup/RobotName.kt new file mode 100644 index 0000000..19f218a --- /dev/null +++ b/src/main/java/org/sert2521/powerup/RobotName.kt @@ -0,0 +1,10 @@ +package org.sert2521.powerup + +import org.sert2521.powerup.drivetrain.Drivetrain +import org.sertain.Robot + +class RobotName : Robot() { + override fun onCreate() { + Drivetrain + } +} diff --git a/src/main/java/org/sert2521/powerup/drivetrain/ArcadeDrive.kt b/src/main/java/org/sert2521/powerup/drivetrain/ArcadeDrive.kt new file mode 100644 index 0000000..2c13d45 --- /dev/null +++ b/src/main/java/org/sert2521/powerup/drivetrain/ArcadeDrive.kt @@ -0,0 +1,21 @@ +package org.sert2521.powerup.drivetrain + +import org.sertain.command.Command + +/** + * This command allows for arcade drive of the robot. + */ +class ArcadeDrive : Command() { + init { + requires(Drivetrain) + } + + override fun execute(): Boolean { + Drivetrain.arcade() + return false + } + + override fun onDestroy() { + Drivetrain.stop() + } +} diff --git a/src/main/java/org/sert2521/powerup/drivetrain/Drivetrain.kt b/src/main/java/org/sert2521/powerup/drivetrain/Drivetrain.kt new file mode 100644 index 0000000..51442db --- /dev/null +++ b/src/main/java/org/sert2521/powerup/drivetrain/Drivetrain.kt @@ -0,0 +1,45 @@ +package org.sert2521.powerup.drivetrain + +import edu.wpi.first.wpilibj.drive.DifferentialDrive +import org.sert2521.powerup.util.LEFT_FRONT_MOTOR +import org.sert2521.powerup.util.LEFT_REAR_MOTOR +import org.sert2521.powerup.util.RIGHT_FRONT_MOTOR +import org.sert2521.powerup.util.RIGHT_REAR_MOTOR +import org.sert2521.powerup.util.leftJoystick +import org.sertain.RobotLifecycle +import org.sertain.command.Subsystem +import org.sertain.hardware.Talon +import org.sertain.hardware.autoBreak +import org.sertain.hardware.inverted +import org.sertain.hardware.plus +import org.sertain.hardware.resetEncoder + +object Drivetrain : Subsystem(), RobotLifecycle { + private val frontLeft = Talon(LEFT_FRONT_MOTOR) + Talon(LEFT_REAR_MOTOR) + private val frontRight = + Talon(RIGHT_FRONT_MOTOR).inverted() + Talon(RIGHT_REAR_MOTOR).inverted() + + private val drive = DifferentialDrive(frontLeft, frontRight) + + override val defaultCommand = ArcadeDrive() + + init { + frontLeft.autoBreak() + frontRight.autoBreak() + } + + override fun onStart() { + stop() + + frontLeft.resetEncoder() + frontRight.resetEncoder() + } + + fun arcade() { + drive.arcadeDrive(leftJoystick.x, leftJoystick.y) + } + + fun stop() { + drive.stopMotor() + } +} diff --git a/src/main/java/org/sert2521/powerup/util/Constants.kt b/src/main/java/org/sert2521/powerup/util/Constants.kt new file mode 100644 index 0000000..d08d525 --- /dev/null +++ b/src/main/java/org/sert2521/powerup/util/Constants.kt @@ -0,0 +1,11 @@ +package org.sert2521.powerup.util + +// Joysticks +const val LEFT_STICK_PORT = 0 +const val RIGHT_STICK_PORT = 1 + +// Talon IDs +const val RIGHT_FRONT_MOTOR = -1 +const val RIGHT_REAR_MOTOR = -1 +const val LEFT_FRONT_MOTOR = -1 +const val LEFT_REAR_MOTOR = -1 diff --git a/src/main/java/org/sert2521/powerup/util/Oi.kt b/src/main/java/org/sert2521/powerup/util/Oi.kt new file mode 100644 index 0000000..9a2d80b --- /dev/null +++ b/src/main/java/org/sert2521/powerup/util/Oi.kt @@ -0,0 +1,6 @@ +package org.sert2521.powerup.util + +import edu.wpi.first.wpilibj.Joystick + +val leftJoystick: Joystick = Joystick(LEFT_STICK_PORT) +val rightJoystick: Joystick = Joystick(RIGHT_STICK_PORT)