commit 6c006d659e09a87036e0d88748ea8602e3e8359c Author: Zynh0722 Date: Wed Mar 27 13:41:32 2024 -0700 init diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..cdbfbfa --- /dev/null +++ b/.gitignore @@ -0,0 +1,178 @@ +# 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 +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ 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..d2d2fe1 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,18 @@ +{ + "java.configuration.updateBuildConfiguration": "disabled", + "java.import.gradle.enabled": false, + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "C_Cpp.default.configurationProvider": "vscode-wpilib" +} diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..61233ae --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": true, + "currentLanguage": "cpp", + "projectYear": "2024", + "teamNumber": 4043 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..8434944 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2023 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..99595e3 --- /dev/null +++ b/build.gradle @@ -0,0 +1,99 @@ +plugins { + id "cpp" + id "google-test-test-suite" + id "edu.wpi.first.GradleRIO" version "2024.1.1" +} + +// 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 + + frcCpp(getArtifactTypeClass('FRCNativeArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcCpp + +// Set this to true to enable desktop support. +def includeDesktopSupport = false + +// Set to true to run simulation in debug mode +wpi.cpp.debugSimulation = false + +// Default enable simgui +wpi.sim.addGui().defaultEnabled = true +// Enable DS but not by default +wpi.sim.addDriverstation() + +model { + components { + frcUserProgram(NativeExecutableSpec) { + targetPlatform wpi.platforms.roborio + if (includeDesktopSupport) { + targetPlatform wpi.platforms.desktop + } + + sources.cpp { + source { + srcDir 'src/main/cpp' + include '**/*.cpp', '**/*.cc' + } + exportedHeaders { + srcDir 'src/main/include' + } + } + + // Set deploy task to deploy this component + deployArtifact.component = it + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + // Enable simulation for this component + wpi.sim.enable(it) + // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + } + } + testSuites { + frcUserProgramTest(GoogleTestTestSuiteSpec) { + testing $.components.frcUserProgram + + sources.cpp { + source { + srcDir 'src/test/cpp' + include '**/*.cpp' + } + } + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + wpi.cpp.deps.googleTest(it) + } + } +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..d64cd49 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..7015f6b --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..1aa94a4 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# 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/subprojects/plugins/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 "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&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..6689b85 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@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 + +@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. +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 execute + +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 + +: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..3e30f84 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + 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/cpp/Robot.cpp b/src/main/cpp/Robot.cpp new file mode 100644 index 0000000..c1c1ae6 --- /dev/null +++ b/src/main/cpp/Robot.cpp @@ -0,0 +1,80 @@ +// 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. + +#include "Robot.h" + +#include + +void Robot::RobotInit() {} + +/** + * This function is called every 20 ms, no matter the mode. Use + * this for items like diagnostics that you want to run during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ +void Robot::RobotPeriodic() { + frc2::CommandScheduler::GetInstance().Run(); +} + +/** + * This function is called once each time the robot enters Disabled mode. You + * can use it to reset any subsystem information you want to clear when the + * robot is disabled. + */ +void Robot::DisabledInit() {} + +void Robot::DisabledPeriodic() {} + +/** + * This autonomous runs the autonomous command selected by your {@link + * RobotContainer} class. + */ +void Robot::AutonomousInit() { + m_autonomousCommand = m_container.GetAutonomousCommand(); + + if (m_autonomousCommand) { + m_autonomousCommand->Schedule(); + } +} + +void Robot::AutonomousPeriodic() {} + +void Robot::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 (m_autonomousCommand) { + m_autonomousCommand->Cancel(); + } +} + +/** + * This function is called periodically during operator control. + */ +void Robot::TeleopPeriodic() {} + +/** + * This function is called periodically during test mode. + */ +void Robot::TestPeriodic() {} + +/** + * This function is called once when the robot is first started up. + */ +void Robot::SimulationInit() {} + +/** + * This function is called periodically whilst in simulation. + */ +void Robot::SimulationPeriodic() {} + +#ifndef RUNNING_FRC_TESTS +int main() { + return frc::StartRobot(); +} +#endif diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp new file mode 100644 index 0000000..4300501 --- /dev/null +++ b/src/main/cpp/RobotContainer.cpp @@ -0,0 +1,35 @@ +// 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. + +#include "RobotContainer.h" + +#include + +#include "commands/Autos.h" +#include "commands/ExampleCommand.h" + +RobotContainer::RobotContainer() { + // Initialize all of your commands and subsystems here + + // Configure the button bindings + ConfigureBindings(); +} + +void RobotContainer::ConfigureBindings() { + // Configure your trigger bindings here + + // Schedule `ExampleCommand` when `exampleCondition` changes to `true` + frc2::Trigger([this] { + return m_subsystem.ExampleCondition(); + }).OnTrue(ExampleCommand(&m_subsystem).ToPtr()); + + // Schedule `ExampleMethodCommand` when the Xbox controller's B button is + // pressed, cancelling on release. + m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand()); +} + +frc2::CommandPtr RobotContainer::GetAutonomousCommand() { + // An example command will be run in autonomous + return autos::ExampleAuto(&m_subsystem); +} diff --git a/src/main/cpp/commands/Autos.cpp b/src/main/cpp/commands/Autos.cpp new file mode 100644 index 0000000..3eb0958 --- /dev/null +++ b/src/main/cpp/commands/Autos.cpp @@ -0,0 +1,14 @@ +// 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. + +#include "commands/Autos.h" + +#include + +#include "commands/ExampleCommand.h" + +frc2::CommandPtr autos::ExampleAuto(ExampleSubsystem* subsystem) { + return frc2::cmd::Sequence(subsystem->ExampleMethodCommand(), + ExampleCommand(subsystem).ToPtr()); +} diff --git a/src/main/cpp/commands/ExampleCommand.cpp b/src/main/cpp/commands/ExampleCommand.cpp new file mode 100644 index 0000000..f7ab3e2 --- /dev/null +++ b/src/main/cpp/commands/ExampleCommand.cpp @@ -0,0 +1,11 @@ +// 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. + +#include "commands/ExampleCommand.h" + +ExampleCommand::ExampleCommand(ExampleSubsystem* subsystem) + : m_subsystem{subsystem} { + // Register that this command requires the subsystem. + AddRequirements(m_subsystem); +} diff --git a/src/main/cpp/subsystems/ExampleSubsystem.cpp b/src/main/cpp/subsystems/ExampleSubsystem.cpp new file mode 100644 index 0000000..1660de7 --- /dev/null +++ b/src/main/cpp/subsystems/ExampleSubsystem.cpp @@ -0,0 +1,28 @@ +// 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. + +#include "subsystems/ExampleSubsystem.h" + +ExampleSubsystem::ExampleSubsystem() { + // Implementation of subsystem constructor goes here. +} + +frc2::CommandPtr ExampleSubsystem::ExampleMethodCommand() { + // Inline construction of command goes here. + // Subsystem::RunOnce implicitly requires `this` subsystem. + return RunOnce([/* this */] { /* one-time action goes here */ }); +} + +bool ExampleSubsystem::ExampleCondition() { + // Query some boolean state, such as a digital sensor. + return false; +} + +void ExampleSubsystem::Periodic() { + // Implementation of subsystem periodic method goes here. +} + +void ExampleSubsystem::SimulationPeriodic() { + // Implementation of subsystem simulation periodic method goes here. +} diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt new file mode 100644 index 0000000..6839539 --- /dev/null +++ b/src/main/deploy/example.txt @@ -0,0 +1,4 @@ +Files placed in this directory will be deployed to the RoboRIO into the + 'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory' + function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy + directory. \ No newline at end of file diff --git a/src/main/include/Constants.h b/src/main/include/Constants.h new file mode 100644 index 0000000..87dd5b9 --- /dev/null +++ b/src/main/include/Constants.h @@ -0,0 +1,21 @@ +// 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. + +#pragma once + +/** + * The Constants header provides a convenient place for teams to hold robot-wide + * numerical or boolean constants. This should not be used for any other + * purpose. + * + * It is generally a good idea to place constants into subsystem- or + * command-specific namespaces within this header, which can then be used where + * they are needed. + */ + +namespace OperatorConstants { + +inline constexpr int kDriverControllerPort = 0; + +} // namespace OperatorConstants diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h new file mode 100644 index 0000000..e9d45e7 --- /dev/null +++ b/src/main/include/Robot.h @@ -0,0 +1,34 @@ +// 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. + +#pragma once + +#include + +#include +#include + +#include "RobotContainer.h" + +class Robot : public frc::TimedRobot { + public: + void RobotInit() override; + void RobotPeriodic() override; + void DisabledInit() override; + void DisabledPeriodic() override; + void AutonomousInit() override; + void AutonomousPeriodic() override; + void TeleopInit() override; + void TeleopPeriodic() override; + void TestPeriodic() override; + void SimulationInit() override; + void SimulationPeriodic() override; + + private: + // Have it empty by default so that if testing teleop it + // doesn't have undefined behavior and potentially crash. + std::optional m_autonomousCommand; + + RobotContainer m_container; +}; diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h new file mode 100644 index 0000000..697b9a2 --- /dev/null +++ b/src/main/include/RobotContainer.h @@ -0,0 +1,35 @@ +// 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. + +#pragma once + +#include +#include + +#include "Constants.h" +#include "subsystems/ExampleSubsystem.h" + +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a "declarative" paradigm, very little robot logic should + * actually be handled in the {@link Robot} periodic methods (other than the + * scheduler calls). Instead, the structure of the robot (including subsystems, + * commands, and trigger mappings) should be declared here. + */ +class RobotContainer { + public: + RobotContainer(); + + frc2::CommandPtr GetAutonomousCommand(); + + private: + // Replace with CommandPS4Controller or CommandJoystick if needed + frc2::CommandXboxController m_driverController{ + OperatorConstants::kDriverControllerPort}; + + // The robot's subsystems are defined here... + ExampleSubsystem m_subsystem; + + void ConfigureBindings(); +}; diff --git a/src/main/include/commands/Autos.h b/src/main/include/commands/Autos.h new file mode 100644 index 0000000..62e2b56 --- /dev/null +++ b/src/main/include/commands/Autos.h @@ -0,0 +1,16 @@ +// 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. + +#pragma once + +#include + +#include "subsystems/ExampleSubsystem.h" + +namespace autos { +/** + * Example static factory for an autonomous command. + */ +frc2::CommandPtr ExampleAuto(ExampleSubsystem* subsystem); +} // namespace autos diff --git a/src/main/include/commands/ExampleCommand.h b/src/main/include/commands/ExampleCommand.h new file mode 100644 index 0000000..9426538 --- /dev/null +++ b/src/main/include/commands/ExampleCommand.h @@ -0,0 +1,31 @@ +// 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. + +#pragma once + +#include +#include + +#include "subsystems/ExampleSubsystem.h" + +/** + * An example command that uses an example subsystem. + * + *

Note that this extends CommandHelper, rather extending Command + * directly; this is crucially important, or else the decorator functions in + * Command will *not* work! + */ +class ExampleCommand + : public frc2::CommandHelper { + public: + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + explicit ExampleCommand(ExampleSubsystem* subsystem); + + private: + ExampleSubsystem* m_subsystem; +}; diff --git a/src/main/include/subsystems/ExampleSubsystem.h b/src/main/include/subsystems/ExampleSubsystem.h new file mode 100644 index 0000000..669f2ed --- /dev/null +++ b/src/main/include/subsystems/ExampleSubsystem.h @@ -0,0 +1,41 @@ +// 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. + +#pragma once + +#include +#include + +class ExampleSubsystem : public frc2::SubsystemBase { + public: + ExampleSubsystem(); + + /** + * Example command factory method. + */ + frc2::CommandPtr ExampleMethodCommand(); + + /** + * An example method querying a boolean state of the subsystem (for example, a + * digital sensor). + * + * @return value of some boolean subsystem state, such as a digital sensor. + */ + bool ExampleCondition(); + + /** + * Will be called periodically whenever the CommandScheduler runs. + */ + void Periodic() override; + + /** + * Will be called periodically whenever the CommandScheduler runs during + * simulation. + */ + void SimulationPeriodic() override; + + private: + // Components (e.g. motor controllers and sensors) should generally be + // declared private and exposed only through public methods. +}; diff --git a/src/test/cpp/main.cpp b/src/test/cpp/main.cpp new file mode 100644 index 0000000..cab8aa4 --- /dev/null +++ b/src/test/cpp/main.cpp @@ -0,0 +1,10 @@ +#include + +#include "gtest/gtest.h" + +int main(int argc, char** argv) { + HAL_Initialize(500, 0); + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..f85acd4 --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.4", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.2.4" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.4", + "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": "2024.2.4", + "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..67bf389 --- /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": "2024", + "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" + ] + } + ] +}