init
This commit is contained in:
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6c006d659e
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178
.gitignore
vendored
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178
.gitignore
vendored
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||||||
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# 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/
|
||||||
21
.vscode/launch.json
vendored
Normal file
21
.vscode/launch.json
vendored
Normal file
|
|
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|
||||||
|
{
|
||||||
|
// 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,
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
18
.vscode/settings.json
vendored
Normal file
18
.vscode/settings.json
vendored
Normal file
|
|
@ -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"
|
||||||
|
}
|
||||||
6
.wpilib/wpilib_preferences.json
Normal file
6
.wpilib/wpilib_preferences.json
Normal file
|
|
@ -0,0 +1,6 @@
|
||||||
|
{
|
||||||
|
"enableCppIntellisense": true,
|
||||||
|
"currentLanguage": "cpp",
|
||||||
|
"projectYear": "2024",
|
||||||
|
"teamNumber": 4043
|
||||||
|
}
|
||||||
24
WPILib-License.md
Normal file
24
WPILib-License.md
Normal file
|
|
@ -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.
|
||||||
99
build.gradle
Normal file
99
build.gradle
Normal file
|
|
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|
||||||
|
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)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
gradle/wrapper/gradle-wrapper.jar
vendored
Normal file
BIN
gradle/wrapper/gradle-wrapper.jar
vendored
Normal file
Binary file not shown.
7
gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
7
gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
|
|
@ -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
|
||||||
249
gradlew
vendored
Executable file
249
gradlew
vendored
Executable file
|
|
@ -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 "$JAVACMD" "$@"
|
||||||
92
gradlew.bat
vendored
Normal file
92
gradlew.bat
vendored
Normal file
|
|
@ -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
|
||||||
30
settings.gradle
Normal file
30
settings.gradle
Normal file
|
|
@ -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");
|
||||||
80
src/main/cpp/Robot.cpp
Normal file
80
src/main/cpp/Robot.cpp
Normal file
|
|
@ -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 <frc2/command/CommandScheduler.h>
|
||||||
|
|
||||||
|
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.
|
||||||
|
*
|
||||||
|
* <p> 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<Robot>();
|
||||||
|
}
|
||||||
|
#endif
|
||||||
35
src/main/cpp/RobotContainer.cpp
Normal file
35
src/main/cpp/RobotContainer.cpp
Normal file
|
|
@ -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 <frc2/command/button/Trigger.h>
|
||||||
|
|
||||||
|
#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);
|
||||||
|
}
|
||||||
14
src/main/cpp/commands/Autos.cpp
Normal file
14
src/main/cpp/commands/Autos.cpp
Normal file
|
|
@ -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 <frc2/command/Commands.h>
|
||||||
|
|
||||||
|
#include "commands/ExampleCommand.h"
|
||||||
|
|
||||||
|
frc2::CommandPtr autos::ExampleAuto(ExampleSubsystem* subsystem) {
|
||||||
|
return frc2::cmd::Sequence(subsystem->ExampleMethodCommand(),
|
||||||
|
ExampleCommand(subsystem).ToPtr());
|
||||||
|
}
|
||||||
11
src/main/cpp/commands/ExampleCommand.cpp
Normal file
11
src/main/cpp/commands/ExampleCommand.cpp
Normal file
|
|
@ -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);
|
||||||
|
}
|
||||||
28
src/main/cpp/subsystems/ExampleSubsystem.cpp
Normal file
28
src/main/cpp/subsystems/ExampleSubsystem.cpp
Normal file
|
|
@ -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.
|
||||||
|
}
|
||||||
4
src/main/deploy/example.txt
Normal file
4
src/main/deploy/example.txt
Normal file
|
|
@ -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.
|
||||||
21
src/main/include/Constants.h
Normal file
21
src/main/include/Constants.h
Normal file
|
|
@ -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
|
||||||
34
src/main/include/Robot.h
Normal file
34
src/main/include/Robot.h
Normal file
|
|
@ -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 <optional>
|
||||||
|
|
||||||
|
#include <frc/TimedRobot.h>
|
||||||
|
#include <frc2/command/CommandPtr.h>
|
||||||
|
|
||||||
|
#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<frc2::CommandPtr> m_autonomousCommand;
|
||||||
|
|
||||||
|
RobotContainer m_container;
|
||||||
|
};
|
||||||
35
src/main/include/RobotContainer.h
Normal file
35
src/main/include/RobotContainer.h
Normal file
|
|
@ -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 <frc2/command/CommandPtr.h>
|
||||||
|
#include <frc2/command/button/CommandXboxController.h>
|
||||||
|
|
||||||
|
#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();
|
||||||
|
};
|
||||||
16
src/main/include/commands/Autos.h
Normal file
16
src/main/include/commands/Autos.h
Normal file
|
|
@ -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 <frc2/command/CommandPtr.h>
|
||||||
|
|
||||||
|
#include "subsystems/ExampleSubsystem.h"
|
||||||
|
|
||||||
|
namespace autos {
|
||||||
|
/**
|
||||||
|
* Example static factory for an autonomous command.
|
||||||
|
*/
|
||||||
|
frc2::CommandPtr ExampleAuto(ExampleSubsystem* subsystem);
|
||||||
|
} // namespace autos
|
||||||
31
src/main/include/commands/ExampleCommand.h
Normal file
31
src/main/include/commands/ExampleCommand.h
Normal file
|
|
@ -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 <frc2/command/Command.h>
|
||||||
|
#include <frc2/command/CommandHelper.h>
|
||||||
|
|
||||||
|
#include "subsystems/ExampleSubsystem.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* An example command that uses an example subsystem.
|
||||||
|
*
|
||||||
|
* <p>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<frc2::Command, ExampleCommand> {
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* Creates a new ExampleCommand.
|
||||||
|
*
|
||||||
|
* @param subsystem The subsystem used by this command.
|
||||||
|
*/
|
||||||
|
explicit ExampleCommand(ExampleSubsystem* subsystem);
|
||||||
|
|
||||||
|
private:
|
||||||
|
ExampleSubsystem* m_subsystem;
|
||||||
|
};
|
||||||
41
src/main/include/subsystems/ExampleSubsystem.h
Normal file
41
src/main/include/subsystems/ExampleSubsystem.h
Normal file
|
|
@ -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 <frc2/command/CommandPtr.h>
|
||||||
|
#include <frc2/command/SubsystemBase.h>
|
||||||
|
|
||||||
|
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.
|
||||||
|
};
|
||||||
10
src/test/cpp/main.cpp
Normal file
10
src/test/cpp/main.cpp
Normal file
|
|
@ -0,0 +1,10 @@
|
||||||
|
#include <hal/HAL.h>
|
||||||
|
|
||||||
|
#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;
|
||||||
|
}
|
||||||
74
vendordeps/REVLib.json
Normal file
74
vendordeps/REVLib.json
Normal file
|
|
@ -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"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
38
vendordeps/WPILibNewCommands.json
Normal file
38
vendordeps/WPILibNewCommands.json
Normal file
|
|
@ -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"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
Loading…
Reference in a new issue