diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml index 0a5a67a..b06ec8a 100644 --- a/.idea/codeStyles/Project.xml +++ b/.idea/codeStyles/Project.xml @@ -1,6 +1,7 @@ + diff --git a/MODULE.bazel b/MODULE.bazel index b78b8c1..07904aa 100644 --- a/MODULE.bazel +++ b/MODULE.bazel @@ -1,14 +1,21 @@ bazel_dep(name = "rules_jvm_external", version = "6.1") -bazel_dep(name = "rules_java", version = "7.6.1") +bazel_dep(name = "rules_java", version = "7.6.5") bazel_dep(name = "rules_bazelrio", version = "0.0.14") -bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1") +bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1.bcr1") bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.8.1-1") bazel_dep(name = "rules_pmd", version = "7.2.0") -bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.3.2") -bazel_dep(name = "bzlmodrio-navx", version = "2024.1.0") -bazel_dep(name = "bzlmodrio-phoenix", version = "5.33.1") -bazel_dep(name = "bzlmodrio-phoenix6", version = "24.0.0-beta-8") -bazel_dep(name = "bzlmodrio-revlib", version = "2024.2.4") +bazel_dep(name = "bzlmodrio-allwpilib", version = "2025.1.1-beta-1") +bazel_dep(name = "bzlmodrio-navx", version = "2025.1.1-beta-1") +bazel_dep(name = "bzlmodrio-phoenix", version = "5.34.0-beta-2") +bazel_dep(name = "bzlmodrio-phoenix6", version = "25.0.0-beta-2") +bazel_dep(name = "bzlmodrio-revlib", version = "2025.0.0-beta-1") + +archive_override( + module_name = "rules_bzlmodrio_jdk", + integrity = "sha256-Q6R15GhSMF/8h/dJnncqQtxTQ9e/zHYx28qDVocS9E8=", + strip_prefix = "rules_bzlmodrio_jdk-d5f0db20a611e4ec4b26f95d9c772e2436b69b55", + urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/d5f0db20a611e4ec4b26f95d9c772e2436b69b55.tar.gz"], +) maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven") maven.install( diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock index 896983a..66bc260 100644 --- a/MODULE.bazel.lock +++ b/MODULE.bazel.lock @@ -19,24 +19,20 @@ "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bazel_skylib/1.6.1/source.json": "082ed5f9837901fada8c68c2f3ddc958bb22b6d654f71dd73f3df30d45d4b749", "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/buildozer/7.1.2/MODULE.bazel": "2e8dd40ede9c454042645fd8d8d0cd1527966aa5c919de86661e62953cd73d84", "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/buildozer/7.1.2/source.json": "c9028a501d2db85793a6996205c8de120944f50a0d570438fcae0457a5f9d1f8", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-allwpilib/2024.1.1-beta-4/MODULE.bazel": "3d6c9272815a21e731286d139fbc983963b367d8ccba872b62267e8567b00216", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-allwpilib/2024.1.1/MODULE.bazel": "1742fb841577eebbed83142fa6bc6b9be628fe8e6617132c2fe9f1653834e579", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-allwpilib/2024.3.2/MODULE.bazel": "252f7f7a68170f0263ada84ca21a65cc4355bab7c08a3f1b5fbe5bf9c6c74d6f", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-allwpilib/2024.3.2/source.json": "3cf06b2029cb650dd142c4b5f566ed035d4cbed009e17429babad8b51c8e4131", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-navx/2024.1.0/MODULE.bazel": "18268f41602c7074ab9383f774daa797a4d2b563ae982d3ebbed0fc92d3bfa30", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-navx/2024.1.0/source.json": "f25f0287bad304e10365e589c52d303bba7dc1203a234668637e870656303773", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-ni/2024.2.0/MODULE.bazel": "f24f6f7914981698fc929e4c6ba102f9d456b8ad5c5c1c0eb8d5ece8bf670196", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-ni/2024.2.1/MODULE.bazel": "3dd945146d4a1951c8bc96a7915c68d66ab82a4b11b88e6793858ccdb86a8a55", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-ni/2024.2.1/source.json": "60978e4fba9af5eaaca40d378bbb5fc389c51a6104b764ddf194c24720aeac06", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-opencv/2024.4.8.0-1/MODULE.bazel": "595188072bc494c472e95d38e7f4852136c3262832e11fbd2e21ee03eaf366bc", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bzlmodrio-opencv/2024.4.8.0-1/source.json": "049d1e19272fb4617aa9cd129a30cf05c57fa3a04c6c16174183f7021389791d", - 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"https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_java/7.5.0/MODULE.bazel": "b329bf9aa07a58bd1ccb37bfdcd9528acf6f12712efb38c3a8553c2cc2494806", "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_java/7.6.1/MODULE.bazel": "2f14b7e8a1aa2f67ae92bc69d1ec0fa8d9f827c4e17ff5e5f02e91caa3b2d0fe", - "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_java/7.6.1/source.json": "8f3f3076554e1558e8e468b2232991c510ecbcbed9e6f8c06ac31c93bcf38362", + "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_java/7.6.5/MODULE.bazel": "481164be5e02e4cab6e77a36927683263be56b7e36fef918b458d7a8a1ebadb1", + "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_java/7.6.5/source.json": "a805b889531d1690e3c72a7a7e47a870d00323186a9904b36af83aa3d053ee8d", "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_jvm_external/4.4.2/MODULE.bazel": "a56b85e418c83eb1839819f0b515c431010160383306d13ec21959ac412d2fe7", "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_jvm_external/5.3/MODULE.bazel": "bf93870767689637164657731849fb887ad086739bd5d360d90007a581d5527d", "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/rules_jvm_external/6.1/MODULE.bazel": "75b5fec090dbd46cf9b7d8ea08cf84a0472d92ba3585b476f44c326eda8059c4", @@ -135,8 +128,8 @@ }, "@@bzlmodrio-allwpilib~//:maven_cpp_deps.bzl%setup_bzlmodrio_allwpilib_cpp_dependencies": { "general": { - 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"canonical_id": "edu.wpi.first.cscore:cscore-java:2024.3.2", + "canonical_id": "edu.wpi.first.cscore:cscore-java:2025.1.1-beta-1", "rule_name": "java_import", "tags": [ - "maven_coordinates=edu.wpi.first.cscore:cscore-java:2024.3.2" + "maven_coordinates=edu.wpi.first.cscore:cscore-java:2025.1.1-beta-1" ], - "artifact_sha256": "f84a294febc0fe11c9e83f7a517ad6c1718874a773ff184599d180fcbce8c853" + "artifact_sha256": "ecbae019836bfdddc7faac8130aee45b246ee865b91a96299ef628ee799785d0" } }, "edu_wpi_first_wpiunits_wpiunits_java": { @@ -4439,15 +4434,15 @@ "attributes": { "generated_rule_name": "edu_wpi_first_wpiunits_wpiunits_java", "artifact_urls": [ - "https://frcmaven.wpi.edu/release/edu/wpi/first/wpiunits/wpiunits-java/2024.3.2/wpiunits-java-2024.3.2.jar" + "https://frcmaven.wpi.edu/release/edu/wpi/first/wpiunits/wpiunits-java/2025.1.1-beta-1/wpiunits-java-2025.1.1-beta-1.jar" ], "srcjar_urls": [], - "canonical_id": "edu.wpi.first.wpiunits:wpiunits-java:2024.3.2", + "canonical_id": "edu.wpi.first.wpiunits:wpiunits-java:2025.1.1-beta-1", "rule_name": "java_import", "tags": [ - "maven_coordinates=edu.wpi.first.wpiunits:wpiunits-java:2024.3.2" + "maven_coordinates=edu.wpi.first.wpiunits:wpiunits-java:2025.1.1-beta-1" ], - "artifact_sha256": "c4d70c7bfd83cf6578bd218f755313da15c83f0bade97bcf05d1bb7bd0c1f03c" + "artifact_sha256": "e4efbe80d625c6d5696e8aa2fe91b13710927a71f42ed972948edb933be441b8" } }, "edu_wpi_first_fieldimages_fieldimages_java": { @@ -4456,15 +4451,15 @@ "attributes": { "generated_rule_name": "edu_wpi_first_fieldimages_fieldimages_java", "artifact_urls": [ - "https://frcmaven.wpi.edu/release/edu/wpi/first/fieldImages/fieldImages-java/2024.3.2/fieldImages-java-2024.3.2.jar" + "https://frcmaven.wpi.edu/release/edu/wpi/first/fieldImages/fieldImages-java/2025.1.1-beta-1/fieldImages-java-2025.1.1-beta-1.jar" ], "srcjar_urls": [], - "canonical_id": "edu.wpi.first.fieldImages:fieldImages-java:2024.3.2", + "canonical_id": "edu.wpi.first.fieldImages:fieldImages-java:2025.1.1-beta-1", "rule_name": "java_import", "tags": [ - "maven_coordinates=edu.wpi.first.fieldImages:fieldImages-java:2024.3.2" + "maven_coordinates=edu.wpi.first.fieldImages:fieldImages-java:2025.1.1-beta-1" ], - 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"canonical_id": "edu.wpi.first.wpimath:wpimath-java:2024.3.2", + "canonical_id": "edu.wpi.first.wpimath:wpimath-java:2025.1.1-beta-1", "rule_name": "java_import", "tags": [ - "maven_coordinates=edu.wpi.first.wpimath:wpimath-java:2024.3.2" + "maven_coordinates=edu.wpi.first.wpimath:wpimath-java:2025.1.1-beta-1" ], - "artifact_sha256": "6933ee9a12965917d08f60135fc0dbb95d70066b75dbf6c673abd59ec7fbff87" + "artifact_sha256": "4dd74c798eadfb1101e86a42695b8f833205ad78f7b079db8aa4ccc35a762111" } } }, @@ -4530,8 +4525,8 @@ }, "@@bzlmodrio-navx~//:maven_java_deps.bzl%setup_bzlmodrio_navx_java_dependencies": { "general": { - "bzlTransitiveDigest": "8MOWVQ/Xmx0k5ZffeedkO4gDFKcKSFNDfzpK71remD8=", - "usagesDigest": "mj/4S0ZK5gvSDuU30T/WfB2b/OJsH7/4hCb6v8AAjeA=", + "bzlTransitiveDigest": "yFFJdJWDpm0sDZP4a3BFTFLpJ4z8+nLyqSiaSTLDxlo=", + "usagesDigest": "ZLseTg0HVxvXieEurvaaoP1jKKyzrWzfQWOcZjnPCl8=", "recordedFileInputs": {}, "recordedDirentsInputs": {}, "envVariables": {}, @@ -4542,15 +4537,15 @@ "attributes": { "generated_rule_name": "com_kauailabs_navx_frc_navx_frc_java", "artifact_urls": [ - 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"patch_cmds": [ - "install_name_tool -id @rpath/libCTRE_Phoenix6_WPISim.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_PhoenixTools_Sim.dylib @rpath/libCTRE_PhoenixTools_Sim.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimCANCoder.dylib @rpath/libCTRE_SimCANCoder.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimPigeonIMU.dylib @rpath/libCTRE_SimPigeonIMU.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimProCANcoder.dylib @rpath/libCTRE_SimProCANcoder.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimProPigeon2.dylib @rpath/libCTRE_SimProPigeon2.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimProTalonFX.dylib @rpath/libCTRE_SimProTalonFX.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimTalonFX.dylib @rpath/libCTRE_SimTalonFX.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimTalonSRX.dylib @rpath/libCTRE_SimTalonSRX.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libCTRE_SimVictorSPX.dylib @rpath/libCTRE_SimVictorSPX.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libcameraserver.dylib @rpath/libcameraserver.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libcscore.dylib @rpath/libcscore.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libntcore.dylib @rpath/libntcore.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libwpiHal.dylib @rpath/libwpiHal.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libwpilibc.dylib @rpath/libwpilibc.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libwpimath.dylib @rpath/libwpimath.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libwpinet.dylib @rpath/libwpinet.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib", - "install_name_tool -change libwpiutil.dylib @rpath/libwpiutil.dylib osx/universal/shared/libCTRE_Phoenix6_WPISim.dylib" - ] + "url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/sim/tools-sim/25.0.0-beta-2/tools-sim-25.0.0-beta-2-linuxx86-64.zip", + "sha256": "38199c0b9242b8242fe30efa82c8b2782db5f42c28f6c3e2092196af4270abf8", + "build_file": "@@bzlmodrio-phoenix6~//private/cpp/tools-sim:shared.BUILD.bazel" + } + }, + "bazelrio_com_ctre_phoenix6_wpiapi-cpp_windowsx86-64": { + "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl", + "ruleClassName": "http_archive", + "attributes": { + "url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/wpiapi-cpp/25.0.0-beta-2/wpiapi-cpp-25.0.0-beta-2-windowsx86-64.zip", + "sha256": "d0d88e0141a51b2099f2a1b08e9e9756e9f4d501064776d67e3cdfad23a52d26", + "build_file": "@@bzlmodrio-phoenix6~//private/cpp/wpiapi-cpp:shared.BUILD.bazel" + } + }, + "bazelrio_com_ctre_phoenix6_tools_windowsx86-64": { + "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl", + "ruleClassName": "http_archive", + "attributes": { + "url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/25.0.0-beta-2/tools-25.0.0-beta-2-windowsx86-64.zip", + "sha256": "6c6b143d8a93ea58e2cac641151b782d903a8fbd2fabfe13b5629f48d73dd909", + "build_file": "@@bzlmodrio-phoenix6~//private/cpp/tools:shared.BUILD.bazel" } } }, @@ -5465,8 +5473,8 @@ }, "@@bzlmodrio-phoenix6~//:maven_java_deps.bzl%setup_bzlmodrio_phoenix6_java_dependencies": { "general": { - 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"artifact_sha256": "b8f1e3aafdda9f90b216ce173b9cde0d403ecbb51cb4c73a86d9c544b7d766a1" + "artifact_sha256": "0bd4cd82fb70d4e52f0ede8bd0fb1cd8fae7a77bddb36b9d848cbbd6978f227e" } } }, @@ -5500,8 +5508,8 @@ }, "@@bzlmodrio-phoenix~//:maven_cpp_deps.bzl%setup_bzlmodrio_phoenix_cpp_dependencies": { "general": { - "bzlTransitiveDigest": "Tkt1y2G8O2TYx2oIg5ihDpEfAV2OBwb2XPccsafaaIw=", - "usagesDigest": "8+j/DkvxPtAuj1WQZS31Fntn0cPw0fMT6YUthigPSe0=", + "bzlTransitiveDigest": "DUH+vr3Zu+s/H9WrU0gbhcfke/vAl4uIRa/86Z5TK2M=", + "usagesDigest": "cMD5eA7M/6vf6xAirXq2fKWcJcug6dETovuosSIvCZY=", "recordedFileInputs": {}, "recordedDirentsInputs": {}, "envVariables": {}, @@ -5510,27 +5518,27 @@ "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl", "ruleClassName": "http_archive", "attributes": { - "url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/cci/5.33.1/cci-5.33.1-linuxathena.zip", - "sha256": "664844c61893be4035ec29bc6dcb4c5f280684e57d3e968dc98725043496de5b", - "build_file_content": "\nJNI_PATTERN=[\n \"**/*jni.dll\",\n \"**/*jni.so*\",\n \"**/*jni.dylib\",\n \"**/*_java*.dll\",\n \"**/lib*_java*.dylib\",\n \"**/lib*_java*.so\",\n]\n\nstatic_srcs = glob([\n \"**/*.lib\",\n \"**/*.a\"\n ],\n exclude=[\"**/*jni.lib\"]\n)\nshared_srcs = glob([\n \"**/*.dll\",\n \"**/*.so*\",\n \"**/*.dylib\",\n ],\n exclude=JNI_PATTERN + [\"**/*.so.debug\"]\n)\nshared_jni_srcs = glob(JNI_PATTERN, exclude=[\"**/*.so.debug\"])\n\nfilegroup(\n name = \"static_libs\",\n srcs = static_srcs,\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"shared_libs\",\n srcs = shared_srcs,\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"shared_jni_libs\",\n srcs = shared_jni_srcs,\n visibility = [\"//visibility:public\"],\n)\n" + "url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/cci/5.34.0-beta-2/cci-5.34.0-beta-2-linuxathena.zip", + "sha256": "8765b38909341366429476eacfe9ebce13ac636b518f609f44c3df355f12d096", + "build_file": "@@bzlmodrio-phoenix~//private/cpp/cci:shared.BUILD.bazel" } }, "bazelrio_com_ctre_phoenix_wpiapi-cpp_linuxx86-64": { "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl", "ruleClassName": "http_archive", "attributes": { - 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"url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/sim/wpiapi-cpp-sim/5.33.1/wpiapi-cpp-sim-5.33.1-osxuniversal.zip", - "sha256": "37f821bc9d1780d099dc073d5c8b6c5c7d5790d8c4a188101ebe98e23bff134d", - "build_file_content": "\nJNI_PATTERN=[\n \"**/*jni.dll\",\n \"**/*jni.so*\",\n \"**/*jni.dylib\",\n \"**/*_java*.dll\",\n \"**/lib*_java*.dylib\",\n \"**/lib*_java*.so\",\n]\n\nstatic_srcs = glob([\n \"**/*.lib\",\n \"**/*.a\"\n ],\n exclude=[\"**/*jni.lib\"]\n)\nshared_srcs = glob([\n \"**/*.dll\",\n \"**/*.so*\",\n \"**/*.dylib\",\n ],\n exclude=JNI_PATTERN + [\"**/*.so.debug\"]\n)\nshared_jni_srcs = glob(JNI_PATTERN, exclude=[\"**/*.so.debug\"])\n\nfilegroup(\n name = \"static_libs\",\n srcs = static_srcs,\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"shared_libs\",\n srcs = shared_srcs,\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"shared_jni_libs\",\n srcs = shared_jni_srcs,\n visibility = [\"//visibility:public\"],\n)\n", + "url": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/sim/wpiapi-cpp-sim/5.34.0-beta-2/wpiapi-cpp-sim-5.34.0-beta-2-osxuniversal.zip", + "sha256": "7f059c0a36cbe0ec9866d6ff7b4241aee481dfae2cb4c7dabfb45d78bbe8749b", + "build_file": "@@bzlmodrio-phoenix~//private/cpp/wpiapi-cpp-sim:shared.BUILD.bazel", "patch_cmds": [ "install_name_tool -id @rpath/libCTRE_Phoenix_WPISim.dylib osx/universal/shared/libCTRE_Phoenix_WPISim.dylib", "install_name_tool -change libCTRE_PhoenixCCISim.dylib @rpath/libCTRE_PhoenixCCISim.dylib osx/universal/shared/libCTRE_Phoenix_WPISim.dylib", @@ -5541,7 +5549,6 @@ "install_name_tool -change libCTRE_SimProCANcoder.dylib @rpath/libCTRE_SimProCANcoder.dylib osx/universal/shared/libCTRE_Phoenix_WPISim.dylib", "install_name_tool -change libCTRE_SimProPigeon2.dylib @rpath/libCTRE_SimProPigeon2.dylib osx/universal/shared/libCTRE_Phoenix_WPISim.dylib", "install_name_tool -change libCTRE_SimProTalonFX.dylib @rpath/libCTRE_SimProTalonFX.dylib osx/universal/shared/libCTRE_Phoenix_WPISim.dylib", - 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"build_file_content": "\nJNI_PATTERN=[\n \"**/*jni.dll\",\n \"**/*jni.so*\",\n \"**/*jni.dylib\",\n \"**/*_java*.dll\",\n \"**/lib*_java*.dylib\",\n \"**/lib*_java*.so\",\n]\n\nstatic_srcs = glob([\n \"**/*.lib\",\n \"**/*.a\"\n ],\n exclude=[\"**/*jni.lib\"]\n)\nshared_srcs = glob([\n \"**/*.dll\",\n \"**/*.so*\",\n \"**/*.dylib\",\n ],\n exclude=JNI_PATTERN + [\"**/*.so.debug\"]\n)\nshared_jni_srcs = glob(JNI_PATTERN, exclude=[\"**/*.so.debug\"])\n\nfilegroup(\n name = \"static_libs\",\n srcs = static_srcs,\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"shared_libs\",\n srcs = shared_srcs,\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"shared_jni_libs\",\n srcs = shared_jni_srcs,\n visibility = [\"//visibility:public\"],\n)\n" + "url": "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-cpp/2025.0.0-beta-1/REVLib-cpp-2025.0.0-beta-1-linuxx86-64.zip", + "sha256": "2e67ec5953da5925146a569a586dfad721d719bf03572f2ede84750c1ce85638", + "build_file": "@@bzlmodrio-revlib~//private/cpp/REVLib-cpp:shared.BUILD.bazel" } }, "bazelrio_com_revrobotics_frc_revlib-cpp_linuxx86-64static": { "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl", "ruleClassName": "http_archive", "attributes": { - "url": "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-cpp/2024.2.4/REVLib-cpp-2024.2.4-linuxx86-64static.zip", - "sha256": "839d20b3dcdb5027ae1389b4ab6aa6efe2a92aafe314f217a545db3fe6a07198", - "build_file_content": "\n\ncc_library(\n name = \"static_libs\",\n srcs = glob([\"**/*.lib\", \"**/*.a\"]),\n visibility = [\"//visibility:public\"],\n)\n" + "url": "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-cpp/2025.0.0-beta-1/REVLib-cpp-2025.0.0-beta-1-linuxx86-64static.zip", + "sha256": "623053aaf9574fb88b414ca1ef4ef1b2fc59f3efed13bacb05e8d9d47d9e4de8", + "build_file": "@@bzlmodrio-revlib~//private/cpp/REVLib-cpp:static.BUILD.bazel" } }, "bazelrio_com_revrobotics_frc_revlib-driver_headers": { "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl", "ruleClassName": "http_archive", "attributes": { - "url": "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-driver/2024.2.4/REVLib-driver-2024.2.4-headers.zip", - "sha256": "bbc4ff95f84530f86aaa46817ba20a247dbf075ace36dfee60e226f5a2c535a8", - "build_file_content": "cc_library(\n name = \"headers\",\n hdrs = glob([\"**\"]),\n includes = [\".\"],\n visibility = [\"//visibility:public\"],\n)\n" + "url": "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-driver/2025.0.0-beta-1/REVLib-driver-2025.0.0-beta-1-headers.zip", + "sha256": "1a7fdc7136f920f5f3f65d18c1e45d7881f770c6e2136e9db106d2c5c37e57f3", + "build_file_content": "cc_library(\n name = \"headers\",\n hdrs = glob([\"**\"]),\n includes = [\".\"],\n visibility = [\"//visibility:public\"],\n)\n\nfilegroup(\n name = \"header_files\",\n srcs = glob([\"**\"]),\n visibility = [\"//visibility:public\"],\n)\n" } } }, @@ -6103,8 +6108,8 @@ }, "@@bzlmodrio-revlib~//:maven_java_deps.bzl%setup_bzlmodrio_revlib_java_dependencies": { "general": { - "bzlTransitiveDigest": "cEX+MR+tQklyTmrObl71qDz4E+lp52adzStmcNnpEeg=", - "usagesDigest": "h7FrldykO7l3QwFUkRgI7O9pc/CWwXKBTEsaVO2z8sU=", + "bzlTransitiveDigest": "I30EDzMeCissTnitK/J0cIiGRjnMYWwZDmiy9vj+UaY=", + "usagesDigest": "85unCYYfYqOM2d9c+xr8P5hjgubJ2jTR7AyFCabW1JI=", "recordedFileInputs": {}, "recordedDirentsInputs": {}, "envVariables": {}, @@ -6115,15 +6120,15 @@ "attributes": { "generated_rule_name": "com_revrobotics_frc_revlib_java", "artifact_urls": [ - "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-java/2024.2.4/REVLib-java-2024.2.4.jar" + "https://maven.revrobotics.com/com/revrobotics/frc/REVLib-java/2025.0.0-beta-1/REVLib-java-2025.0.0-beta-1.jar" ], "srcjar_urls": [], - "canonical_id": "com.revrobotics.frc:REVLib-java:2024.2.4", + "canonical_id": "com.revrobotics.frc:REVLib-java:2025.0.0-beta-1", "rule_name": "java_import", "tags": [ - "maven_coordinates=com.revrobotics.frc:REVLib-java:2024.2.4" + "maven_coordinates=com.revrobotics.frc:REVLib-java:2025.0.0-beta-1" ], - "artifact_sha256": "85f76c077d1a2e5b2bd422eb49892b74966e3fc41c5af0e74bc73961660b7b56" + "artifact_sha256": "19dde54cd66da3a99c812b6dd6fe5e3e256160e4fa9c3d8cd1f65692db9c120a" } } }, @@ -6155,8 +6160,8 @@ }, "@@rules_bzlmodrio_jdk~//:maven_deps.bzl%deps": { "general": { - "bzlTransitiveDigest": "LxM1fICsnuCdSFrputDyRJLS3yIRYzzBNlk9T/WN56Y=", - "usagesDigest": "AYBorfbRiesd0q1DcE1KxpUxXa3dS8tuqi7aOYS8ZKI=", + "bzlTransitiveDigest": "peyObOsAjevTVPgKd5FlyL5aFMQ+F60yQkGHVq1Gtw0=", + "usagesDigest": "U+tCKAYT563wXiw5hz8oK2Hf7s4NG7RTkarVy+SX5mQ=", "recordedFileInputs": {}, "recordedDirentsInputs": {}, "envVariables": {}, @@ -6166,11 +6171,11 @@ "ruleClassName": "http_archive", "attributes": { "build_file_content": "load(\"@rules_java//java:defs.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n", - "sha256": "eefd3cf3b3dd47ff269fa5b5c10b5e096b163f4e9c1810023abdbc00dc6cc304", + "sha256": "8257de06bf37f0c8f19f8d542e2ab5a4e17db3ca5f29d041bd0b02ab265db021", "urls": [ - "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.8.1%2B1/OpenJDK17U-jdk_aarch64_linux_hotspot_17.0.8.1_1.tar.gz" + "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_aarch64_linux_hotspot_17.0.12_7.tar.gz" ], - "strip_prefix": "jdk-17.0.8.1+1" + "strip_prefix": "jdk-17.0.12+7" } }, "roboriojdk_mac_toolchain_config_repo": { @@ -6192,11 +6197,11 @@ "ruleClassName": "http_archive", "attributes": { "build_file_content": "load(\"@rules_java//java:defs.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n", - "sha256": "18be56732c1692ef131625d814dcb02ee091a43fdd6f214a33d87cc14842fc3f", + "sha256": "d5230eeec88739aa7133e4c8635bbd4ab226708c12deaafa13cf26b02bc8e8c4", "urls": [ - "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.8.1%2B1/OpenJDK17U-jdk_x64_mac_hotspot_17.0.8.1_1.tar.gz" + "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_x64_mac_hotspot_17.0.12_7.tar.gz" ], - "strip_prefix": "jdk-17.0.8.1+1/Contents/Home" + "strip_prefix": "jdk-17.0.12+7/Contents/Home" } }, "roboriojdk_windows_toolchain_config_repo": { @@ -6218,11 +6223,23 @@ "ruleClassName": "http_archive", "attributes": { "build_file_content": "load(\"@rules_java//java:defs.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n", - "sha256": "651a795155dc918c06cc9fd4b37253b9cbbca5ec8e76d4a8fa7cdaeb1f52761c", + "sha256": "052049d687ebfda6a4032d54afcd0da6549a23bc2ed04cfaa509746eeacbae71", "urls": [ - "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.8.1%2B1/OpenJDK17U-jdk_x64_windows_hotspot_17.0.8.1_1.zip" + "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_x64_windows_hotspot_17.0.12_7.zip" ], - "strip_prefix": "jdk-17.0.8.1+1" + "strip_prefix": "jdk-17.0.12+7", + "patch_cmds": [ + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/concrt140.dll bin/concrt140.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/msvcp140.dll bin/msvcp140.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/msvcp140_1.dll bin/msvcp140_1.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/msvcp140_2.dll bin/msvcp140_2.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/msvcp140_atomic_wait.dll bin/msvcp140_atomic_wait.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/msvcp140_codecvt_ids.dll bin/msvcp140_codecvt_ids.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/vccorlib140.dll bin/vccorlib140.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/vcruntime140.dll bin/vcruntime140.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/vcruntime140_1.dll bin/vcruntime140_1.dll", + "cp ../rules_bzlmodrio_jdk~/msvc_runtime/vcruntime140_threads.dll bin/vcruntime140_threads.dll" + ] } }, "roboriojdk_linux": { @@ -6230,11 +6247,11 @@ "ruleClassName": "http_archive", "attributes": { "build_file_content": "load(\"@rules_java//java:defs.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n", - "sha256": "c25dfbc334068a48c19c44ce39ad4b8427e309ae1cfa83f23c102e78b8a6dcc0", + "sha256": "9d4dd339bf7e6a9dcba8347661603b74c61ab2a5083ae67bf76da6285da8a778", "urls": [ - "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.8.1%2B1/OpenJDK17U-jdk_x64_linux_hotspot_17.0.8.1_1.tar.gz" + "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_x64_linux_hotspot_17.0.12_7.tar.gz" ], - "strip_prefix": "jdk-17.0.8.1+1" + "strip_prefix": "jdk-17.0.12+7" } }, "roboriojdk_mac_arm64": { @@ -6242,11 +6259,11 @@ "ruleClassName": "http_archive", "attributes": { "build_file_content": "load(\"@rules_java//java:defs.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n", - "sha256": "2e95eed48650f00650e963c8213b6c6ecda54458edf8d254ebc99d6a6966ffad", + "sha256": "d7910b1acaeb290c5c5da21811d2b2b8635f806612a2d6e8d1953b2f77580f78", "urls": [ - "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.8.1%2B1/OpenJDK17U-jdk_aarch64_mac_hotspot_17.0.8.1_1.tar.gz" + "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_aarch64_mac_hotspot_17.0.12_7.tar.gz" ], - "strip_prefix": "jdk-17.0.8.1+1/Contents/Home" + "strip_prefix": "jdk-17.0.12+7/Contents/Home" } }, "roboriojdk_linux_toolchain_config_repo": { @@ -6258,6 +6275,11 @@ } }, "recordedRepoMappingEntries": [ + [ + "rules_bzlmodrio_jdk~", + "rules_bzlmodrio_jdk", + "rules_bzlmodrio_jdk~" + ], [ "rules_bzlmodrio_jdk~", "rules_java", @@ -6274,7 +6296,7 @@ "@@rules_bzlmodrio_toolchains~//:extensions.bzl%sh_configure": { "general": { "bzlTransitiveDigest": "j4O0iFZXZn73f671MC8nnNxQjAgGlUpgGlxBz+nI3Ks=", - "usagesDigest": "KICWImhyQI7s9EpJ8C0PiCIFZi0j2wtjrA8e/tajlEA=", + "usagesDigest": "RBlVaNI5Fi1NROynWhJLKM6Cw+BnO3zMR0SEwtL9fNc=", "recordedFileInputs": {}, "recordedDirentsInputs": {}, "envVariables": {}, @@ -6338,7 +6360,7 @@ "@@rules_jvm_external~//:extensions.bzl%maven": { "general": { "bzlTransitiveDigest": "Pq3YnJEflPAALx/UMykUnN3aA5bve0fNm/cuLvt/zvI=", - "usagesDigest": "+ALOJPSTHji/nsMCggC8F87Tzq7mwrVK8A0geQ1JbmQ=", + "usagesDigest": "dRhBISlvX7mggTBLLD9Kv6QitNZNiNzYhILM/QiN1lE=", "recordedFileInputs": { "@@rules_jvm_external~//rules_jvm_external_deps_install.json": "0bfbc915d9155df44d7a3b216e8f3c1fbcd110e358dd07637dc393583a5227e8", "@@rules_pmd~//rules_pmd_dependencies_install.json": "66c79c6afbddff21ed575c2647430c0058d95d53c57e05d2aeae333eb4ac396c" diff --git a/WORKSPACE b/WORKSPACE index 1dc378c..4e94781 100644 --- a/WORKSPACE +++ b/WORKSPACE @@ -1,6 +1,13 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive") load("//build_scripts/bazel/deps:download_external_archives.bzl", "download_external_archives") +http_archive( + name = "rules_bzlmodrio_jdk", + sha256 = "43a475e46852305ffc87f7499e772a42dc5343d7bfcc7631dbca83568712f44f", + strip_prefix = "rules_bzlmodrio_jdk-d5f0db20a611e4ec4b26f95d9c772e2436b69b55", + urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/d5f0db20a611e4ec4b26f95d9c772e2436b69b55.tar.gz"], +) + download_external_archives() load("//build_scripts/bazel/deps:setup_dependencies.bzl", "setup_dependencies") diff --git a/build_scripts/base_java.gradle b/build_scripts/base_java.gradle index db5e7bf..0c3e774 100644 --- a/build_scripts/base_java.gradle +++ b/build_scripts/base_java.gradle @@ -3,7 +3,7 @@ repositories { mavenLocal() maven { url "https://frcmaven.wpi.edu/artifactory/release/" } maven { url 'https://devsite.ctr-electronics.com/maven/release/' } - maven { url 'https://dev.studica.com/maven/release/2024/' } + maven { url 'https://dev.studica.com/maven/release/2025/' } maven { url 'https://maven.revrobotics.com/' } } @@ -41,13 +41,13 @@ ext.getCurrentOs = { } ext { - wpiVersion = '2024.3.2' + wpiVersion = '2025.1.1-beta-1' opencvYear = '2024' opencvVersion = '4.8.0-1' - phoenix5Version = '5.33.1' - phoenix6Version = "24.3.0" - revVersion = '2024.2.4' - navxVersion = '2024.1.0' + phoenix5Version = '5.34.0-beta-2' + phoenix6Version = "25.0.0-beta-2" + revVersion = '2025.0.0-beta-1' + navxVersion = '2025.1.1-beta-1' nativeOs = getCurrentOs() + getCurrentArch() } @@ -70,15 +70,15 @@ dependencies { nativeDesktopZip "com.ctre.phoenix.sim:cci-sim:${phoenix5Version}:${nativeOs}@zip" - nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip" - nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip" - nativeDesktopZip "com.ctre.phoenix6.sim:simTalonFX:${phoenix6Version}:${nativeOs}@zip" - nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip" - nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip" + nativeDesktopZip "com.ctre.phoenix6.sim:api-cpp-sim:${phoenix6Version}:${nativeOs}@zip" nativeDesktopZip "com.ctre.phoenix6.sim:simCANCoder:${phoenix6Version}:${nativeOs}@zip" - nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip" + nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip" nativeDesktopZip "com.ctre.phoenix6.sim:simProCANcoder:${phoenix6Version}:${nativeOs}@zip" nativeDesktopZip "com.ctre.phoenix6.sim:simProPigeon2:${phoenix6Version}:${nativeOs}@zip" + nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip" + nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip" + nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip" + nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip" nativeDesktopZip "com.revrobotics.frc:REVLib-driver:${revVersion}:${nativeOs}@zip" } diff --git a/build_scripts/bazel/deps/download_external_archives.bzl b/build_scripts/bazel/deps/download_external_archives.bzl index cd6b9a3..1d1e49d 100644 --- a/build_scripts/bazel/deps/download_external_archives.bzl +++ b/build_scripts/bazel/deps/download_external_archives.bzl @@ -2,11 +2,13 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive") def download_external_archives(): # Download bzlmodRio <3 + BZLMODRIO_COMMITISH = "c5af12728e5d28d455f1b3451bb1a11bd4e98d57" + BZLMODRIO_SHA256 = "13fe9597bc1a516d16d7aed6f39ba9413ef6241e7172d3e8551506503cd51fb4" http_archive( name = "bzlmodrio", - url = "https://github.com/bzlmodRio/bzlmodRio/archive/17983128beaeb12f184d22a426fecd8b536a5452.tar.gz", - sha256 = "aec41ceddbb412c32202ec84246ca5e65fa41325693f8bfc27e2c44c756f66a6", - strip_prefix = "bzlmodRio-17983128beaeb12f184d22a426fecd8b536a5452", + url = "https://github.com/bzlmodRio/bzlmodRio/archive/{}.tar.gz".format(BZLMODRIO_COMMITISH), + sha256 = BZLMODRIO_SHA256, + strip_prefix = "bzlmodRio-{}".format(BZLMODRIO_COMMITISH), ) # native.local_repository( # name = "bzlmodrio", diff --git a/build_scripts/bazel/deps/setup_dependencies.bzl b/build_scripts/bazel/deps/setup_dependencies.bzl index 4f76343..a7525be 100644 --- a/build_scripts/bazel/deps/setup_dependencies.bzl +++ b/build_scripts/bazel/deps/setup_dependencies.bzl @@ -3,13 +3,13 @@ load("@bzlmodrio//private/non_bzlmod:download_dependencies.bzl", "download_depen def setup_dependencies(): download_dependencies( # toolchain_versions = "2024-1", - allwpilib_version = "2024.3.2", + allwpilib_version = "2025.1.1-beta-1", # ni_version = "2024.1.1", # opencv_version = "2024.4.8.0-1", - revlib_version = "2024.2.4", - phoenix_version = "5.33.1", - phoenix6_version = "24.3.0", - navx_version = "2024.1.0", + revlib_version = "2025.0.0-beta-1", + phoenix_version = "5.34.0-beta-2", + phoenix6_version = "25.0.0-beta-2", + navx_version = "2025.1.1-beta-1", # imgui_version = None, # libssh_version = None, ) diff --git a/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java b/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java index 8086880..6b05886 100644 --- a/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java +++ b/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java @@ -1,27 +1,39 @@ package org.snobotv2.examples.base.commands.auton; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj2.command.PIDCommand; +import edu.wpi.first.wpilibj2.command.Command; import org.snobotv2.examples.base.subsystems.DrivetrainSubsystem; -public class TurnToAngle extends PIDCommand +public class TurnToAngle extends Command { + private final PIDController mController; + private final DrivetrainSubsystem mDrivetrain; + private final double mGoal; + @SuppressWarnings("PMD.ConstructorCallsOverridableMethod") public TurnToAngle(DrivetrainSubsystem drivetrain, double goal) { - super(new PIDController(.02, 0, 0.001), - drivetrain::getHeadingDegrees, - goal, - (double output) -> drivetrain.arcadeDrive(0, output), - drivetrain); + mController = new PIDController(.02, 0, 0.001); + mController.enableContinuousInput(-180, 180); + mController.setTolerance(3, 1); + + mDrivetrain = drivetrain; + mGoal = goal; + + addRequirements(mDrivetrain); + } - getController().enableContinuousInput(-180, 180); - getController().setTolerance(3, 1); + @Override + public void execute() + { + double currentAngle = mDrivetrain.getHeadingDegrees(); + double output = mController.calculate(currentAngle, mGoal); + mDrivetrain.arcadeDrive(0, output); } @Override public boolean isFinished() { - return m_controller.atSetpoint(); + return mController.atSetpoint(); } } diff --git a/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java b/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java index 4d05683..9d59f6c 100644 --- a/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java +++ b/examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java @@ -1,5 +1,8 @@ package org.snobotv2.examples.base.subsystems; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.simulation.FlywheelSim; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj2.command.Subsystem; @@ -14,7 +17,9 @@ final class FlywheelSimConstants public static FlywheelSim createSim() { - return new FlywheelSim(kGearbox, kGearing, kInertia); + LinearSystem plant = + LinearSystemId.createFlywheelSystem(kGearbox, kInertia, kGearing); + return new FlywheelSim(plant, kGearbox); } private FlywheelSimConstants() diff --git a/examples/test_robot_catchall/build.gradle b/examples/test_robot_catchall/build.gradle index 0e94551..b84efd2 100644 --- a/examples/test_robot_catchall/build.gradle +++ b/examples/test_robot_catchall/build.gradle @@ -19,7 +19,7 @@ dependencies { implementation wpilibTools.deps.wpilibJava("ntcore") implementation wpilibTools.deps.wpilibJava("wpilibNewCommands") - implementation "com.kauailabs.navx.frc:navx-frc-java:${navxVersion}" + implementation "com.kauailabs.navx.frc:navx_frc-java:${navxVersion}" implementation "com.ctre.phoenix:api-java:${phoenix5Version}" implementation "com.ctre.phoenix:wpiapi-java:${phoenix5Version}" implementation "com.revrobotics.frc:REVLib-java:${revVersion}" diff --git a/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java b/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java index 864a51a..d3ecd47 100644 --- a/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java +++ b/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java @@ -1,11 +1,12 @@ package org.snobotv2.examples.catchall.subsystems; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; import com.kauailabs.navx.frc.AHRS; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkLowLevel; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkLowLevel; +import com.revrobotics.spark.SparkMax; import edu.wpi.first.wpilibj.ADXL345_I2C; import edu.wpi.first.wpilibj.ADXL345_SPI; import edu.wpi.first.wpilibj.ADXL362; @@ -86,9 +87,9 @@ public class CatchallSubsystem extends SubsystemBase protected final VictorSP mVictorSP; protected final AHRS mNavx; - protected final CANSparkMax mCanSparkMax; + protected final SparkMax mCanSparkMax; + protected final SparkFlex mCanSparkFlex; protected final WPI_TalonSRX mTalonSrx; - protected final WPI_TalonFX mTalonFx; protected final WPI_VictorSPX mVictorSpx; public CatchallSubsystem() @@ -134,9 +135,9 @@ public CatchallSubsystem() mPwmVictorSPX = new PWMVictorSPX(13); mSd540 = new SD540(14); - mCanSparkMax = new CANSparkMax(15, CANSparkLowLevel.MotorType.kBrushed); + mCanSparkMax = new SparkMax(15, SparkBase.MotorType.kBrushed); + mCanSparkFlex = new SparkFlex(17, SparkLowLevel.MotorType.kBrushed); mTalonSrx = new WPI_TalonSRX(16); - mTalonFx = new WPI_TalonFX(17); mVictorSpx = new WPI_VictorSPX(18); mNavx = new AHRS(); @@ -160,8 +161,8 @@ public void simulationPeriodic() mSd540.set(0.4); mCanSparkMax.set(0.5); + mCanSparkFlex.set(0.5); mTalonSrx.set(0.6); - mTalonFx.set(0.7); mVictorSpx.set(0.8); } diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java index 8a73888..6a17012 100644 --- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java +++ b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java @@ -5,8 +5,7 @@ package org.snobotv2.examples.phoenix5_swerve.subsystems; import com.ctre.phoenix.motorcontrol.ControlMode; -import com.ctre.phoenix.motorcontrol.TalonFXInvertType; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.sensors.AbsoluteSensorRange; import com.ctre.phoenix.sensors.SensorInitializationStrategy; import com.ctre.phoenix.sensors.WPI_CANCoder; @@ -37,8 +36,8 @@ public class SwerveModule implements BaseSwerveModule private final String mName; - private final WPI_TalonFX mDriveMotor; - private final WPI_TalonFX mAzimuthMotor; + private final WPI_TalonSRX mDriveMotor; + private final WPI_TalonSRX mAzimuthMotor; private final WPI_CANCoder mAbsoluteEncoder; private SwerveModuleState mCurrentState; @@ -56,8 +55,8 @@ public SwerveModule( double encoderOffset, String name) { - mDriveMotor = new WPI_TalonFX(driveMotorChannel); - mAzimuthMotor = new WPI_TalonFX(turningMotorChannel); + mDriveMotor = new WPI_TalonSRX(driveMotorChannel); + mAzimuthMotor = new WPI_TalonSRX(turningMotorChannel); mAbsoluteEncoder = new WPI_CANCoder(turningEncoderChannels); @@ -70,7 +69,7 @@ public SwerveModule( mAbsoluteEncoder.configSensorDirection(false); mAbsoluteEncoder.setPositionToAbsolute(); - mAzimuthMotor.setInverted(TalonFXInvertType.CounterClockwise); + mAzimuthMotor.setInverted(true); mDriveMotor.configVoltageCompSaturation(10); mDriveMotor.configClosedloopRamp(0.5); diff --git a/examples/test_robot_rev/build.gradle b/examples/test_robot_rev/build.gradle index f37626e..60af768 100644 --- a/examples/test_robot_rev/build.gradle +++ b/examples/test_robot_rev/build.gradle @@ -13,6 +13,7 @@ dependencies { implementation wpilibTools.deps.wpilibJava("hal") implementation wpilibTools.deps.wpilibJava("wpilibj") implementation wpilibTools.deps.wpilibJava("wpimath") + implementation wpilibTools.deps.wpilibJava("wpiunits") implementation wpilibTools.deps.wpilibJava("wpiutil") implementation wpilibTools.deps.wpilibJava("cscore") implementation wpilibTools.deps.wpilibJava("ntcore") @@ -25,7 +26,7 @@ dependencies { implementation project(":examples:test_robot_base") implementation "com.revrobotics.frc:REVLib-java:${revVersion}" - implementation "com.kauailabs.navx.frc:navx-frc-java:${navxVersion}" + implementation "com.kauailabs.navx.frc:navx_frc-java:${navxVersion}" testImplementation project(":snobot_sim_java_test_utils") testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2' diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/BUILD b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/BUILD index d6b9619..4b1e110 100644 --- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/BUILD +++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/BUILD @@ -13,7 +13,7 @@ snobot_sim_java_library( "//examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems", "//snobot_sim_java_base/src/main/java/org/snobotv2/sim_wrappers", "//snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx", - "//snobot_sim_java_revlib/src/main/java/com/revrobotics:simmable_rev", + "//snobot_sim_java_revlib/src/main/java/com/revrobotics/spark:simmable_rev", "//snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev", "@bzlmodrio-allwpilib//libraries/java/wpilibNewCommands", "@bzlmodrio-allwpilib//libraries/java/wpilibj", diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java index f618a01..83a1a91 100644 --- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java +++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java @@ -1,13 +1,15 @@ package org.snobotv2.examples.rev.subsystems; -//import com.kauailabs.navx.frc.AHRS; - import com.kauailabs.navx.frc.AHRS; -import com.revrobotics.CANSparkBase.ControlType; -import com.revrobotics.CANSparkLowLevel; import com.revrobotics.RelativeEncoder; -import com.revrobotics.SimableCANSparkMax; -import com.revrobotics.SparkPIDController; +import com.revrobotics.spark.SparkBase.ControlType; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; +import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.RobotBase; @@ -24,17 +26,17 @@ public class RevDrivetrain extends BaseDrivetrainSubsystem private static final DrivetrainConstants DRIVETRAIN_CONSTANTS = new NeoDrivetrainConstants(); private static final double ENCODER_CONSTANT = 1.0 / DRIVETRAIN_CONSTANTS.getGearing() * DRIVETRAIN_CONSTANTS.getkWheelDiameterMeters() * Math.PI; - private final SimableCANSparkMax mLeadLeft; // NOPMD - private final SimableCANSparkMax mFollowerLeft; // NOPMD + private final SparkMax mLeadLeft; // NOPMD + private final SparkMax mFollowerLeft; // NOPMD - private final SimableCANSparkMax mLeadRight; // NOPMD - private final SimableCANSparkMax mFollowerRight; // NOPMD + private final SparkMax mLeadRight; // NOPMD + private final SparkMax mFollowerRight; // NOPMD private final RelativeEncoder mRightEncoder; private final RelativeEncoder mLeftEncoder; - private final SparkPIDController mLeftPidController; - private final SparkPIDController mRightPidController; + private final SparkClosedLoopController mLeftPidController; + private final SparkClosedLoopController mRightPidController; private final AHRS mGyro; @@ -53,41 +55,62 @@ public void close() public RevDrivetrain() { - mLeadLeft = new SimableCANSparkMax(BaseConstants.DRIVETRAIN_LEFT_MOTOR_A, CANSparkLowLevel.MotorType.kBrushless); - mFollowerLeft = new SimableCANSparkMax(BaseConstants.DRIVETRAIN_LEFT_MOTOR_B, CANSparkLowLevel.MotorType.kBrushless); - mLeadRight = new SimableCANSparkMax(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_A, CANSparkLowLevel.MotorType.kBrushless); - mFollowerRight = new SimableCANSparkMax(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_B, CANSparkLowLevel.MotorType.kBrushless); + SparkMaxConfig commonConfig = new SparkMaxConfig(); + commonConfig.idleMode(IdleMode.kCoast); + commonConfig.smartCurrentLimit(80); + commonConfig.encoder.positionConversionFactor(ENCODER_CONSTANT); + commonConfig.encoder.velocityConversionFactor(ENCODER_CONSTANT / 60.0); + commonConfig.closedLoop.p(.03); + commonConfig.closedLoop.i(0); + commonConfig.closedLoop.d(0); + commonConfig.closedLoop.velocityFF(0.21); + commonConfig.closedLoop.maxMotion.maxVelocity(Units.inchesToMeters(144)); + commonConfig.closedLoop.maxMotion.maxAcceleration(Units.inchesToMeters(144)); + + mLeadLeft = new SparkMax(BaseConstants.DRIVETRAIN_LEFT_MOTOR_A, MotorType.kBrushless); + mFollowerLeft = new SparkMax(BaseConstants.DRIVETRAIN_LEFT_MOTOR_B, MotorType.kBrushless); + mLeadRight = new SparkMax(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_A, MotorType.kBrushless); + mFollowerRight = new SparkMax(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_B, MotorType.kBrushless); + + ResetMode resetMode = ResetMode.kResetSafeParameters; + PersistMode persistMode = PersistMode.kPersistParameters; + + mLeadLeft.configure( + new SparkMaxConfig() + .apply(commonConfig) + .inverted(false), + resetMode, persistMode); + mFollowerLeft.configure( + new SparkMaxConfig() + .apply(commonConfig) + .inverted(false) + .follow(mLeadLeft), + resetMode, persistMode); + mLeadRight.configure( + new SparkMaxConfig() + .inverted(true) + .apply(commonConfig), + resetMode, persistMode); + mFollowerRight.configure( + new SparkMaxConfig() + .apply(commonConfig) + .inverted(true) + .follow(mLeadRight), + resetMode, persistMode); mRightEncoder = mLeadRight.getEncoder(); mLeftEncoder = mLeadLeft.getEncoder(); - mLeftEncoder.setPositionConversionFactor(ENCODER_CONSTANT); - mRightEncoder.setPositionConversionFactor(ENCODER_CONSTANT); - - mLeftEncoder.setVelocityConversionFactor(ENCODER_CONSTANT / 60.0); - mRightEncoder.setVelocityConversionFactor(ENCODER_CONSTANT / 60.0); - - mLeftPidController = mLeadLeft.getPIDController(); - mRightPidController = mLeadRight.getPIDController(); + mLeftPidController = mLeadLeft.getClosedLoopController(); + mRightPidController = mLeadRight.getClosedLoopController(); mLeftEncoder.setPosition(0); mRightEncoder.setPosition(0); - mLeadLeft.setInverted(false); - mLeadRight.setInverted(true); - - mFollowerLeft.follow(mLeadLeft, false); - mFollowerRight.follow(mLeadRight, false); - mGyro = new AHRS(); mDrive = new DifferentialDrive(mLeadLeft, mLeadRight); - for (SparkPIDController pidController : new SparkPIDController[]{mLeftPidController, mRightPidController}) - { - setupPidController(pidController, .02, 0, 0, 0.005_44, 144, 144); - } - if (RobotBase.isSimulation()) { mSimulator = new DifferentialDrivetrainSimWrapper( @@ -103,16 +126,6 @@ public RevDrivetrain() } } - private void setupPidController(SparkPIDController pidController, double kp, double ki, double kd, double kff, double maxVelocity, double maxAcceleration) - { - pidController.setP(Units.metersToInches(kp)); - pidController.setI(ki); - pidController.setD(kd); - pidController.setFF(Units.metersToInches(kff)); - pidController.setSmartMotionMaxVelocity(Units.inchesToMeters(maxVelocity), 0); - pidController.setSmartMotionMaxAccel(Units.inchesToMeters(maxAcceleration), 0); - } - ///////////////////////////////////// // Accessors ///////////////////////////////////// @@ -180,8 +193,8 @@ public void smartVelocityControlMetersPerSec(double leftVelocityMetersPerSec, do @Override public void driveDistance(double leftPosition, double rightPosition) { - mLeftPidController.setReference(leftPosition, ControlType.kSmartMotion); - mRightPidController.setReference(rightPosition, ControlType.kSmartMotion); + mLeftPidController.setReference(leftPosition, ControlType.kMAXMotionPositionControl); + mRightPidController.setReference(rightPosition, ControlType.kMAXMotionPositionControl); mDrive.feed(); } diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java index 7e1f67a..2f43553 100644 --- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java +++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java @@ -1,10 +1,13 @@ package org.snobotv2.examples.rev.subsystems; -import com.revrobotics.CANSparkLowLevel; -import com.revrobotics.CANSparkBase.ControlType; import com.revrobotics.RelativeEncoder; -import com.revrobotics.SimableCANSparkMax; -import com.revrobotics.SparkPIDController; +import com.revrobotics.spark.SparkBase.ControlType; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -22,23 +25,37 @@ public class RevElevatorSubsystem extends SubsystemBase implements ElevatorSubsy private static final int POSITION_SLOT = 0; private static final int SMART_MOTION_SLOT = 1; - private final SimableCANSparkMax mLeadMotor; // NOPMD - private final SimableCANSparkMax mFollowerMotor; // NOPMD + private final SparkMax mLeadMotor; // NOPMD + private final SparkMax mFollowerMotor; // NOPMD private final RelativeEncoder mEncoder; - private final SparkPIDController mPidController; + private final SparkClosedLoopController mPidController; private ISimWrapper mElevatorSim; public RevElevatorSubsystem() { - mLeadMotor = new SimableCANSparkMax(BaseConstants.ELEVATOR_MOTOR_A, CANSparkLowLevel.MotorType.kBrushless); - mFollowerMotor = new SimableCANSparkMax(BaseConstants.ELEVATOR_MOTOR_B, CANSparkLowLevel.MotorType.kBrushless); - mFollowerMotor.follow(mLeadMotor); - mEncoder = mLeadMotor.getEncoder(); - mPidController = mLeadMotor.getPIDController(); + SparkMaxConfig commonConfig = new SparkMaxConfig(); + commonConfig.encoder.positionConversionFactor(TICKS_PER_METER); + commonConfig.closedLoop.p(0.16); + + ResetMode resetMode = ResetMode.kResetSafeParameters; + PersistMode persistMode = PersistMode.kPersistParameters; + + mLeadMotor = new SparkMax(BaseConstants.ELEVATOR_MOTOR_A, MotorType.kBrushless); + mLeadMotor.configure( + new SparkMaxConfig() + .apply(commonConfig), + resetMode, persistMode); + + mFollowerMotor = new SparkMax(BaseConstants.ELEVATOR_MOTOR_B, MotorType.kBrushless); + mFollowerMotor.configure( + new SparkMaxConfig() + .apply(commonConfig) + .follow(mLeadMotor), + resetMode, persistMode); - mEncoder.setPositionConversionFactor(TICKS_PER_METER); + mEncoder = mLeadMotor.getEncoder(); + mPidController = mLeadMotor.getClosedLoopController(); - mPidController.setP(0.16); if (RobotBase.isSimulation()) { @@ -65,14 +82,14 @@ public void moveManually(double speed) public void goToPosition(double inches) { double meters = Units.inchesToMeters(inches); - mPidController.setReference(meters, ControlType.kPosition, POSITION_SLOT, GRAVITY_COMPENSATION_VOLTS, SparkPIDController.ArbFFUnits.kVoltage); + mPidController.setReference(meters, ControlType.kPosition, POSITION_SLOT, GRAVITY_COMPENSATION_VOLTS, SparkClosedLoopController.ArbFFUnits.kVoltage); } @Override public void goToPositionMotionMagic(double inches) { double meters = Units.inchesToMeters(inches); - mPidController.setReference(meters, ControlType.kSmartMotion, SMART_MOTION_SLOT); + mPidController.setReference(meters, ControlType.kMAXMotionPositionControl, SMART_MOTION_SLOT); } @Override diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java index b81778f..2aa94d5 100644 --- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java +++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java @@ -1,10 +1,13 @@ package org.snobotv2.examples.rev.subsystems; -import com.revrobotics.CANSparkLowLevel; -import com.revrobotics.CANSparkBase.ControlType; import com.revrobotics.RelativeEncoder; -import com.revrobotics.SimableCANSparkMax; -import com.revrobotics.SparkPIDController; +import com.revrobotics.spark.SparkBase.ControlType; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.snobotv2.examples.base.BaseConstants; @@ -16,24 +19,34 @@ public class RevShooterSubsystem extends SubsystemBase implements ShooterSubsystem { - private final SimableCANSparkMax mLeadMotor; // NOPMD - private final SimableCANSparkMax mFollower; // NOPMD + private final SparkMax mLeadMotor; // NOPMD + private final SparkMax mFollower; // NOPMD private final RelativeEncoder mEncoder; - private final SparkPIDController mPidController; + private final SparkClosedLoopController mPidController; private ISimWrapper mSimulator; public RevShooterSubsystem() { - mLeadMotor = new SimableCANSparkMax(BaseConstants.SHOOTER_MOTOR_A, CANSparkLowLevel.MotorType.kBrushless); - mFollower = new SimableCANSparkMax(BaseConstants.SHOOTER_MOTOR_B, CANSparkLowLevel.MotorType.kBrushless); + SparkMaxConfig commonConfig = new SparkMaxConfig(); + commonConfig.closedLoop.p(0.0005); + commonConfig.closedLoop.velocityFF(1.0 / 4700); - mFollower.follow(mLeadMotor); + ResetMode resetMode = ResetMode.kResetSafeParameters; + PersistMode persistMode = PersistMode.kPersistParameters; - mEncoder = mLeadMotor.getEncoder(); - mPidController = mLeadMotor.getPIDController(); + mLeadMotor = new SparkMax(BaseConstants.SHOOTER_MOTOR_A, MotorType.kBrushless); + mLeadMotor.configure(new SparkMaxConfig() + .apply(commonConfig), + resetMode, persistMode); + + mFollower = new SparkMax(BaseConstants.SHOOTER_MOTOR_B, MotorType.kBrushless); + mFollower.configure(new SparkMaxConfig() + .apply(commonConfig) + .follow(mLeadMotor), + resetMode, persistMode); - mPidController.setP(0.0005); - mPidController.setFF(1.0 / 4700); + mEncoder = mLeadMotor.getEncoder(); + mPidController = mLeadMotor.getClosedLoopController(); if (RobotBase.isSimulation()) { diff --git a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/BUILD b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/BUILD index f852321..68ce806 100644 --- a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/BUILD +++ b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/BUILD @@ -4,7 +4,7 @@ snobot_sim_java_library( name = "rev_swerve", srcs = glob(["*.java"]), visibility = [ - "//examples/test_robot_phoenix5_swerve:__subpackages__", + "//examples/test_robot_rev_swerve:__subpackages__", ], deps = [ "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands", diff --git a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel index 6088f6e..879346a 100644 --- a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel +++ b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel @@ -14,7 +14,7 @@ snobot_sim_java_library( "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve", "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/subsystems", "//snobot_sim_java_base/src/main/java/org/snobotv2/sim_wrappers", - "//snobot_sim_java_revlib/src/main/java/com/revrobotics:simmable_rev", + "//snobot_sim_java_revlib/src/main/java/com/revrobotics/spark:simmable_rev", "//snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev", "//snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve", "@bzlmodrio-allwpilib//libraries/cpp/wpiutil:jni", diff --git a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java index 4439696..93dd2a8 100644 --- a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java +++ b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java @@ -5,12 +5,11 @@ package org.snobotv2.examples.rev_swerve.subsystems; import com.revrobotics.AbsoluteEncoder; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkLowLevel; import com.revrobotics.RelativeEncoder; -import com.revrobotics.SimableCANSparkMax; -import com.revrobotics.SparkAbsoluteEncoder; -import com.revrobotics.SparkPIDController; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; @@ -37,12 +36,12 @@ public class SwerveModule implements BaseSwerveModule private final AbsoluteEncoder mAbsoluteEncoder; - private final SimableCANSparkMax mDriveMotor; - private final SparkPIDController mDriveController; + private final SparkMax mDriveMotor; + private final SparkClosedLoopController mDriveController; private final RelativeEncoder mDriveEncoder; - private final SimableCANSparkMax mAzimuthMotor; - private final SparkPIDController mAzimuthController; + private final SparkMax mAzimuthMotor; + private final SparkClosedLoopController mAzimuthController; private final RelativeEncoder mAzimuthEncoder; private SwerveModuleState mCurrentState; @@ -51,6 +50,9 @@ public class SwerveModule implements BaseSwerveModule private SwerveModuleSimWrapper mSimWrapper; + private final SparkMaxConfig mAzimuthConfig; + private final SparkMaxConfig mDriveConfig; + @SuppressWarnings("PMD.UnusedFormalParameter") public SwerveModule( int driveMotorChannel, @@ -59,23 +61,32 @@ public SwerveModule( double encoderOffset, String name) { - mAzimuthMotor = new SimableCANSparkMax(turningMotorChannel, CANSparkLowLevel.MotorType.kBrushless); + mAzimuthConfig = new SparkMaxConfig(); + mAzimuthConfig.inverted(false); + mAzimuthConfig.encoder.positionConversionFactor(360 / TURNING_GEAR_RATION); + mAzimuthConfig.encoder.velocityConversionFactor(360 / TURNING_GEAR_RATION / 60); + mAzimuthConfig.closedLoop.p(0.01); + mAzimuthConfig.closedLoop.d(0.0); + + mAzimuthMotor = new SparkMax(turningMotorChannel, SparkBase.MotorType.kBrushless); + mAzimuthMotor.configure(mAzimuthConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters); mAzimuthMotor.setInverted(false); mAzimuthEncoder = mAzimuthMotor.getEncoder(); - mAzimuthEncoder.setPositionConversionFactor(360 / TURNING_GEAR_RATION); - mAzimuthEncoder.setVelocityConversionFactor(360 / TURNING_GEAR_RATION / 60); - mAzimuthController = mAzimuthMotor.getPIDController(); - mAzimuthController.setP(0.01); - mAzimuthController.setD(0.0); + mAzimuthController = mAzimuthMotor.getClosedLoopController(); + + mAbsoluteEncoder = mAzimuthMotor.getAbsoluteEncoder(); - mAbsoluteEncoder = mAzimuthMotor.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle); + mDriveConfig = new SparkMaxConfig(); + mDriveConfig.inverted(false); + mDriveConfig.encoder.positionConversionFactor(DRIVE_ENCODER_CONSTANT); + mDriveConfig.encoder.velocityConversionFactor(DRIVE_ENCODER_CONSTANT / 60); + mDriveConfig.closedLoop.p(0.01); + mDriveConfig.closedLoop.d(0.0); - mDriveMotor = new SimableCANSparkMax(driveMotorChannel, CANSparkLowLevel.MotorType.kBrushless); - mDriveMotor.setInverted(false); + mDriveMotor = new SparkMax(driveMotorChannel, SparkBase.MotorType.kBrushless); + mDriveMotor.configure(mDriveConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters); mDriveEncoder = mDriveMotor.getEncoder(); - mDriveEncoder.setPositionConversionFactor(DRIVE_ENCODER_CONSTANT); - mDriveEncoder.setVelocityConversionFactor(DRIVE_ENCODER_CONSTANT / 60); - mDriveController = mDriveMotor.getPIDController(); + mDriveController = mDriveMotor.getClosedLoopController(); mDesiredState = new SwerveModuleState(0, Rotation2d.fromDegrees(0)); mCurrentState = new SwerveModuleState(0, Rotation2d.fromDegrees(0)); @@ -171,9 +182,9 @@ public void setDesiredState(SwerveModuleState inputState, boolean openLoopDrivin mDriveMotor.set(mDesiredState.speedMetersPerSecond / DriveSubsystem.kMaxSpeedMetersPerSecond); } else { - mDriveController.setReference(mDesiredState.speedMetersPerSecond, CANSparkMax.ControlType.kVelocity); + mDriveController.setReference(mDesiredState.speedMetersPerSecond, SparkBase.ControlType.kVelocity); } - mAzimuthController.setReference(mDesiredState.angle.getDegrees(), CANSparkMax.ControlType.kPosition); + mAzimuthController.setReference(mDesiredState.angle.getDegrees(), SparkBase.ControlType.kPosition); } @Override @@ -220,8 +231,9 @@ public void initSendable(SendableBuilder builder) @Override public void periodic() { - mDriveController.setFF(SmartDashboard.getNumber("FF", DEFAULT_FF)); - mDriveController.setP(SmartDashboard.getNumber("P", DEFAULT_P)); + mDriveConfig.closedLoop.velocityFF(SmartDashboard.getNumber("FF", DEFAULT_FF)); + mDriveConfig.closedLoop.p(SmartDashboard.getNumber("P", DEFAULT_P)); + mDriveMotor.configure(mDriveConfig, SparkBase.ResetMode.kNoResetSafeParameters, SparkBase.PersistMode.kPersistParameters); mCurrentState = new SwerveModuleState( getDriveSpeedMps(), diff --git a/examples/test_robot_rev_swerve/src/test/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel b/examples/test_robot_rev_swerve/src/test/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel new file mode 100644 index 0000000..63678bd --- /dev/null +++ b/examples/test_robot_rev_swerve/src/test/java/org/snobotv2/examples/rev_swerve/subsystems/BUILD.bazel @@ -0,0 +1,12 @@ +load("//build_scripts/bazel:java_rules.bzl", "snobot_sim_java_test") + +snobot_sim_java_test( + name = "test", + srcs = glob(["*.java"]), + deps = [ + "//examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve", + "//examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems", + "//snobot_sim_java_test_utils/src/main/java/org/snobotv2/test_utils", + "@bzlmodrio-allwpilib//libraries/java/wpimath", + ], +) diff --git a/examples/test_robot_wpi/build.gradle b/examples/test_robot_wpi/build.gradle index 53fd8d2..8225e22 100644 --- a/examples/test_robot_wpi/build.gradle +++ b/examples/test_robot_wpi/build.gradle @@ -12,6 +12,7 @@ apply from: "${rootDir}/build_scripts/base_java.gradle" dependencies { implementation wpilibTools.deps.wpilibJava("wpilibj") implementation wpilibTools.deps.wpilibJava("wpimath") + implementation wpilibTools.deps.wpilibJava("wpiunits") implementation wpilibTools.deps.wpilibJava("hal") implementation wpilibTools.deps.wpilibJava("wpiutil") implementation wpilibTools.deps.wpilibJava("cameraserver") diff --git a/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreEncoderSimWrapper.java b/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreEncoderSimWrapper.java index 202b0c6..a47f3b5 100644 --- a/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreEncoderSimWrapper.java +++ b/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreEncoderSimWrapper.java @@ -1,6 +1,5 @@ package org.snobotv2.module_wrappers.phoenix5; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import org.snobotv2.module_wrappers.BaseEncoderWrapper; @@ -12,11 +11,6 @@ public CtreEncoderSimWrapper(WPI_TalonSRX talonSrx) this(talonSrx, 1.0 / 4096); } - public CtreEncoderSimWrapper(WPI_TalonFX talonSrx) - { - this(talonSrx, 1.0 / 4096); - } - public CtreEncoderSimWrapper(WPI_TalonSRX talonSrx, double ticksToPosition) { super( @@ -25,13 +19,4 @@ public CtreEncoderSimWrapper(WPI_TalonSRX talonSrx, double ticksToPosition) (double velocity) -> talonSrx.getSimCollection().setQuadratureVelocity((int) (velocity * 100)) ); } - - public CtreEncoderSimWrapper(WPI_TalonFX talonFx, double ticksToPosition) - { - super( - () -> talonFx.getSelectedSensorPosition() * ticksToPosition, - (double position) -> talonFx.getSimCollection().setIntegratedSensorRawPosition((int) (position / ticksToPosition)), - (double velocity) -> talonFx.getSimCollection().setIntegratedSensorVelocity((int) (velocity / ticksToPosition * 100)) - ); - } } diff --git a/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreMotorControllerSimWrapper.java b/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreMotorControllerSimWrapper.java index 35b6f1c..f1f5fb3 100644 --- a/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreMotorControllerSimWrapper.java +++ b/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtreMotorControllerSimWrapper.java @@ -1,6 +1,5 @@ package org.snobotv2.module_wrappers.phoenix5; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import edu.wpi.first.wpilibj.RobotController; import org.snobotv2.module_wrappers.BaseMotorControllerWrapper; @@ -18,12 +17,6 @@ public CtreMotorControllerSimWrapper(WPI_TalonSRX motorController) mBusVoltageSetter = voltage -> motorController.getSimCollection().setBusVoltage(voltage); } - public CtreMotorControllerSimWrapper(WPI_TalonFX motorController) - { - super(motorController.getDeviceID(), motorController::getMotorOutputPercent); - mBusVoltageSetter = voltage -> motorController.getSimCollection().setBusVoltage(voltage); - } - @Override public void update() { diff --git a/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtrePigeonImuWrapper.java b/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtrePigeonImuWrapper.java index 6fc6ee0..e93cfec 100644 --- a/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtrePigeonImuWrapper.java +++ b/snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5/CtrePigeonImuWrapper.java @@ -1,6 +1,5 @@ package org.snobotv2.module_wrappers.phoenix5; -import com.ctre.phoenix.sensors.WPI_Pigeon2; import com.ctre.phoenix.sensors.WPI_PigeonIMU; import org.snobotv2.module_wrappers.BaseGyroWrapper; @@ -11,9 +10,4 @@ public CtrePigeonImuWrapper(WPI_PigeonIMU pigeon) { super((double angle) -> pigeon.getSimCollection().setRawHeading(-angle)); } - - public CtrePigeonImuWrapper(WPI_Pigeon2 pigeon) - { - super((double angle) -> pigeon.getSimCollection().setRawHeading(-angle)); - } } diff --git a/snobot_sim_java_phoenix5/src/test/java/org/snobotv2/module_wrappers/phoenix5/TestPigeon2.java b/snobot_sim_java_phoenix5/src/test/java/org/snobotv2/module_wrappers/phoenix5/TestPigeon2.java deleted file mode 100644 index 56f8818..0000000 --- a/snobot_sim_java_phoenix5/src/test/java/org/snobotv2/module_wrappers/phoenix5/TestPigeon2.java +++ /dev/null @@ -1,40 +0,0 @@ -package org.snobotv2.module_wrappers.phoenix5; - -import com.ctre.phoenix.sensors.WPI_Pigeon2; -import org.junit.jupiter.api.Test; -import org.snobotv2.interfaces.IGyroWrapper; - -import static org.junit.jupiter.api.Assertions.assertEquals; - -@SuppressWarnings("removal") -public class TestPigeon2 extends BasePhoenix5UnitTest -{ - private static final double PIGEON_EPSILON = 1e-2; - - @Test - public void testBasicInline() - { - try (WPI_Pigeon2 pigeon = new WPI_Pigeon2(3)) - { - pigeon.reset(); - ctreSimLoop(); - - runTests(pigeon); - } - } - - private void runTests(WPI_Pigeon2 pigeon) - { - IGyroWrapper wrapper = new CtrePigeonImuWrapper(pigeon); - - assertEquals(0, pigeon.getAngle(), PIGEON_EPSILON); - - wrapper.setAngle(20); - ctreSimLoop(); - assertEquals(20, pigeon.getAngle(), PIGEON_EPSILON); - - wrapper.setAngle(-43.2); - ctreSimLoop(); - assertEquals(-43.2, pigeon.getAngle(), PIGEON_EPSILON); - } -} diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkFlex.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkFlex.java deleted file mode 100644 index aaa0540..0000000 --- a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkFlex.java +++ /dev/null @@ -1,76 +0,0 @@ -package com.revrobotics; - -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.simulation.SimDeviceSim; - -public class SimableCANSparkFlex extends CANSparkFlex implements SimableRevDevice -{ - protected final SparkSimHelper mSimHelper; - - /** - * Create a new object to control a SPARK Flex motor Controller - * - * @param deviceId The device ID. - * @param type The motor type connected to the controller. Brushless motor wires must be connected - * to their matching colors and the hall sensor must be plugged in. Brushed motors must be - * connected to the Red and Black terminals only. - */ - public SimableCANSparkFlex(int deviceId, MotorType type) - { - super(deviceId, type); - - SimDeviceSim deviceSim = new SimDeviceSim("SPARK MAX [" + deviceId + "]"); - mSimHelper = new SparkSimHelper(deviceSim, this, sparkMaxHandle); - } - - @Override - public void updateSim() - { - mSimHelper.updateSim(); - } - - ////////////////////////////////////////////////// - // Base class hijacking - - @Override - public REVLibError follow(final CANSparkBase leader) - { - if (RobotBase.isReal()) - { - return super.follow(leader); - } - - return mSimHelper.follow(leader); - } - - @Override - public SparkPIDController getPIDController() - { - if (RobotBase.isReal()) - { - return super.getPIDController(); - } - - return mSimHelper.getPIDController(); - } - - @Override - /* default */ REVLibError setpointCommand(double value, ControlType ctrl, int pidSlot, double arbFeedforward, int arbFFUnits) - { - if (RobotBase.isReal()) - { - return super.setpointCommand(value, ctrl, pidSlot, arbFeedforward, arbFFUnits); - } - - return mSimHelper.setpointCommand(value, ctrl, pidSlot, arbFeedforward, arbFFUnits); - } - - @Override - public RelativeEncoder getEncoder(SparkRelativeEncoder.Type encoderType, int countsPerRev) - { - return mSimHelper.setLatchedEncoder(super.getEncoder(encoderType, countsPerRev)); - } - - ////////////////////////////////////////////////// - -} diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkMax.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkMax.java deleted file mode 100644 index f996dcd..0000000 --- a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkMax.java +++ /dev/null @@ -1,78 +0,0 @@ -package com.revrobotics; - -import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.simulation.SimDeviceSim; - -@SuppressWarnings("PMD.TooManyMethods") -public class SimableCANSparkMax extends CANSparkMax implements SimableRevDevice -{ - protected final SparkSimHelper mSimHelper; - - /** - * Create a new SPARK MAX Controller - * - * @param deviceID The device ID. - * @param type The motor type connected to the controller. Brushless motors - * must be connected to their matching color and the hall sensor - * plugged in. Brushed motors must be connected to the Red and - */ - public SimableCANSparkMax(int deviceID, MotorType type) - { - super(deviceID, type); - - SimDeviceSim deviceSim = new SimDeviceSim("SPARK MAX [" + deviceID + "]"); - mSimHelper = new SparkSimHelper(deviceSim, this, sparkMaxHandle); - - } - - @Override - public void updateSim() - { - mSimHelper.updateSim(); - } - - ////////////////////////////////////////////////// - // Base class hijacking - - @Override - public REVLibError follow(final CANSparkBase leader) - { - if (RobotBase.isReal()) - { - return super.follow(leader); - } - - return mSimHelper.follow(leader); - } - - @Override - public SparkPIDController getPIDController() - { - if (RobotBase.isReal()) - { - return super.getPIDController(); - } - - return mSimHelper.getPIDController(); - } - - @Override - /* default */ REVLibError setpointCommand(double value, ControlType ctrl, int pidSlot, double arbFeedforward, int arbFFUnits) - { - if (RobotBase.isReal()) - { - return super.setpointCommand(value, ctrl, pidSlot, arbFeedforward, arbFFUnits); - } - - return mSimHelper.setpointCommand(value, ctrl, pidSlot, arbFeedforward, arbFFUnits); - } - - @Override - public RelativeEncoder getEncoder(SparkRelativeEncoder.Type encoderType, int countsPerRev) - { - return mSimHelper.setLatchedEncoder(super.getEncoder(encoderType, countsPerRev)); - } - - ////////////////////////////////////////////////// - -} diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimablePidController.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimablePidController.java deleted file mode 100644 index 64a0d72..0000000 --- a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimablePidController.java +++ /dev/null @@ -1,60 +0,0 @@ -package com.revrobotics; - -import edu.wpi.first.wpilibj.RobotBase; - -public class SimablePidController extends SparkPIDController -{ - protected final double[] mMaxAccel = new double[4]; - protected final double[] mMaxVel = new double[4]; - - public SimablePidController(CANSparkBase device) - { - super(device); - } - - // These don't seem to work with the provided sim - - @Override - public REVLibError setSmartMotionMaxAccel(double maxAccel, int slotID) - { - if (RobotBase.isReal()) - { - return super.setSmartMotionMaxAccel(maxAccel, slotID); - } - - mMaxAccel[slotID] = maxAccel; - return REVLibError.kOk; - } - - @Override - public REVLibError setSmartMotionMaxVelocity(double maxVel, int slotID) - { - if (RobotBase.isReal()) - { - return super.setSmartMotionMaxVelocity(maxVel, slotID); - } - - mMaxVel[slotID] = maxVel; - return REVLibError.kOk; - } - - @Override - public double getSmartMotionMaxAccel(int slotID) - { - if (RobotBase.isReal()) - { - return super.getSmartMotionMaxAccel(slotID); - } - return mMaxAccel[slotID]; - } - - @Override - public double getSmartMotionMaxVelocity(int slotID) - { - if (RobotBase.isReal()) - { - return super.getSmartMotionMaxVelocity(slotID); - } - return mMaxVel[slotID]; - } -} diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableRevDevice.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableRevDevice.java deleted file mode 100644 index 0c2126d..0000000 --- a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableRevDevice.java +++ /dev/null @@ -1,10 +0,0 @@ -package com.revrobotics; - -public interface SimableRevDevice -{ - int getDeviceId(); - - double getAppliedOutput(); - - void updateSim(); -} diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SparkSimHelper.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/SparkSimHelper.java deleted file mode 100644 index 58b06c8..0000000 --- a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SparkSimHelper.java +++ /dev/null @@ -1,328 +0,0 @@ -package com.revrobotics; - -import com.revrobotics.jni.CANSparkMaxJNI; -import edu.wpi.first.hal.SimDouble; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.util.sendable.SendableRegistry; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.simulation.SimDeviceSim; - -import java.util.ArrayList; -import java.util.List; -import java.util.logging.Level; -import java.util.logging.Logger; - -@SuppressWarnings({"PMD.AvoidDuplicateLiterals", "PMD.TooManyMethods"}) -public class SparkSimHelper -{ - private static final Logger LOGGER = Logger.getLogger(SparkSimHelper.class.getName()); - private static final int NUM_PID_SLOTS = 4; - - private CANSparkBase.ControlType mControlType; - private double mControlGoal; - private double mArbFFPercentage; - - private SimablePidController mLatchedPidController; - private final SimDouble mAppliedOutputSim; - private final List mSparkMaxFollowers; - private final List mSparkFlexFollowers; - - - private final PIDFConstants[] mPidConstants; - private int mActivePidSlot; - - // Encoder helpers that are private in the base class - private RelativeEncoder mLatchedEncoder; - - private final long mSparkMaxHandle; - private final CANSparkBase mSparkMax; - - @SuppressWarnings({"PMD.ShortVariable"}) - protected class PIDFConstants - { - protected final PIDController mBasicPidController; - protected final ProfiledPIDController mProfiledPidController; - protected TrapezoidProfile.Constraints mConstraints; - private double mF; - private double mMaxVelocity; - private double mMaxAcceleration; - - public PIDFConstants(int slot) - { - mConstraints = new TrapezoidProfile.Constraints(0, 0); - mBasicPidController = new PIDController(0, 0, 0); - mProfiledPidController = new ProfiledPIDController(0, 0, 0, mConstraints); - SendableRegistry.setName(mBasicPidController, "RevSim[" + slot + "] Basic PID"); - SendableRegistry.setName(mProfiledPidController, "RevSim[" + slot + "] Profiled PID"); - mF = 0; - } - - @SuppressWarnings("PMD.ShortVariable") - private void refreshValues(int slotId, SimablePidController simablePid) - { - double kp = CANSparkMaxJNI.c_SparkMax_GetP(mSparkMaxHandle, slotId); - double ki = CANSparkMaxJNI.c_SparkMax_GetI(mSparkMaxHandle, slotId); - double kd = CANSparkMaxJNI.c_SparkMax_GetD(mSparkMaxHandle, slotId); - mF = CANSparkMaxJNI.c_SparkMax_GetFF(mSparkMaxHandle, slotId); - - mBasicPidController.setP(kp); - mProfiledPidController.setP(kp); - - mBasicPidController.setI(ki); - mProfiledPidController.setI(ki); - - mBasicPidController.setD(kd); - mProfiledPidController.setD(kd); - - if (simablePid != null) - { - mMaxVelocity = simablePid.mMaxVel[slotId]; - mMaxAcceleration = simablePid.mMaxAccel[slotId]; - mConstraints = new TrapezoidProfile.Constraints(mMaxVelocity, mMaxAcceleration); - mProfiledPidController.setConstraints(mConstraints); - } - } - - public void reset() - { - mBasicPidController.reset(); - mProfiledPidController.reset(0); - } - } - - @SuppressWarnings("PMD.NullAssignment") - public SparkSimHelper(SimDeviceSim deviceSim, CANSparkBase sparkMax, long sparkMaxHandle) - { - mSparkMaxHandle = sparkMaxHandle; - mSparkMax = sparkMax; - - mAppliedOutputSim = deviceSim.getDouble("Applied Output"); - mSparkMaxFollowers = new ArrayList<>(); - mSparkFlexFollowers = new ArrayList<>(); - mControlType = CANSparkBase.ControlType.kDutyCycle; - - mPidConstants = new PIDFConstants[NUM_PID_SLOTS]; - for (int i = 0; i < NUM_PID_SLOTS; ++i) - { - mPidConstants[i] = null; - } - } - - public REVLibError follow(final CANSparkBase leader) - { - if (leader instanceof SimableCANSparkMax) - { - ((SimableCANSparkMax) leader).mSimHelper.addSimFollower((SimableCANSparkMax) mSparkMax); - } - else if (leader instanceof SimableCANSparkFlex) - { - ((SimableCANSparkFlex) leader).mSimHelper.addSimFollower((SimableCANSparkFlex) mSparkMax); - } - else - { - log(Level.WARNING, "Cannot follow a non-simable controller"); - } - - return REVLibError.kOk; - } - - public SparkPIDController getPIDController() - { - mLatchedPidController = new SimablePidController(mSparkMax); - return mLatchedPidController; - } - - public REVLibError setpointCommand(double value, CANSparkBase.ControlType ctrl, int pidSlot, double arbFeedforward, int arbFFUnits) - { - mActivePidSlot = pidSlot; - mArbFFPercentage = getArbPercentOutput(arbFeedforward, arbFFUnits); - mControlGoal = value; - - if (ctrl == CANSparkBase.ControlType.kSmartMotion && mControlType != CANSparkBase.ControlType.kSmartMotion) - { - log(Level.INFO, "Starting motion magic"); - getActivePid().mProfiledPidController.reset(getPosition(), getVelocity()); - } - - mControlType = ctrl; - - // Give a bare bones sim for non-feedback related mode - if (ctrl == CANSparkBase.ControlType.kDutyCycle) - { - mAppliedOutputSim.set(value); - updateFollowers(value); - } - - return REVLibError.kOk; - } - - private double getArbPercentOutput(double arbFeedforward, int arbFFUnits) - { - double arbFFPercentage; - if (arbFFUnits == SparkPIDController.ArbFFUnits.kPercentOut.value) - { - arbFFPercentage = arbFeedforward; - } - else if (arbFFUnits == SparkPIDController.ArbFFUnits.kVoltage.value) - { - arbFFPercentage = arbFeedforward / RobotController.getBatteryVoltage(); - } - else - { - arbFFPercentage = 0; - log(Level.SEVERE, "Unknown Arb FF unit: " + arbFFUnits); - } - - return arbFFPercentage; - } - - - protected void addSimFollower(SimableCANSparkMax simableCANSparkMax) - { - mSparkMaxFollowers.add(simableCANSparkMax); - } - - protected void addSimFollower(SimableCANSparkFlex motor) - { - mSparkFlexFollowers.add(motor); - } - - public void updateSim() - { - double voltagePercentage = 0; - - switch (mControlType) - { - case kDutyCycle: - voltagePercentage = mControlGoal; - break; - case kVelocity: - voltagePercentage = calculateSpeedControl(); - break; - case kPosition: - voltagePercentage = calculatePositionControl(); - break; - case kSmartMotion: - voltagePercentage = calculateSmartMotionOutput(); - break; - case kVoltage: - voltagePercentage = mControlGoal / RobotController.getBatteryVoltage(); - break; - default: - log(Level.SEVERE, "Unsupported control type: " + mControlType); - break; - } - - mAppliedOutputSim.set(voltagePercentage); - updateFollowers(voltagePercentage); - } - - private void updateFollowers(double voltagePercentage) - { - for (SimableCANSparkMax follower : mSparkMaxFollowers) // NOPMD.CloseResource - { - follower.mSimHelper.mAppliedOutputSim.set(voltagePercentage); - } - for (SimableCANSparkFlex follower : mSparkFlexFollowers) // NOPMD.CloseResource - { - follower.mSimHelper.mAppliedOutputSim.set(voltagePercentage); - } - } - - private double constrainOutput(double inPercent) - { - return Math.min(1, Math.max(-1, inPercent)); - } - - - private PIDFConstants getActivePid() - { - if (mPidConstants[mActivePidSlot] == null) - { - mPidConstants[mActivePidSlot] = new PIDFConstants(mActivePidSlot); - } - mPidConstants[mActivePidSlot].refreshValues(mActivePidSlot, mLatchedPidController); - return mPidConstants[mActivePidSlot]; - } - - private double calculatePositionControl() - { - double goal = mControlGoal; - PIDFConstants activePid = getActivePid(); - double output = activePid.mBasicPidController.calculate(getPosition(), goal); - output += mArbFFPercentage; - output = constrainOutput(output); - log(Level.FINE, "Updating position control.... " + getPosition() + " vs " + goal + " -> " + output); - return output; - } - - @SuppressWarnings("PMD.ShortVariable") - private double calculateSpeedControl() - { - double goal = mControlGoal; - PIDFConstants activePid = getActivePid(); - double ff = goal * activePid.mF; - double pid = activePid.mBasicPidController.calculate(getVelocity(), goal); - double output = ff + pid + mArbFFPercentage; - output = constrainOutput(output); - log(Level.FINE, "Updating Speed control.... " + getVelocity() + " vs " + goal + " -> " + output + "(" + ff + " + " + pid + ")"); - - return output; - } - - private double calculateSmartMotionOutput() - { - double goal = mControlGoal; - - PIDFConstants activePid = getActivePid(); - if (activePid.mMaxAcceleration == 0) - { - log(Level.WARNING, "Max acceleration has not been set"); - } - if (activePid.mMaxVelocity == 0) - { - log(Level.WARNING, "Max velocity has not been set"); - } - - double position = getPosition(); - - double pid = activePid.mProfiledPidController.calculate(position, goal); - TrapezoidProfile.State setpoint = activePid.mProfiledPidController.getSetpoint(); - - double ff = activePid.mF * setpoint.velocity; // NOPMD(ShortVariable) - double output = constrainOutput(ff + pid + mArbFFPercentage); - log(Level.FINE, "Updating MM control.... " - + "Going to " + goal + "... " - + "Position " + position + " vs " + setpoint.position + ", " - + "Velocity " + getVelocity() + " vs " + setpoint.velocity + ", " - + " -> output " + output + "(" + ff + " + " + pid + " + " + mArbFFPercentage + ")" - + " constraints: Vel: " + activePid.mConstraints.maxVelocity + ", Accel: " + activePid.mConstraints.maxAcceleration); - - return output; - } - - private double getVelocity() - { - return mLatchedEncoder.getVelocity(); - } - - private double getPosition() - { - return mLatchedEncoder.getPosition(); - } - - @SuppressWarnings("PMD.LinguisticNaming") - public RelativeEncoder setLatchedEncoder(RelativeEncoder encoder) - { - mLatchedEncoder = encoder; - return mLatchedEncoder; - } - - protected void log(Level level, String message) - { - LOGGER.log(level, "REV Sim [" + mSparkMax.getDeviceId() + "] - " + message); - } - -} diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/BUILD.bazel b/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/BUILD.bazel similarity index 100% rename from snobot_sim_java_revlib/src/main/java/com/revrobotics/BUILD.bazel rename to snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/BUILD.bazel diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java new file mode 100644 index 0000000..43f87c7 --- /dev/null +++ b/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java @@ -0,0 +1,305 @@ +package com.revrobotics.spark; + +import com.revrobotics.sim.SparkFlexSim; +import com.revrobotics.sim.SparkMaxSim; +import com.revrobotics.spark.SparkBase.ControlType; +import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits; +import com.revrobotics.spark.SparkLowLevel.SparkModel; +import com.revrobotics.spark.config.ClosedLoopConfig.ClosedLoopSlot; +import com.revrobotics.spark.config.ClosedLoopConfigAccessor; +import com.revrobotics.spark.config.SparkBaseConfigAccessor; +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.hal.SimInt; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; +import edu.wpi.first.math.trajectory.TrapezoidProfile.State; +import edu.wpi.first.util.sendable.SendableRegistry; +import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.simulation.SimDeviceSim; + +import java.util.EnumMap; +import java.util.HashMap; +import java.util.Map; +import java.util.logging.Level; +import java.util.logging.Logger; + +@SuppressWarnings({"PMD.AvoidDuplicateLiterals", "PMD.CouplingBetweenObjects"}) +public class SparkSimHelper +{ + private static final Logger LOGGER = Logger.getLogger(SparkSimHelper.class.getName()); + private static final Map CONTROL_TYPE_LOOKUP; + private static final Map ARB_FF_UNITS_LOOKUP; + + private final Map mPidConstants; + private final SparkBase mSpark; + private final SparkSim mSim; + private final SparkBaseConfigAccessor mConfigAccessor; + + private final SimInt mControlMode; + private final SimDouble mArbFF; + private final SimInt mArbFFUnits; + + static + { + CONTROL_TYPE_LOOKUP = new HashMap<>(); + for (ControlType t : ControlType.values()) + { + CONTROL_TYPE_LOOKUP.put(t.value, t); + } + + ARB_FF_UNITS_LOOKUP = new HashMap<>(); + for (ArbFFUnits t : ArbFFUnits.values()) + { + ARB_FF_UNITS_LOOKUP.put(t.value, t); + } + } + + public SparkSimHelper(SparkBase spark, DCMotor motor) + { + mSpark = spark; + if (mSpark instanceof SparkMax) + { + mSim = new SparkMaxSim((SparkMax) mSpark, motor); + mConfigAccessor = ((SparkMax) mSpark).configAccessor; + } + else if (mSpark instanceof SparkFlex) + { + mSim = new SparkFlexSim((SparkFlex) mSpark, motor); + mConfigAccessor = ((SparkFlex) mSpark).configAccessor; + } + else + { + throw new IllegalArgumentException("The provided motor controller is not simmable!"); + } + + mPidConstants = new EnumMap<>(ClosedLoopSlot.class); + + String deviceType = "UNKNOWN"; + if (spark.getSparkModel() == SparkModel.SparkFlex) + { + deviceType = "SPARK Flex"; + } else if (spark.getSparkModel() == SparkModel.SparkMax) + { + deviceType = "SPARK MAX"; + } + + String deviceName = deviceType + " [" + spark.getDeviceId() + "]"; + SimDeviceSim sparkSim = new SimDeviceSim(deviceName); + + mControlMode = sparkSim.getInt("Control Mode"); + mArbFF = sparkSim.getDouble("Arbitrary Feedforward"); + mArbFFUnits = sparkSim.getInt("ArbFF Units"); + } + + + @SuppressWarnings({"removal", "PMD.CyclomaticComplexity"}) + public void updateSim() + { + int controlTypeInt = mControlMode.get(); + if (controlTypeInt == -1) + { + return; + } + + ControlType controlType = CONTROL_TYPE_LOOKUP.get(controlTypeInt); + + double voltagePercentage = 0; + switch (controlType) + { + case kDutyCycle: + voltagePercentage = mSim.getSetpoint(); + break; + case kVelocity: + voltagePercentage = calculateSpeedControl(); + break; + case kPosition: + voltagePercentage = calculatePositionControl(); + break; + case kMAXMotionPositionControl: + voltagePercentage = calculateSmartMotionOutput(); + break; + case kVoltage: + voltagePercentage = mSim.getSetpoint() / RobotController.getBatteryVoltage(); + break; + case kMAXMotionVelocityControl: + case kCurrent: + case kSmartVelocity: + case kSmartMotion: + default: + throw new IllegalArgumentException("Unsupported control type " + controlType); + } + + mSim.setAppliedOutput(voltagePercentage); + } + + protected void log(Level level, String message) + { + LOGGER.log(level, "REV Sim [" + mSpark.getDeviceId() + "] - " + message); + } + + public void setCurrent(double current) + { + mSim.setMotorCurrent(current); + } + + @SuppressWarnings({"PMD.ShortVariable"}) + private static class PIDFConstants + { + protected final PIDController mBasicPidController; + protected final ProfiledPIDController mProfiledPidController; + protected Constraints mConstraints; + private double mF; + private double mMaxVelocity; + private double mMaxAcceleration; + + public PIDFConstants(ClosedLoopSlot slot) + { + mConstraints = new Constraints(0, 0); + mBasicPidController = new PIDController(0, 0, 0); + mProfiledPidController = new ProfiledPIDController(0, 0, 0, mConstraints); + SendableRegistry.setName(mBasicPidController, "RevSim[" + slot.value + "] Basic PID"); + SendableRegistry.setName(mProfiledPidController, "RevSim[" + slot.value + "] Profiled PID"); + mF = 0; + } + + @SuppressWarnings("PMD.ShortVariable") + private void refreshValues(ClosedLoopSlot slotId, ClosedLoopConfigAccessor accessor) + { + double kp = accessor.getP(slotId); + double ki = accessor.getI(slotId); + double kd = accessor.getD(slotId); + mF = accessor.getFF(slotId); + + mBasicPidController.setP(kp); + mProfiledPidController.setP(kp); + + mBasicPidController.setI(ki); + mProfiledPidController.setI(ki); + + mBasicPidController.setD(kd); + mProfiledPidController.setD(kd); + + mMaxVelocity = accessor.maxMotion.getMaxVelocity(slotId); + mMaxAcceleration = accessor.maxMotion.getMaxAcceleration(slotId); + mConstraints = new Constraints(mMaxVelocity, mMaxAcceleration); + mProfiledPidController.setConstraints(mConstraints); + } + + public void reset() + { + mBasicPidController.reset(); + mProfiledPidController.reset(0); + } + } + + private double getArbPercentOutput() + { + int arbFfUnitInt = mArbFFUnits.get(); + ArbFFUnits arbFfUnit = ARB_FF_UNITS_LOOKUP.get(arbFfUnitInt); + double arbFFPercentage; + if (arbFfUnit == ArbFFUnits.kPercentOut) + { + arbFFPercentage = mArbFF.get(); + } + else if (arbFfUnit == ArbFFUnits.kVoltage) + { + arbFFPercentage = mArbFF.get() / RobotController.getBatteryVoltage(); + } + else + { + arbFFPercentage = 0; + log(Level.SEVERE, "Unknown Arb FF unit: " + arbFfUnit); + } + + return arbFFPercentage; + } + + private double constrainOutput(double inPercent) + { + return Math.min(1, Math.max(-1, inPercent)); + } + + + private PIDFConstants getActivePid() + { + ClosedLoopSlot activeSlot = mSim.getClosedLoopSlot(); + if (!mPidConstants.containsKey(activeSlot)) + { + mPidConstants.put(activeSlot, new PIDFConstants(activeSlot)); + } + + PIDFConstants constants = mPidConstants.get(activeSlot); + constants.refreshValues(activeSlot, mConfigAccessor.closedLoop); // FJDLKS + return constants; + } + + private double calculatePositionControl() + { + double goal = mSim.getSetpoint(); + PIDFConstants activePid = getActivePid(); + double output = activePid.mBasicPidController.calculate(getPosition(), goal); + output += getArbPercentOutput(); + output = constrainOutput(output); + log(Level.FINE, "Updating position control.... " + getPosition() + " vs " + goal + " -> " + output); + return output; + } + + @SuppressWarnings("PMD.ShortVariable") + private double calculateSpeedControl() + { + double goal = mSim.getSetpoint(); + PIDFConstants activePid = getActivePid(); + double ff = goal * activePid.mF; + double pid = activePid.mBasicPidController.calculate(getVelocity(), goal); + double output = ff + pid + getArbPercentOutput(); + output = constrainOutput(output); + log(Level.FINE, "Updating Speed control.... " + getVelocity() + " vs " + goal + " -> " + output + "(" + ff + " + " + pid + ")"); + + return output; + } + + private double calculateSmartMotionOutput() + { + double goal = mSim.getSetpoint(); + + PIDFConstants activePid = getActivePid(); + if (activePid.mMaxAcceleration == 0) + { + log(Level.WARNING, "Max acceleration has not been set"); + } + if (activePid.mMaxVelocity == 0) + { + log(Level.WARNING, "Max velocity has not been set"); + } + + double position = getPosition(); + + double pid = activePid.mProfiledPidController.calculate(position, goal); + State setpoint = activePid.mProfiledPidController.getSetpoint(); + + double arbFfPercentage = getArbPercentOutput(); + + double ff = activePid.mF * setpoint.velocity; // NOPMD(ShortVariable) + double output = constrainOutput(ff + pid + arbFfPercentage); + log(Level.FINE, "Updating MM control.... " + + "Going to " + goal + "... " + + "Position " + position + " vs " + setpoint.position + ", " + + "Velocity " + getVelocity() + " vs " + setpoint.velocity + ", " + + " -> output " + output + "(" + ff + " + " + pid + " + " + arbFfPercentage + ")" + + " constraints: Vel: " + activePid.mConstraints.maxVelocity + ", Accel: " + activePid.mConstraints.maxAcceleration); + + return output; + } + + private double getVelocity() + { + return mSim.getVelocity(); + } + + private double getPosition() + { + return mSim.getPosition(); + } +} diff --git a/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/BUILD.bazel b/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/BUILD.bazel index b898643..8ccb647 100644 --- a/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/BUILD.bazel +++ b/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/BUILD.bazel @@ -6,9 +6,10 @@ snobot_sim_java_library( visibility = ["//visibility:public"], deps = [ "//snobot_sim_java_base/src/main/java/org/snobotv2/module_wrappers", - "//snobot_sim_java_revlib/src/main/java/com/revrobotics:simmable_rev", + "//snobot_sim_java_revlib/src/main/java/com/revrobotics/spark:simmable_rev", "@bzlmodrio-allwpilib//libraries/java/hal", "@bzlmodrio-allwpilib//libraries/java/wpilibj", + "@bzlmodrio-allwpilib//libraries/java/wpimath", "@bzlmodrio-revlib//libraries/java/revlib-java", ], ) diff --git a/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevEncoderSimWrapper.java b/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevEncoderSimWrapper.java index c543dff..fb1126e 100644 --- a/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevEncoderSimWrapper.java +++ b/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevEncoderSimWrapper.java @@ -1,26 +1,52 @@ package org.snobotv2.module_wrappers.rev; -import com.revrobotics.CANSparkBase; -import edu.wpi.first.hal.SimDouble; -import edu.wpi.first.wpilibj.simulation.SimDeviceSim; +import com.revrobotics.sim.SparkFlexSim; +import com.revrobotics.sim.SparkMaxSim; +import com.revrobotics.sim.SparkRelativeEncoderSim; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkSim; +import edu.wpi.first.math.system.plant.DCMotor; import org.snobotv2.module_wrappers.BaseEncoderWrapper; public final class RevEncoderSimWrapper extends BaseEncoderWrapper { - public static RevEncoderSimWrapper create(CANSparkBase motorController) + public static RevEncoderSimWrapper create(SparkBase spark) { - SimDeviceSim deviceSim = new SimDeviceSim("SPARK MAX [" + motorController.getDeviceId() + "]"); - SimDouble position = deviceSim.getDouble("Position"); - SimDouble velocity = deviceSim.getDouble("Velocity"); + SparkSim sparkSim; + SparkRelativeEncoderSim encoderSim; + if (spark instanceof SparkMax) + { + sparkSim = new SparkMaxSim((SparkMax) spark, DCMotor.getNEO(1)); + encoderSim = new SparkRelativeEncoderSim((SparkMax) spark); + } + else if (spark instanceof SparkFlex) + { + sparkSim = new SparkFlexSim((SparkFlex) spark, DCMotor.getNEO(1)); + encoderSim = new SparkRelativeEncoderSim((SparkFlex) spark); + } + else + { + throw new IllegalArgumentException("The provided motor controller is not simmable!"); + } - return new RevEncoderSimWrapper(position, velocity); + return new RevEncoderSimWrapper(sparkSim, encoderSim); } - private RevEncoderSimWrapper(SimDouble position, SimDouble velocity) + private RevEncoderSimWrapper(SparkSim sparkSim, SparkRelativeEncoderSim encoderSim) { super( - position::get, - position::set, - velocity::set); + sparkSim::getPosition, + pos -> + { + sparkSim.setPosition(pos); + encoderSim.setPosition(pos); + }, + vel -> + { + sparkSim.setVelocity(vel); + encoderSim.setVelocity(vel); + }); } } diff --git a/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java b/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java index 9d2e765..6684059 100644 --- a/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java +++ b/snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java @@ -1,43 +1,29 @@ package org.snobotv2.module_wrappers.rev; -import com.revrobotics.CANSparkBase; -import com.revrobotics.SimableRevDevice; -import edu.wpi.first.hal.SimDouble; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.simulation.SimDeviceSim; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkSimHelper; +import edu.wpi.first.math.system.plant.DCMotor; import org.snobotv2.module_wrappers.BaseMotorControllerWrapper; public class RevMotorControllerSimWrapper extends BaseMotorControllerWrapper { - private final SimableRevDevice mMotorController; - private final SimDouble mBusVoltage; - private final SimDouble mMotorCurrent; + private final SparkSimHelper mSim; - public RevMotorControllerSimWrapper(CANSparkBase motorController) + public RevMotorControllerSimWrapper(SparkBase motorController) { super(motorController.getDeviceId(), motorController::getAppliedOutput); - if (!(motorController instanceof SimableRevDevice)) - { - throw new IllegalArgumentException("The provided motor controller is not simmable!"); - } - - SimDeviceSim deviceSim = new SimDeviceSim("SPARK MAX [" + motorController.getDeviceId() + "]"); - mBusVoltage = deviceSim.getDouble("Bus Voltage"); - mMotorCurrent = deviceSim.getDouble("Motor Current"); - - mMotorController = (SimableRevDevice) motorController; + mSim = new SparkSimHelper(motorController, DCMotor.getNEO(1)); } @Override public void update() { - mMotorController.updateSim(); - mBusVoltage.set(RobotController.getBatteryVoltage()); + mSim.updateSim(); } @Override public void setCurrent(double current) { - mMotorCurrent.set(current); + mSim.setCurrent(current); } } diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BUILD.bazel b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BUILD.bazel index be62ad6..b51856c 100644 --- a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BUILD.bazel +++ b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BUILD.bazel @@ -6,9 +6,10 @@ snobot_sim_java_test( deps = [ "//examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems", "//snobot_sim_java_base/src/main/java/org/snobotv2/sim_wrappers", - "//snobot_sim_java_revlib/src/main/java/com/revrobotics:simmable_rev", + "//snobot_sim_java_revlib/src/main/java/com/revrobotics/spark:simmable_rev", "//snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev", "//snobot_sim_java_test_utils/src/main/java/org/snobotv2/test_utils", + "@bzlmodrio-allwpilib//libraries/java/wpimath", "@bzlmodrio-revlib//libraries/java/revlib-java", ], ) diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BaseRevlibUnitTest.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BaseRevlibUnitTest.java index 7456c9c..d6a61dd 100644 --- a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BaseRevlibUnitTest.java +++ b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BaseRevlibUnitTest.java @@ -1,7 +1,6 @@ package org.snobotv2.module_wrappers.rev; -import com.revrobotics.CANSparkBase; -import com.revrobotics.SimableRevDevice; +import com.revrobotics.spark.SparkBase; import org.snobotv2.test_utils.BaseUnitTest; import static org.junit.jupiter.api.Assertions.assertEquals; @@ -10,7 +9,7 @@ public class BaseRevlibUnitTest extends BaseUnitTest { @SafeVarargs - protected final void testVoltagePercentage(double expected, T... motorControllers) + protected final void testVoltagePercentage(double expected, T... motorControllers) { for (T motorController : motorControllers) // NOPMD { diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java index 3aa6625..8524499 100644 --- a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java +++ b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java @@ -1,11 +1,14 @@ package org.snobotv2.module_wrappers.rev; -import com.revrobotics.CANSparkBase; -import com.revrobotics.CANSparkLowLevel; -import com.revrobotics.SimableCANSparkFlex; -import com.revrobotics.SimableCANSparkMax; -import com.revrobotics.SimableRevDevice; -import com.revrobotics.SparkPIDController; +import com.revrobotics.spark.SparkBase; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.SparkBaseConfig; +import com.revrobotics.spark.config.SparkBaseConfigAccessor; +import com.revrobotics.spark.config.SparkFlexConfig; +import com.revrobotics.spark.config.SparkMaxConfig; import org.junit.jupiter.api.Tag; import org.junit.jupiter.api.Test; @@ -17,54 +20,53 @@ public class TestRevCanSpark extends BaseRevlibUnitTest @Test public void testBasicMax() { - try (SimableCANSparkMax sparkMax = new SimableCANSparkMax(1, CANSparkLowLevel.MotorType.kBrushless); - SimableCANSparkMax follower = new SimableCANSparkMax(11, CANSparkLowLevel.MotorType.kBrushless)) + try (SparkMax sparkMax = new SparkMax(1, SparkBase.MotorType.kBrushless); + SparkMax follower = new SparkMax(11, SparkBase.MotorType.kBrushless)) { - runTest(sparkMax, follower); + runTest(sparkMax, follower, new SparkMaxConfig(), sparkMax.configAccessor); } } @Test public void testBasicFlex() { - try (SimableCANSparkFlex sparkFlex = new SimableCANSparkFlex(1, CANSparkLowLevel.MotorType.kBrushless); - SimableCANSparkFlex follower = new SimableCANSparkFlex(11, CANSparkLowLevel.MotorType.kBrushless)) + try (SparkFlex sparkFlex = new SparkFlex(1, SparkBase.MotorType.kBrushless); + SparkFlex follower = new SparkFlex(11, SparkBase.MotorType.kBrushless)) { - runTest(sparkFlex, follower); + runTest(sparkFlex, follower, new SparkFlexConfig(), sparkFlex.configAccessor); } } - private void runTest(T sparkMax, T follower) + @SuppressWarnings({"PMD.GenericsNaming", "PMD.UnusedFormalParameter"}) + private void runTest( + MotorType sparkMax, MotorType follower, ConfigType config, ConfigAccessor configAccessor) { - follower.follow(sparkMax); + config.closedLoop.p(.4); + config.closedLoop.i(.5); + config.closedLoop.d(.6); + config.closedLoop.velocityFF(.7); + config.closedLoop.maxMotion.maxAcceleration(.8); + config.closedLoop.maxMotion.maxVelocity(.9); + sparkMax.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); - SparkPIDController pidController = sparkMax.getPIDController(); + assertEquals(.4, configAccessor.closedLoop.getP(), DEFAULT_EPSILON); + assertEquals(.5, configAccessor.closedLoop.getI(), DEFAULT_EPSILON); + assertEquals(.6, configAccessor.closedLoop.getD(), DEFAULT_EPSILON); + assertEquals(.7, configAccessor.closedLoop.getFF(), DEFAULT_EPSILON); + assertEquals(.8, configAccessor.closedLoop.maxMotion.getMaxAcceleration(), DEFAULT_EPSILON); + assertEquals(.9, configAccessor.closedLoop.maxMotion.getMaxVelocity(), DEFAULT_EPSILON); - pidController.setP(.4); - pidController.setI(.5); - pidController.setD(.6); - pidController.setFF(.7); - pidController.setSmartMotionMaxAccel(.8, 0); - pidController.setSmartMotionMaxVelocity(.9, 0); - - assertEquals(.4, pidController.getP(), DEFAULT_EPSILON); - assertEquals(.5, pidController.getI(), DEFAULT_EPSILON); - assertEquals(.6, pidController.getD(), DEFAULT_EPSILON); - assertEquals(.7, pidController.getFF(), DEFAULT_EPSILON); - assertEquals(.8, pidController.getSmartMotionMaxAccel(0), DEFAULT_EPSILON); - assertEquals(.9, pidController.getSmartMotionMaxVelocity(0), DEFAULT_EPSILON); - - RevMotorControllerSimWrapper talonWrapper = new RevMotorControllerSimWrapper(sparkMax); + RevMotorControllerSimWrapper leaderWrapper = new RevMotorControllerSimWrapper(sparkMax); RevMotorControllerSimWrapper followerWrapper = new RevMotorControllerSimWrapper(follower); sparkMax.set(.4); - talonWrapper.update(); - testVoltagePercentage(.4, talonWrapper, followerWrapper); + leaderWrapper.update(); + testVoltagePercentage(.4, leaderWrapper, followerWrapper); testVoltagePercentage(.4, sparkMax, follower); sparkMax.set(-.25); - talonWrapper.update(); - testVoltagePercentage(-.25, talonWrapper, followerWrapper); + leaderWrapper.update(); + testVoltagePercentage(-.25, leaderWrapper, followerWrapper); testVoltagePercentage(-.25, sparkMax, follower); } } diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSparkMaxSmartMotion.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSparkMaxSmartMotion.java index f895717..5d0de7b 100644 --- a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSparkMaxSmartMotion.java +++ b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSparkMaxSmartMotion.java @@ -1,8 +1,8 @@ package org.snobotv2.module_wrappers.rev; import org.junit.jupiter.api.Tag; -import org.snobotv2.examples.rev.subsystems.RevDrivetrain; import org.junit.jupiter.api.Test; +import org.snobotv2.examples.rev.subsystems.RevDrivetrain; import org.snobotv2.test_utils.BaseUnitTest; import static org.junit.jupiter.api.Assertions.assertEquals; @@ -18,19 +18,21 @@ public void testDrivetrain() double goal = 16.5; // System.out.println("Starting"); - for (int i = 0; i < 300; ++i) + for (int i = 0; i < 400; ++i) { drivetrain.driveDistance(goal, goal); drivetrain.simulationPeriodic(); // System.out.println("Loop " + i); - } - assertEquals(goal, drivetrain.getRightDistance(), .02); - assertEquals(goal, drivetrain.getLeftDistance(), .02); - assertEquals(0, drivetrain.getRightRate(), .2); - assertEquals(0, drivetrain.getLeftRate(), .2); - assertEquals(0, drivetrain.getPositionError(goal, goal), .02); + double positionEpsilon = 0.03; + double velocityEpsilon = 0.2; + + assertEquals(goal, drivetrain.getRightDistance(), positionEpsilon); + assertEquals(goal, drivetrain.getLeftDistance(), positionEpsilon); + assertEquals(0, drivetrain.getRightRate(), velocityEpsilon); + assertEquals(0, drivetrain.getLeftRate(), velocityEpsilon); + assertEquals(0, drivetrain.getPositionError(goal, goal), positionEpsilon); } } diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java index 8749682..74a625c 100644 --- a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java +++ b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java @@ -1,8 +1,8 @@ package org.snobotv2.module_wrappers.rev; -import com.revrobotics.CANSparkLowLevel; import com.revrobotics.RelativeEncoder; -import com.revrobotics.SimableCANSparkFlex; +import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.SparkLowLevel.MotorType; import org.junit.jupiter.api.Test; import org.snobotv2.sim_wrappers.InstantaneousMotorSim; @@ -13,7 +13,7 @@ public class TestRevFlexEncoder @Test public void testEncoder() { - try (SimableCANSparkFlex sparkFlex = new SimableCANSparkFlex(1, CANSparkLowLevel.MotorType.kBrushless)) + try (SparkFlex sparkFlex = new SparkFlex(1, MotorType.kBrushless)) { RelativeEncoder encoder = sparkFlex.getEncoder(); diff --git a/snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve/SimpleMotorWithMassModel.java b/snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve/SimpleMotorWithMassModel.java index 5768636..3c14ad8 100644 --- a/snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve/SimpleMotorWithMassModel.java +++ b/snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve/SimpleMotorWithMassModel.java @@ -1,6 +1,9 @@ package edu.wpi.first.wpilibj.simulation.swerve; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.system.LinearSystem; import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.simulation.FlywheelSim; @@ -16,7 +19,9 @@ class SimpleMotorWithMassModel { * @param moi Moment of inertia of the controlled mass */ SimpleMotorWithMassModel(DCMotor motor, double gearing, double moi) { - m_fwSim = new FlywheelSim(motor, gearing, moi); + LinearSystem plant = + LinearSystemId.createFlywheelSystem(motor, moi, gearing); + m_fwSim = new FlywheelSim(plant, motor); } void update(double motorVoltage, double dtSeconds) { diff --git a/snobotsim_vendordep_template.json b/snobotsim_vendordep_template.json index bfce94e..e59254c 100644 --- a/snobotsim_vendordep_template.json +++ b/snobotsim_vendordep_template.json @@ -4,8 +4,8 @@ "version": "$VERSION", "uuid": "$GUID", "frcYear": "2024", - "mavenUrls": ["https://raw.githubusercontent.com/snobotsim/maven_repo/master/release"], - "jsonUrl": "http://raw.githubusercontent.com/snobotsim/maven_repo/master/release/SnobotSim.json", + "mavenUrls": ["https://raw.githubusercontent.com/snobotsim/maven_repo/master/development"], + "jsonUrl": "http://raw.githubusercontent.com/snobotsim/maven_repo/master/development/SnobotSim.json", "javaDependencies": [ { "groupId": "org.snobotv2",