From fd1942019e15051a752f262b91e51c5885c10f31 Mon Sep 17 00:00:00 2001 From: Charles Kennedy <82charkenn@csdecatur.net> Date: Tue, 12 May 2026 16:46:42 -0400 Subject: [PATCH 1/2] imported to 2026 --- RobotCode Imported/.gitignore | 187 +++++++++++++ RobotCode Imported/.vscode/launch.json | 21 ++ RobotCode Imported/.vscode/settings.json | 61 +++++ .../.wpilib/wpilib_preferences.json | 6 + RobotCode Imported/WPILib-License.md | 24 ++ RobotCode Imported/build.gradle | 107 ++++++++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + RobotCode Imported/gradlew | 252 ++++++++++++++++++ RobotCode Imported/gradlew.bat | 94 +++++++ RobotCode Imported/settings.gradle | 30 +++ .../src/main/deploy/example.txt | 3 + .../src/main/deploy/pathplanner/navgrid.json | 1 + .../paths/Copy of Example Path.path | 54 ++++ .../pathplanner/paths/Example Path.path | 78 ++++++ .../Four Note Auto Source Side Start.path | 194 ++++++++++++++ .../paths/Middle Start to Top Note.path | 54 ++++ .../paths/Top Start to Top Note.path | 78 ++++++ .../java/frc/lib/examples/leds/Color.java | 69 +++++ .../frc/lib/examples/leds/NamedColor.java | 16 ++ .../src/main/java/frc/lib/util/Timer.java | 32 +++ .../src/main/java/frc/robot/Main.java | 26 ++ .../src/main/java/frc/robot/Robot.java | 153 +++++++++++ .../main/java/frc/robot/RobotContainer.java | 42 +++ .../java/frc/robot/constants/Constants.java | 6 + .../main/java/frc/robot/constants/Ports.java | 6 + .../main/java/frc/robot/core/ILogSource.java | 166 ++++++++++++ .../frc/robot/core/IModeChangeListener.java | 29 ++ .../robot/core/LogitechControllerButtons.java | 20 ++ .../main/java/frc/robot/core/Untested.java | 13 + RobotCode Imported/src/test/java/LogTest.java | 32 +++ .../vendordeps/WPILibNewCommands.json | 39 +++ 32 files changed, 1900 insertions(+) create mode 100644 RobotCode Imported/.gitignore create mode 100644 RobotCode Imported/.vscode/launch.json create mode 100644 RobotCode Imported/.vscode/settings.json create mode 100644 RobotCode Imported/.wpilib/wpilib_preferences.json create mode 100644 RobotCode Imported/WPILib-License.md create mode 100644 RobotCode Imported/build.gradle create mode 100644 RobotCode Imported/gradle/wrapper/gradle-wrapper.jar create mode 100644 RobotCode Imported/gradle/wrapper/gradle-wrapper.properties create mode 100644 RobotCode Imported/gradlew create mode 100644 RobotCode Imported/gradlew.bat create mode 100644 RobotCode Imported/settings.gradle create mode 100644 RobotCode Imported/src/main/deploy/example.txt create mode 100644 RobotCode Imported/src/main/deploy/pathplanner/navgrid.json create mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path create mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path create mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path create mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path create mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path create mode 100644 RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java create mode 100644 RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java create mode 100644 RobotCode Imported/src/main/java/frc/lib/util/Timer.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/Main.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/Robot.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/RobotContainer.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/constants/Constants.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/constants/Ports.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java create mode 100644 RobotCode Imported/src/main/java/frc/robot/core/Untested.java create mode 100644 RobotCode Imported/src/test/java/LogTest.java create mode 100644 RobotCode Imported/vendordeps/WPILibNewCommands.json diff --git a/RobotCode Imported/.gitignore b/RobotCode Imported/.gitignore new file mode 100644 index 00000000..34cbaac1 --- /dev/null +++ b/RobotCode Imported/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/RobotCode Imported/.vscode/launch.json b/RobotCode Imported/.vscode/launch.json new file mode 100644 index 00000000..c9c9713d --- /dev/null +++ b/RobotCode Imported/.vscode/launch.json @@ -0,0 +1,21 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true, + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false, + } + ] +} diff --git a/RobotCode Imported/.vscode/settings.json b/RobotCode Imported/.vscode/settings.json new file mode 100644 index 00000000..5e6ede86 --- /dev/null +++ b/RobotCode Imported/.vscode/settings.json @@ -0,0 +1,61 @@ +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + }, + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ], + "java.dependency.enableDependencyCheckup": false +} diff --git a/RobotCode Imported/.wpilib/wpilib_preferences.json b/RobotCode Imported/.wpilib/wpilib_preferences.json new file mode 100644 index 00000000..1c589a28 --- /dev/null +++ b/RobotCode Imported/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2026", + "teamNumber": 4026 +} \ No newline at end of file diff --git a/RobotCode Imported/WPILib-License.md b/RobotCode Imported/WPILib-License.md new file mode 100644 index 00000000..eb3061b0 --- /dev/null +++ b/RobotCode Imported/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2026 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/RobotCode Imported/build.gradle b/RobotCode Imported/build.gradle new file mode 100644 index 00000000..322a386e --- /dev/null +++ b/RobotCode Imported/build.gradle @@ -0,0 +1,107 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2026.2.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/RobotCode Imported/gradle/wrapper/gradle-wrapper.jar b/RobotCode Imported/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..a4b76b9530d66f5e68d973ea569d8e19de379189 GIT binary patch literal 43583 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00000000..f5feea6d --- /dev/null +++ b/RobotCode Imported/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/RobotCode Imported/gradlew.bat b/RobotCode Imported/gradlew.bat new file mode 100644 index 00000000..9d21a218 --- /dev/null +++ b/RobotCode Imported/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/RobotCode Imported/settings.gradle b/RobotCode Imported/settings.gradle new file mode 100644 index 00000000..25f6f6e8 --- /dev/null +++ b/RobotCode Imported/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2026' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name = 'frcHome' + url = frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/RobotCode Imported/src/main/deploy/example.txt b/RobotCode Imported/src/main/deploy/example.txt new file mode 100644 index 00000000..bb82515d --- /dev/null +++ b/RobotCode Imported/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/navgrid.json b/RobotCode Imported/src/main/deploy/pathplanner/navgrid.json new file mode 100644 index 00000000..bab0da93 --- /dev/null +++ b/RobotCode Imported/src/main/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ +{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false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\ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path new file mode 100644 index 00000000..4c59bb4f --- /dev/null +++ b/RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path @@ -0,0 +1,54 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.681248725726151, + "y": 7.436223661684991 + }, + "prevControl": null, + "nextControl": { +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path + "x": 1.7566125160740347, + "y": 5.87046553010485 +======== + "x": 6.089086976380232, + "y": 7.574272368275679 +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Copy of Example Path.path + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.0917237977973722, + "y": 6.635541163459008 + }, + "prevControl": { + "x": 2.278942674477277, + "y": 7.132516507185481 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Top Note" + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -122.4711922908485, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path new file mode 100644 index 00000000..78c69c14 --- /dev/null +++ b/RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path @@ -0,0 +1,78 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path + "x": 0.9964924773154389, + "y": 6.6188914144210065 + }, + "prevControl": null, + "nextControl": { + "x": 1.861859906055994, + "y": 6.700750495518085 +======== + "x": 2.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.843494682503839, + "y": 7.114110012973941 +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path + "x": 2.5734465818707433, + "y": 6.644744410565054 + }, + "prevControl": { + "x": 1.8852482149408742, + "y": 6.6188914144210065 +======== + "x": 7.644435737300745, + "y": 7.445426908791589 + }, + "prevControl": { + "x": 6.457216860620841, + "y": 7.316581449306948 +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Top Note" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0, + "rotationDegrees": 3.3114529284094747, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path + "rotation": -127.18508622746991, +======== + "rotation": 0, +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path new file mode 100644 index 00000000..09a22347 --- /dev/null +++ b/RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path @@ -0,0 +1,194 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.562422887316085, + "y": 4.1046482092964185 + }, + "prevControl": null, + "nextControl": { + "x": 1.762422887316085, + "y": 4.1046482092964185 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.76230979812387, + "y": 4.1046482092964185 + }, + "prevControl": { + "x": 2.4623097981238713, + "y": 3.7046482092964177 + }, + "nextControl": { + "x": 2.8823097981238694, + "y": 4.264648209296419 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.294543620426272, + "y": 5.086957182461374 + }, + "prevControl": { + "x": 2.294543620426272, + "y": 4.736957182461374 + }, + "nextControl": { + "x": 2.294543620426272, + "y": 5.336957182461374 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.76230979812387, + "y": 5.5430292057165325 + }, + "prevControl": { + "x": 2.76230979812387, + "y": 5.493029205716533 + }, + "nextControl": { + "x": 2.76230979812387, + "y": 5.593029205716532 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.294543620426272, + "y": 5.98740707452925 + }, + "prevControl": { + "x": 2.294543620426272, + "y": 5.48740707452925 + }, + "nextControl": { + "x": 2.294543620426272, + "y": 6.68740707452925 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.76230979812387, + "y": 6.922328333967831 + }, + "prevControl": { + "x": 2.5849006990356145, + "y": 6.792228327969778 + }, + "nextControl": { + "x": 2.893488447139776, + "y": 7.018526009912829 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.176657654978019, + "y": 6.532338005293588 + }, + "prevControl": { + "x": 2.226657654978018, + "y": 6.532338005293588 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 4, + "rotationDegrees": 35.0, + "rotateFast": false + }, + { + "waypointRelativePos": 3, + "rotationDegrees": 26.570354868584797, + "rotateFast": false + }, + { + "waypointRelativePos": 1, + "rotationDegrees": 0, + "rotateFast": false + }, + { + "waypointRelativePos": 2, + "rotationDegrees": 0, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.0, + "command": { + "type": "parallel", + "data": { + "commands": [] + } + } + }, + { + "name": "New Event Marker", + "waypointRelativePos": 2.0, + "command": { + "type": "parallel", + "data": { + "commands": [] + } + } + }, + { + "name": "New Event Marker", + "waypointRelativePos": 4.0, + "command": { + "type": "parallel", + "data": { + "commands": [] + } + } + }, + { + "name": "New Event Marker", + "waypointRelativePos": 6.0, + "command": { + "type": "parallel", + "data": { + "commands": [] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 36.25383773744482, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path new file mode 100644 index 00000000..4c59bb4f --- /dev/null +++ b/RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path @@ -0,0 +1,54 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.681248725726151, + "y": 7.436223661684991 + }, + "prevControl": null, + "nextControl": { +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path + "x": 1.7566125160740347, + "y": 5.87046553010485 +======== + "x": 6.089086976380232, + "y": 7.574272368275679 +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Copy of Example Path.path + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.0917237977973722, + "y": 6.635541163459008 + }, + "prevControl": { + "x": 2.278942674477277, + "y": 7.132516507185481 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Top Note" + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -122.4711922908485, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path new file mode 100644 index 00000000..78c69c14 --- /dev/null +++ b/RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path @@ -0,0 +1,78 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path + "x": 0.9964924773154389, + "y": 6.6188914144210065 + }, + "prevControl": null, + "nextControl": { + "x": 1.861859906055994, + "y": 6.700750495518085 +======== + "x": 2.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.843494682503839, + "y": 7.114110012973941 +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path + "x": 2.5734465818707433, + "y": 6.644744410565054 + }, + "prevControl": { + "x": 1.8852482149408742, + "y": 6.6188914144210065 +======== + "x": 7.644435737300745, + "y": 7.445426908791589 + }, + "prevControl": { + "x": 6.457216860620841, + "y": 7.316581449306948 +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Top Note" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0, + "rotationDegrees": 3.3114529284094747, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, +<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path + "rotation": -127.18508622746991, +======== + "rotation": 0, +>>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java b/RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java new file mode 100644 index 00000000..4b1bdb18 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java @@ -0,0 +1,69 @@ +package frc.lib.examples.leds; + +import java.util.HashMap; + +public class Color { + + public static HashMap colors = new HashMap<>(); + + public boolean hsv; + + public int r, g, b; + public int h, s, v; + // It is ultimately pointless to make these private. + + public Color(int red, int green, int blue) { + this(red, green, blue, false); + } + + public Color(int[] color) { + this(color[0], color[1], color[2], false); + } + + public static Color fromHSV(int h, int s, int v) { + return new Color(h, s, v, true); + } + + private Color(int red, int green, int blue, boolean hsv) { + this.hsv = hsv; + if (!hsv) { + this.r = red; + this.g = green; + this.b = blue; + } else { + this.h = red; + this.s = green; + this.v = blue; + } + } + + public int[] getList() { + return hsv ? new int[] + { + h, s, v + } : new int[] + { + r, g, b + }; + } + + public int get(int index) { + return switch (index) { + case 0 -> hsv ? h : r; + case 1 -> hsv ? s : g; + case 2 -> hsv ? v : b; + default -> 0; + }; + } + + public Color clone() throws CloneNotSupportedException { + Color color = (Color) super.clone(); + return this.hsv ? new Color(this.r, this.g, this.b, true) + : new Color(this.h, this.s, this.b, false); + } + + public Color fromString(String color) { + return colors.get(color); + } + +} diff --git a/RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java b/RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java new file mode 100644 index 00000000..3aeb0934 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java @@ -0,0 +1,16 @@ +package frc.lib.examples.leds; + +public final class NamedColor +{ + + public static final Color RED = new Color(255, 0, 0); + public static final Color ORANGE = new Color(255, 100, 0); + public static final Color YELLOW = new Color(255, 255, 0); + public static final Color GREEN = new Color(0, 255, 0); + public static final Color BLUE = new Color(0, 0, 255); + public static final Color PURPLE = new Color(130, 0, 255); + + public static final Color WHITE = new Color(255, 255, 255); + public static final Color BLACK = new Color(0, 0, 0); + +} diff --git a/RobotCode Imported/src/main/java/frc/lib/util/Timer.java b/RobotCode Imported/src/main/java/frc/lib/util/Timer.java new file mode 100644 index 00000000..1785c33d --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/lib/util/Timer.java @@ -0,0 +1,32 @@ +package frc.lib.util; + +/** A class for doing countdowns or other forms of waiting */ +public class Timer +{ + + /** In ms */ + private long startTime, duration; + + /** + * @param duration in ms. Starts automatically + */ + public Timer(long duration) + { + this.duration = duration; + reset(); + } + + /** + * Sets {@link #startTime} to the current time, effectively resetting the timer + */ + public void reset() + { + startTime = System.currentTimeMillis(); + } + + public boolean isDone() + { + return System.currentTimeMillis() - startTime >= duration; + } + +} diff --git a/RobotCode Imported/src/main/java/frc/robot/Main.java b/RobotCode Imported/src/main/java/frc/robot/Main.java new file mode 100644 index 00000000..d725d235 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/Main.java @@ -0,0 +1,26 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main +{ + private Main() + { + + } + + /** + * Main initialization function. Do not perform any initialization here. + *

+ * If you change your main robot class, change the parameter type. + */ + public static void main(String... args) + { + RobotBase.startRobot(Robot::new); + } +} diff --git a/RobotCode Imported/src/main/java/frc/robot/Robot.java b/RobotCode Imported/src/main/java/frc/robot/Robot.java new file mode 100644 index 00000000..137016d4 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/Robot.java @@ -0,0 +1,153 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +package frc.robot; + +import java.util.ArrayList; +import java.util.Optional; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.core.ILogSource; +import frc.robot.core.IModeChangeListener; + +public class Robot extends TimedRobot implements ILogSource, IModeChangeListener +{ + + private static Robot instance; + + private Optional autonomousCommand; + + private ArrayList modeChangeListeners = new ArrayList<>(); + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() + { + if (instance != null) + System.err.println("WARNING: Robot instance already exists!"); + instance = this; + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + *

+ * This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() + { + // Runs the Scheduler. This is responsible for polling buttons, adding + // newly-scheduled + // commands, running already-scheduled commands, removing finished or + // interrupted commands, + // and running subsystem periodic() methods. This must be called from the + // robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + } + + /** This function is called once each time the robot enters Disabled mode. */ + @Override + public void disabledInit() + { + for (IModeChangeListener modeChangeListener : modeChangeListeners) + { + modeChangeListener.disabledInit(); + } + } + + @Override + public void disabledPeriodic() + {} + + /** + * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + */ + @Override + public void autonomousInit() + { + logInfo("Autonomous intializing..."); + + for (IModeChangeListener modeChangeListener : modeChangeListeners) + { + modeChangeListener.autonomousInit(); + } + + logFine("Getting and running auto command..."); + // schedule the autonomous command (example) + if (autonomousCommand.isPresent()) + { + autonomousCommand.get().schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() + {} + + @Override + public void teleopInit() + { + logInfo("Teleop initializing..."); + + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (autonomousCommand.isPresent()) + { + logFine("Cancelling auto command..."); + autonomousCommand.get().cancel(); + } + + for (IModeChangeListener modeChangeListener : modeChangeListeners) + { + modeChangeListener.teleopInit(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() + {} + + @Override + public void testInit() + { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + + for (IModeChangeListener modeChangeListener : modeChangeListeners) + { + modeChangeListener.testInit(); + } + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() + {} + + /** This function is called once when the robot is first started up. */ + @Override + public void simulationInit() + {} + + /** This function is called periodically whilst in simulation. */ + @Override + public void simulationPeriodic() + {} + + public static void addSubsystem(IModeChangeListener modeChangeListener) + { + instance.modeChangeListeners.add(modeChangeListener); + } +} diff --git a/RobotCode Imported/src/main/java/frc/robot/RobotContainer.java b/RobotCode Imported/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 00000000..7ca917aa --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,42 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; + +/** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ +public class RobotContainer { + + private static RobotContainer instance; + + private final ShuffleboardTab ShuffleboardTab; + + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + instance = this; + + ShuffleboardTab = Shuffleboard.getTab("Tab 1"); + + // Instantiate subsystems + + // Configure the button bindings + configurePrimaryBindings(); + configureSecondaryBindings(); + } + + private void configurePrimaryBindings() { + + } + + private void configureSecondaryBindings() { + } + + @SuppressWarnings("unused") + public static ShuffleboardTab getShuffleboardTab() { + return instance.ShuffleboardTab; + } + +} diff --git a/RobotCode Imported/src/main/java/frc/robot/constants/Constants.java b/RobotCode Imported/src/main/java/frc/robot/constants/Constants.java new file mode 100644 index 00000000..4a607fc2 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/constants/Constants.java @@ -0,0 +1,6 @@ +package frc.robot.constants; + +public class Constants +{ + +} diff --git a/RobotCode Imported/src/main/java/frc/robot/constants/Ports.java b/RobotCode Imported/src/main/java/frc/robot/constants/Ports.java new file mode 100644 index 00000000..cbf79b3f --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/constants/Ports.java @@ -0,0 +1,6 @@ +package frc.robot.constants; + +public final class Ports +{ + +} diff --git a/RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java b/RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java new file mode 100644 index 00000000..e8f36e7c --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java @@ -0,0 +1,166 @@ +package frc.robot.core; + +import java.text.MessageFormat; +import java.util.Date; +import java.util.HashMap; +import java.util.logging.ConsoleHandler; +import java.util.logging.Filter; +import java.util.logging.Formatter; +import java.util.logging.Level; +import java.util.logging.LogRecord; +import java.util.logging.Logger; + +public interface ILogSource +{ + + int STACK_TRACE_LENGTH = 5; + + /** + * Using a map is hacky, but works. I'm not that concerned since map access is 0(1) time + * complexity in most cases. If we have too many loggers, it could be a problem (worst case is + * O(n) time complexity). + */ + HashMap Loggers = new HashMap<>(); + + Formatter Formatter = new Formatter() + { + @Override + public String format(LogRecord record) + { + return MessageFormat.format("{0,date,HH:mm:ss} {1} [{2}]: {3}\n", new Object[] + { + new Date(record.getMillis()), record.getLoggerName(), + record.getLevel().getName(), record.getMessage() + }); + } + }; + + class LogFilter implements Filter + { + private Level level; + + public LogFilter(Level level) + { + this.level = level; + } + + public void setLevel(Level level) + { + this.level = level; + } + + /** Determines whether the message is logged */ + @Override + public boolean isLoggable(LogRecord record) + { + return record.getLevel().intValue() >= level.intValue(); + } + } + + public default String getLoggerName() + { + return getClass().getName() + "@" + System.identityHashCode(this); + } + + /** + * Get the logger for this class. If the logger does not exist, it will be created. + */ + private Logger getLogger() + { + String loggerName = getLoggerName(); + + Logger logger = Loggers.get(loggerName); + + if (logger == null) + { + // Initialize the logger + + logger = Logger.getLogger(loggerName); + logger.setLevel(Level.ALL); // We will filter the messages in our own filter + + // Set up the console handler + ConsoleHandler consoleHandler = new ConsoleHandler(); + consoleHandler.setFormatter(Formatter); + consoleHandler.setLevel(Level.ALL); // We will filter the messages in our own filter + // Here's where we filter the messages + consoleHandler.setFilter(new LogFilter(Level.CONFIG)); + + // Disable the default handler + logger.setUseParentHandlers(false); + logger.addHandler(consoleHandler); // Add our own handler + + Loggers.put(loggerName, logger); + + logger.log(Level.CONFIG, "Logger created: " + loggerName); + } + + return logger; + } + + /** Sets the minimum level for a message to be logged */ + public default void setLogFilterLevel(Level level) + { + ((LogFilter) getLogger().getHandlers()[0].getFilter()).setLevel(level); + } + + public default void log(Level level, String message) + { + getLogger().log(level, message); + } + + public default void logInfo(String message) + { + log(Level.INFO, message); + } + + public default void logWarning(String message) + { + log(Level.WARNING, message); + } + + public default void logSevere(String message) + { + log(Level.SEVERE, message); + } + + public default void logException(Exception e) + { + String msg = e.getMessage(); + + StackTraceElement[] stackTrace = e.getStackTrace(); + for (int i = 0; i < Math.min(STACK_TRACE_LENGTH, stackTrace.length); i++) + msg += "\n\t" + stackTrace[i].toString(); + + log(Level.SEVERE, msg); + } + + /** + * Alternative to {@link #logException(Exception)} for custom exceptions that don't warrant + * their own classes. + */ + public default void logException(String message) + { + logException(new Exception(message)); + } + + public default void logConfig(String message) + { + log(Level.CONFIG, message); + } + + public default void logFine(String message) + { + log(Level.FINE, message); + } + + public default void logFiner(String message) + { + log(Level.FINER, message); + } + + public default void logFinest(String message) + { + log(Level.FINEST, message); + } + +} diff --git a/RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java b/RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java new file mode 100644 index 00000000..ff14bdb3 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java @@ -0,0 +1,29 @@ +package frc.robot.core; + +import frc.robot.Robot; + +public interface IModeChangeListener +{ + + public default void defaultMethod() + { + Robot.addSubsystem(this); + } + + public default void disabledInit(){ + + } + + public default void teleopInit(){ + + } + + public default void autonomousInit(){ + + } + + public default void testInit(){ + + } + +} diff --git a/RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java b/RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java new file mode 100644 index 00000000..e6114ca2 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java @@ -0,0 +1,20 @@ +package frc.robot.core; + +public class LogitechControllerButtons +{ + public static final int a = 2; + public static final int b = 3; + public static final int x = 1; + public static final int y = 4; + public static final int bumperLeft = 5; + public static final int bumperRight = 6; + public static final int triggerLeft = 7; + public static final int triggerRight = 8; + public static final int home = 9; + public static final int start = 10; + + public static final int up = 0; + public static final int right = 90; + public static final int down = 180; + public static final int left = 270; +} \ No newline at end of file diff --git a/RobotCode Imported/src/main/java/frc/robot/core/Untested.java b/RobotCode Imported/src/main/java/frc/robot/core/Untested.java new file mode 100644 index 00000000..6a2d6d72 --- /dev/null +++ b/RobotCode Imported/src/main/java/frc/robot/core/Untested.java @@ -0,0 +1,13 @@ +package frc.robot.core; + +import java.lang.annotation.ElementType; +import java.lang.annotation.Target; + +/** + * Untested marks code that has not been tested on a robot. If a class is marked as untested, its methods do not need to + * also be marked as untested. It does not need to be applied to constants classes. + */ +@Target({ ElementType.TYPE, ElementType.METHOD }) +public @interface Untested { + +} \ No newline at end of file diff --git a/RobotCode Imported/src/test/java/LogTest.java b/RobotCode Imported/src/test/java/LogTest.java new file mode 100644 index 00000000..a18c18e3 --- /dev/null +++ b/RobotCode Imported/src/test/java/LogTest.java @@ -0,0 +1,32 @@ +import java.util.logging.Level; + +import frc.robot.core.ILogSource; + +class LogTest implements ILogSource { + + // Uncommnet @Test to run the test on build + // @Test + void testLog() { + System.out.println("Testing log functions"); + + logConfig("This is a config message"); + // logInfo("This is an info message"); + // logWarning("This is a warning message"); + // logSevere("This is a severe message"); + // logException(new Exception("This is an exception message")); + logConfig("This is a config message"); + + logFine("This is a fine message that should not be printed"); + setLogFilterLevel(Level.FINE); + logFine("This is another fine message"); + logFiner("This is a finer message and should not be printed"); + + setLogFilterLevel(Level.FINEST); + logFinest("This is the finest message"); + + System.out.println("Log functions tested"); + + assert (true); + } + +} diff --git a/RobotCode Imported/vendordeps/WPILibNewCommands.json b/RobotCode Imported/vendordeps/WPILibNewCommands.json new file mode 100644 index 00000000..d90630e9 --- /dev/null +++ b/RobotCode Imported/vendordeps/WPILibNewCommands.json @@ -0,0 +1,39 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2026", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxsystemcore", + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} From 841724e404f550a5d7e71fc53b11eee3b1aa5e72 Mon Sep 17 00:00:00 2001 From: Charles Kennedy <82charkenn@csdecatur.net> Date: Tue, 12 May 2026 16:50:26 -0400 Subject: [PATCH 2/2] Made robot code one folder --- RobotCode Imported/.gitignore | 187 ---------- RobotCode Imported/.vscode/launch.json | 21 -- RobotCode Imported/.vscode/settings.json | 61 ---- .../.wpilib/wpilib_preferences.json | 6 - RobotCode Imported/WPILib-License.md | 24 -- RobotCode Imported/build.gradle | 107 ------ .../gradle/wrapper/gradle-wrapper.jar | Bin 43583 -> 0 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 - RobotCode Imported/gradlew | 252 ------------- RobotCode Imported/gradlew.bat | 94 ----- RobotCode Imported/settings.gradle | 30 -- .../src/main/deploy/example.txt | 3 - .../src/main/deploy/pathplanner/navgrid.json | 1 - .../paths/Copy of Example Path.path | 54 --- .../pathplanner/paths/Example Path.path | 78 ---- .../Four Note Auto Source Side Start.path | 194 ---------- .../paths/Middle Start to Top Note.path | 54 --- .../paths/Top Start to Top Note.path | 78 ---- .../java/frc/lib/examples/leds/Color.java | 69 ---- .../frc/lib/examples/leds/NamedColor.java | 16 - .../src/main/java/frc/lib/util/Timer.java | 32 -- .../src/main/java/frc/robot/Main.java | 26 -- .../src/main/java/frc/robot/Robot.java | 153 -------- .../main/java/frc/robot/RobotContainer.java | 42 --- .../java/frc/robot/constants/Constants.java | 6 - .../main/java/frc/robot/constants/Ports.java | 6 - .../main/java/frc/robot/core/ILogSource.java | 166 --------- .../frc/robot/core/IModeChangeListener.java | 29 -- .../robot/core/LogitechControllerButtons.java | 20 -- .../main/java/frc/robot/core/Untested.java | 13 - RobotCode Imported/src/test/java/LogTest.java | 32 -- .../vendordeps/WPILibNewCommands.json | 39 -- RobotCode/.gitignore | 9 + RobotCode/.pathplanner/settings.json | 12 - RobotCode/.vscode/launch.json | 5 +- RobotCode/.vscode/settings.json | 47 ++- RobotCode/.wpilib/wpilib_preferences.json | 2 +- RobotCode/WPILib-License.md | 2 +- RobotCode/build.gradle | 25 +- RobotCode/gradle/wrapper/gradle-wrapper.jar | Bin 43462 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 2 +- RobotCode/gradlew | 7 +- RobotCode/gradlew.bat | 22 +- RobotCode/networktables.json | 1 - RobotCode/settings.gradle | 6 +- RobotCode/simgui-ds.json | 92 ----- RobotCode/simgui.json | 10 - RobotCode/vendordeps/PathplannerLib.json | 38 -- RobotCode/vendordeps/Phoenix6.json | 339 ------------------ RobotCode/vendordeps/REVLib.json | 74 ---- RobotCode/vendordeps/WPILibNewCommands.json | 3 +- RobotCode/vendordeps/photonlib.json | 57 --- 52 files changed, 85 insertions(+), 2568 deletions(-) delete mode 100644 RobotCode Imported/.gitignore delete mode 100644 RobotCode Imported/.vscode/launch.json delete mode 100644 RobotCode Imported/.vscode/settings.json delete mode 100644 RobotCode Imported/.wpilib/wpilib_preferences.json delete mode 100644 RobotCode Imported/WPILib-License.md delete mode 100644 RobotCode Imported/build.gradle delete mode 100644 RobotCode Imported/gradle/wrapper/gradle-wrapper.jar delete mode 100644 RobotCode Imported/gradle/wrapper/gradle-wrapper.properties delete mode 100644 RobotCode Imported/gradlew delete mode 100644 RobotCode Imported/gradlew.bat delete mode 100644 RobotCode Imported/settings.gradle delete mode 100644 RobotCode Imported/src/main/deploy/example.txt delete mode 100644 RobotCode Imported/src/main/deploy/pathplanner/navgrid.json delete mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path delete mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path delete mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path delete mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path delete mode 100644 RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path delete mode 100644 RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java delete mode 100644 RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java delete mode 100644 RobotCode Imported/src/main/java/frc/lib/util/Timer.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/Main.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/Robot.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/RobotContainer.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/constants/Constants.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/constants/Ports.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java delete mode 100644 RobotCode Imported/src/main/java/frc/robot/core/Untested.java delete mode 100644 RobotCode Imported/src/test/java/LogTest.java delete mode 100644 RobotCode Imported/vendordeps/WPILibNewCommands.json delete mode 100644 RobotCode/.pathplanner/settings.json delete mode 100644 RobotCode/networktables.json delete mode 100644 RobotCode/simgui-ds.json delete mode 100644 RobotCode/simgui.json delete mode 100644 RobotCode/vendordeps/PathplannerLib.json delete mode 100644 RobotCode/vendordeps/Phoenix6.json delete mode 100644 RobotCode/vendordeps/REVLib.json delete mode 100644 RobotCode/vendordeps/photonlib.json diff --git a/RobotCode Imported/.gitignore b/RobotCode Imported/.gitignore deleted file mode 100644 index 34cbaac1..00000000 --- a/RobotCode Imported/.gitignore +++ /dev/null @@ -1,187 +0,0 @@ -# This gitignore has been specially created by the WPILib team. -# If you remove items from this file, intellisense might break. - -### C++ ### -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app - -### Java ### -# Compiled class file -*.class - -# Log file -*.log - -# BlueJ files -*.ctxt - -# Mobile Tools for Java (J2ME) -.mtj.tmp/ - -# Package Files # -*.jar -*.war -*.nar -*.ear -*.zip -*.tar.gz -*.rar - -# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml -hs_err_pid* - -### Linux ### -*~ - -# temporary files which can be created if a process still has a handle open of a deleted file -.fuse_hidden* - -# KDE directory preferences -.directory - -# Linux trash folder which might appear on any partition or disk -.Trash-* - -# .nfs files are created when an open file is removed but is still being accessed -.nfs* - -### macOS ### -# General -.DS_Store -.AppleDouble -.LSOverride - -# Icon must end with two \r -Icon - -# Thumbnails -._* - -# Files that might appear in the root of a volume -.DocumentRevisions-V100 -.fseventsd -.Spotlight-V100 -.TemporaryItems -.Trashes -.VolumeIcon.icns -.com.apple.timemachine.donotpresent - -# Directories potentially created on remote AFP share -.AppleDB -.AppleDesktop -Network Trash Folder -Temporary Items -.apdisk - -### VisualStudioCode ### -.vscode/* -!.vscode/settings.json -!.vscode/tasks.json -!.vscode/launch.json -!.vscode/extensions.json - -### Windows ### -# Windows thumbnail cache files -Thumbs.db -ehthumbs.db -ehthumbs_vista.db - -# Dump file -*.stackdump - -# Folder config file -[Dd]esktop.ini - -# Recycle Bin used on file shares -$RECYCLE.BIN/ - -# Windows Installer files -*.cab -*.msi -*.msix -*.msm -*.msp - -# Windows shortcuts -*.lnk - -### Gradle ### -.gradle -/build/ - -# Ignore Gradle GUI config -gradle-app.setting - -# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) -!gradle-wrapper.jar - -# Cache of project -.gradletasknamecache - -# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 -# gradle/wrapper/gradle-wrapper.properties - -# # VS Code Specific Java Settings -# DO NOT REMOVE .classpath and .project -.classpath -.project -.settings/ -bin/ - -# IntelliJ -*.iml -*.ipr -*.iws -.idea/ -out/ - -# Fleet -.fleet - -# Simulation GUI and other tools window save file -networktables.json -simgui.json -*-window.json - -# Simulation data log directory -logs/ - -# Folder that has CTRE Phoenix Sim device config storage -ctre_sim/ - -# clangd -/.cache -compile_commands.json - -# Eclipse generated file for annotation processors -.factorypath diff --git a/RobotCode Imported/.vscode/launch.json b/RobotCode Imported/.vscode/launch.json deleted file mode 100644 index c9c9713d..00000000 --- a/RobotCode Imported/.vscode/launch.json +++ /dev/null @@ -1,21 +0,0 @@ -{ - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 - "version": "0.2.0", - "configurations": [ - - { - "type": "wpilib", - "name": "WPILib Desktop Debug", - "request": "launch", - "desktop": true, - }, - { - "type": "wpilib", - "name": "WPILib roboRIO Debug", - "request": "launch", - "desktop": false, - } - ] -} diff --git a/RobotCode Imported/.vscode/settings.json b/RobotCode Imported/.vscode/settings.json deleted file mode 100644 index 5e6ede86..00000000 --- a/RobotCode Imported/.vscode/settings.json +++ /dev/null @@ -1,61 +0,0 @@ -{ - "java.configuration.updateBuildConfiguration": "automatic", - "java.server.launchMode": "Standard", - "files.exclude": { - "**/.git": true, - "**/.svn": true, - "**/.hg": true, - "**/CVS": true, - "**/.DS_Store": true, - "bin/": true, - "**/.classpath": true, - "**/.project": true, - "**/.settings": true, - "**/.factorypath": true, - "**/*~": true - }, - "java.test.config": [ - { - "name": "WPIlibUnitTests", - "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], - "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , - "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" - } - }, - ], - "java.test.defaultConfig": "WPIlibUnitTests", - "java.import.gradle.annotationProcessing.enabled": false, - "java.completion.favoriteStaticMembers": [ - "org.junit.Assert.*", - "org.junit.Assume.*", - "org.junit.jupiter.api.Assertions.*", - "org.junit.jupiter.api.Assumptions.*", - "org.junit.jupiter.api.DynamicContainer.*", - "org.junit.jupiter.api.DynamicTest.*", - "org.mockito.Mockito.*", - "org.mockito.ArgumentMatchers.*", - "org.mockito.Answers.*", - "edu.wpi.first.units.Units.*" - ], - "java.completion.filteredTypes": [ - "java.awt.*", - "com.sun.*", - "sun.*", - "jdk.*", - "org.graalvm.*", - "io.micrometer.shaded.*", - "java.beans.*", - "java.util.Base64.*", - "java.util.Timer", - "java.sql.*", - "javax.swing.*", - "javax.management.*", - "javax.smartcardio.*", - "edu.wpi.first.math.proto.*", - "edu.wpi.first.math.**.proto.*", - "edu.wpi.first.math.**.struct.*", - ], - "java.dependency.enableDependencyCheckup": false -} diff --git a/RobotCode Imported/.wpilib/wpilib_preferences.json b/RobotCode Imported/.wpilib/wpilib_preferences.json deleted file mode 100644 index 1c589a28..00000000 --- a/RobotCode Imported/.wpilib/wpilib_preferences.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2026", - "teamNumber": 4026 -} \ No newline at end of file diff --git a/RobotCode Imported/WPILib-License.md b/RobotCode Imported/WPILib-License.md deleted file mode 100644 index eb3061b0..00000000 --- a/RobotCode Imported/WPILib-License.md +++ /dev/null @@ -1,24 +0,0 @@ -Copyright (c) 2009-2026 FIRST and other WPILib contributors -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of FIRST, WPILib, nor the names of other WPILib - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR -PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR -ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/RobotCode Imported/build.gradle b/RobotCode Imported/build.gradle deleted file mode 100644 index 322a386e..00000000 --- a/RobotCode Imported/build.gradle +++ /dev/null @@ -1,107 +0,0 @@ -plugins { - id "java" - id "edu.wpi.first.GradleRIO" version "2026.2.1" -} - -java { - sourceCompatibility = JavaVersion.VERSION_17 - targetCompatibility = JavaVersion.VERSION_17 -} - -def ROBOT_MAIN_CLASS = "frc.robot.Main" - -// Define my targets (RoboRIO) and artifacts (deployable files) -// This is added by GradleRIO's backing project DeployUtils. -deploy { - targets { - roborio(getTargetTypeClass('RoboRIO')) { - // Team number is loaded either from the .wpilib/wpilib_preferences.json - // or from command line. If not found an exception will be thrown. - // You can use getTeamOrDefault(team) instead of getTeamNumber if you - // want to store a team number in this file. - team = project.frc.getTeamNumber() - debug = project.frc.getDebugOrDefault(false) - - artifacts { - // First part is artifact name, 2nd is artifact type - // getTargetTypeClass is a shortcut to get the class type using a string - - frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - } - - // Static files artifact - frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { - files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project - } - } - } - } -} - -def deployArtifact = deploy.targets.roborio.artifacts.frcJava - -// Set to true to use debug for all targets including JNI, which will drastically impact -// performance. -wpi.java.debugJni = false - -// Set this to true to enable desktop support. -def includeDesktopSupport = true - -// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 5. -dependencies { - annotationProcessor wpi.java.deps.wpilibAnnotations() - implementation wpi.java.deps.wpilib() - implementation wpi.java.vendor.java() - - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) - - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) - - nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) - nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) - simulationDebug wpi.sim.enableDebug() - - nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) - nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) - simulationRelease wpi.sim.enableRelease() - - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - testRuntimeOnly 'org.junit.platform:junit-platform-launcher' -} - -test { - useJUnitPlatform() - systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' -} - -// Simulation configuration (e.g. environment variables). -wpi.sim.addGui().defaultEnabled = true -wpi.sim.addDriverstation() - -// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') -// in order to make them all available at runtime. Also adding the manifest so WPILib -// knows where to look for our Robot Class. -jar { - from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } - from('src') { into 'backup/src' } - from('vendordeps') { into 'backup/vendordeps' } - from('build.gradle') { into 'backup' } - manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) - duplicatesStrategy = DuplicatesStrategy.INCLUDE -} - -// Configure jar and deploy tasks -deployArtifact.jarTask = jar -wpi.java.configureExecutableTasks(jar) -wpi.java.configureTestTasks(test) - -// Configure string concat to always inline compile -tasks.withType(JavaCompile) { - options.compilerArgs.add '-XDstringConcat=inline' -} diff --git a/RobotCode Imported/gradle/wrapper/gradle-wrapper.jar b/RobotCode Imported/gradle/wrapper/gradle-wrapper.jar deleted file mode 100644 index a4b76b9530d66f5e68d973ea569d8e19de379189..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 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--- a/RobotCode Imported/gradlew +++ /dev/null @@ -1,252 +0,0 @@ -#!/bin/sh - -# -# Copyright © 2015-2021 the original authors. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# https://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# SPDX-License-Identifier: Apache-2.0 -# - -############################################################################## -# -# Gradle start up script for POSIX generated by Gradle. -# -# Important for running: -# -# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is -# noncompliant, but you have some other compliant shell such as ksh or -# bash, then to run this script, type that shell name before the whole -# command line, like: -# -# ksh Gradle -# -# Busybox and similar reduced shells will NOT work, because this script -# requires all of these POSIX shell features: -# * functions; -# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», -# «${var#prefix}», «${var%suffix}», and «$( cmd )»; -# * compound commands having a testable exit status, especially «case»; -# * various built-in commands including «command», «set», and «ulimit». -# -# Important for patching: -# -# (2) This script targets any POSIX shell, so it avoids extensions provided -# by Bash, Ksh, etc; in particular arrays are avoided. -# -# The "traditional" practice of packing multiple parameters into a -# space-separated string is a well documented source of bugs and security -# problems, so this is (mostly) avoided, by progressively accumulating -# options in "$@", and eventually passing that to Java. -# -# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, -# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; -# see the in-line comments for details. -# -# There are tweaks for specific operating systems such as AIX, CygWin, -# Darwin, MinGW, and NonStop. -# -# (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt -# within the Gradle project. -# -# You can find Gradle at https://github.com/gradle/gradle/. -# -############################################################################## - -# Attempt to set APP_HOME - -# Resolve links: $0 may be a link -app_path=$0 - -# Need this for daisy-chained symlinks. -while - APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path - [ -h "$app_path" ] -do - ls=$( ls -ld "$app_path" ) - link=${ls#*' -> '} - case $link in #( - /*) app_path=$link ;; #( - *) app_path=$APP_HOME$link ;; - esac -done - -# This is normally unused -# shellcheck disable=SC2034 -APP_BASE_NAME=${0##*/} -# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s -' "$PWD" ) || exit - -# Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD=maximum - -warn () { - echo "$*" -} >&2 - -die () { - echo - echo "$*" - echo - exit 1 -} >&2 - -# OS specific support (must be 'true' or 'false'). -cygwin=false -msys=false -darwin=false -nonstop=false -case "$( uname )" in #( - CYGWIN* ) cygwin=true ;; #( - Darwin* ) darwin=true ;; #( - MSYS* | MINGW* ) msys=true ;; #( - NONSTOP* ) nonstop=true ;; -esac - -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar - - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD=$JAVA_HOME/jre/sh/java - else - JAVACMD=$JAVA_HOME/bin/java - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD=java - if ! command -v java >/dev/null 2>&1 - then - die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -fi - -# Increase the maximum file descriptors if we can. -if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then - case $MAX_FD in #( - max*) - # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - MAX_FD=$( ulimit -H -n ) || - warn "Could not query maximum file descriptor limit" - esac - case $MAX_FD in #( - '' | soft) :;; #( - *) - # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. - # shellcheck disable=SC2039,SC3045 - ulimit -n "$MAX_FD" || - warn "Could not set maximum file descriptor limit to $MAX_FD" - esac -fi - -# Collect all arguments for the java command, stacking in reverse order: -# * args from the command line -# * the main class name -# * -classpath -# * -D...appname settings -# * --module-path (only if needed) -# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. - -# For Cygwin or MSYS, switch paths to Windows format before running java -if "$cygwin" || "$msys" ; then - APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) - CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) - - JAVACMD=$( cygpath --unix "$JAVACMD" ) - - # Now convert the arguments - kludge to limit ourselves to /bin/sh - for arg do - if - case $arg in #( - -*) false ;; # don't mess with options #( - /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath - [ -e "$t" ] ;; #( - *) false ;; - esac - then - arg=$( cygpath --path --ignore --mixed "$arg" ) - fi - # Roll the args list around exactly as many times as the number of - # args, so each arg winds up back in the position where it started, but - # possibly modified. - # - # NB: a `for` loop captures its iteration list before it begins, so - # changing the positional parameters here affects neither the number of - # iterations, nor the values presented in `arg`. - shift # remove old arg - set -- "$@" "$arg" # push replacement arg - done -fi - - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' - -# Collect all arguments for the java command: -# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, -# and any embedded shellness will be escaped. -# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be -# treated as '${Hostname}' itself on the command line. - -set -- \ - "-Dorg.gradle.appname=$APP_BASE_NAME" \ - -classpath "$CLASSPATH" \ - org.gradle.wrapper.GradleWrapperMain \ - "$@" - -# Stop when "xargs" is not available. -if ! command -v xargs >/dev/null 2>&1 -then - die "xargs is not available" -fi - -# Use "xargs" to parse quoted args. -# -# With -n1 it outputs one arg per line, with the quotes and backslashes removed. -# -# In Bash we could simply go: -# -# readarray ARGS < <( xargs -n1 <<<"$var" ) && -# set -- "${ARGS[@]}" "$@" -# -# but POSIX shell has neither arrays nor command substitution, so instead we -# post-process each arg (as a line of input to sed) to backslash-escape any -# character that might be a shell metacharacter, then use eval to reverse -# that process (while maintaining the separation between arguments), and wrap -# the whole thing up as a single "set" statement. -# -# This will of course break if any of these variables contains a newline or -# an unmatched quote. -# - -eval "set -- $( - printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | - xargs -n1 | - sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | - tr '\n' ' ' - )" '"$@"' - -exec "$JAVACMD" "$@" diff --git a/RobotCode Imported/gradlew.bat b/RobotCode Imported/gradlew.bat deleted file mode 100644 index 9d21a218..00000000 --- a/RobotCode Imported/gradlew.bat +++ /dev/null @@ -1,94 +0,0 @@ -@rem -@rem Copyright 2015 the original author or authors. -@rem -@rem Licensed under the Apache License, Version 2.0 (the "License"); -@rem you may not use this file except in compliance with the License. -@rem You may obtain a copy of the License at -@rem -@rem https://www.apache.org/licenses/LICENSE-2.0 -@rem -@rem Unless required by applicable law or agreed to in writing, software -@rem distributed under the License is distributed on an "AS IS" BASIS, -@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -@rem See the License for the specific language governing permissions and -@rem limitations under the License. -@rem -@rem SPDX-License-Identifier: Apache-2.0 -@rem - -@if "%DEBUG%"=="" @echo off -@rem ########################################################################## -@rem -@rem Gradle startup script for Windows -@rem -@rem ########################################################################## - -@rem Set local scope for the variables with windows NT shell -if "%OS%"=="Windows_NT" setlocal - -set DIRNAME=%~dp0 -if "%DIRNAME%"=="" set DIRNAME=. -@rem This is normally unused -set APP_BASE_NAME=%~n0 -set APP_HOME=%DIRNAME% - -@rem Resolve any "." and ".." in APP_HOME to make it shorter. -for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi - -@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" - -@rem Find java.exe -if defined JAVA_HOME goto findJavaFromJavaHome - -set JAVA_EXE=java.exe -%JAVA_EXE% -version >NUL 2>&1 -if %ERRORLEVEL% equ 0 goto execute - -echo. 1>&2 -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 -echo. 1>&2 -echo Please set the JAVA_HOME variable in your environment to match the 1>&2 -echo location of your Java installation. 1>&2 - -goto fail - -:findJavaFromJavaHome -set JAVA_HOME=%JAVA_HOME:"=% -set JAVA_EXE=%JAVA_HOME%/bin/java.exe - -if exist "%JAVA_EXE%" goto execute - -echo. 1>&2 -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 -echo. 1>&2 -echo Please set the JAVA_HOME variable in your environment to match the 1>&2 -echo location of your Java installation. 1>&2 - -goto fail - -:execute -@rem Setup the command line - -set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar - - -@rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* - -:end -@rem End local scope for the variables with windows NT shell -if %ERRORLEVEL% equ 0 goto mainEnd - -:fail -rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of -rem the _cmd.exe /c_ return code! -set EXIT_CODE=%ERRORLEVEL% -if %EXIT_CODE% equ 0 set EXIT_CODE=1 -if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% -exit /b %EXIT_CODE% - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega diff --git a/RobotCode Imported/settings.gradle b/RobotCode Imported/settings.gradle deleted file mode 100644 index 25f6f6e8..00000000 --- a/RobotCode Imported/settings.gradle +++ /dev/null @@ -1,30 +0,0 @@ -import org.gradle.internal.os.OperatingSystem - -pluginManagement { - repositories { - mavenLocal() - gradlePluginPortal() - String frcYear = '2026' - File frcHome - if (OperatingSystem.current().isWindows()) { - String publicFolder = System.getenv('PUBLIC') - if (publicFolder == null) { - publicFolder = "C:\\Users\\Public" - } - def homeRoot = new File(publicFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } else { - def userFolder = System.getProperty("user.home") - def homeRoot = new File(userFolder, "wpilib") - frcHome = new File(homeRoot, frcYear) - } - def frcHomeMaven = new File(frcHome, 'maven') - maven { - name = 'frcHome' - url = frcHomeMaven - } - } -} - -Properties props = System.getProperties(); -props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/RobotCode Imported/src/main/deploy/example.txt b/RobotCode Imported/src/main/deploy/example.txt deleted file mode 100644 index bb82515d..00000000 --- a/RobotCode Imported/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/navgrid.json b/RobotCode Imported/src/main/deploy/pathplanner/navgrid.json deleted file mode 100644 index bab0da93..00000000 --- a/RobotCode Imported/src/main/deploy/pathplanner/navgrid.json +++ /dev/null @@ -1 +0,0 @@ -{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false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\ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path deleted file mode 100644 index 4c59bb4f..00000000 --- a/RobotCode Imported/src/main/deploy/pathplanner/paths/Copy of Example Path.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 7.681248725726151, - "y": 7.436223661684991 - }, - "prevControl": null, - "nextControl": { -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path - "x": 1.7566125160740347, - "y": 5.87046553010485 -======== - "x": 6.089086976380232, - "y": 7.574272368275679 ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Copy of Example Path.path - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.0917237977973722, - "y": 6.635541163459008 - }, - "prevControl": { - "x": 2.278942674477277, - "y": 7.132516507185481 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Top Note" - } - ], - "rotationTargets": [], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, - "rotation": -122.4711922908485, - "rotateFast": false - }, - "reversed": false, - "folder": null, - "previewStartingState": null, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path deleted file mode 100644 index 78c69c14..00000000 --- a/RobotCode Imported/src/main/deploy/pathplanner/paths/Example Path.path +++ /dev/null @@ -1,78 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path - "x": 0.9964924773154389, - "y": 6.6188914144210065 - }, - "prevControl": null, - "nextControl": { - "x": 1.861859906055994, - "y": 6.700750495518085 -======== - "x": 2.0, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 3.843494682503839, - "y": 7.114110012973941 ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path - "x": 2.5734465818707433, - "y": 6.644744410565054 - }, - "prevControl": { - "x": 1.8852482149408742, - "y": 6.6188914144210065 -======== - "x": 7.644435737300745, - "y": 7.445426908791589 - }, - "prevControl": { - "x": 6.457216860620841, - "y": 7.316581449306948 ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Top Note" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0, - "rotationDegrees": 3.3114529284094747, - "rotateFast": false - } - ], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path - "rotation": -127.18508622746991, -======== - "rotation": 0, ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path - "rotateFast": false - }, - "reversed": false, - "folder": null, - "previewStartingState": null, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path deleted file mode 100644 index 09a22347..00000000 --- a/RobotCode Imported/src/main/deploy/pathplanner/paths/Four Note Auto Source Side Start.path +++ /dev/null @@ -1,194 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 1.562422887316085, - "y": 4.1046482092964185 - }, - "prevControl": null, - "nextControl": { - "x": 1.762422887316085, - "y": 4.1046482092964185 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.76230979812387, - "y": 4.1046482092964185 - }, - "prevControl": { - "x": 2.4623097981238713, - "y": 3.7046482092964177 - }, - "nextControl": { - "x": 2.8823097981238694, - "y": 4.264648209296419 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.294543620426272, - "y": 5.086957182461374 - }, - "prevControl": { - "x": 2.294543620426272, - "y": 4.736957182461374 - }, - "nextControl": { - "x": 2.294543620426272, - "y": 5.336957182461374 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.76230979812387, - "y": 5.5430292057165325 - }, - "prevControl": { - "x": 2.76230979812387, - "y": 5.493029205716533 - }, - "nextControl": { - "x": 2.76230979812387, - "y": 5.593029205716532 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.294543620426272, - "y": 5.98740707452925 - }, - "prevControl": { - "x": 2.294543620426272, - "y": 5.48740707452925 - }, - "nextControl": { - "x": 2.294543620426272, - "y": 6.68740707452925 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.76230979812387, - "y": 6.922328333967831 - }, - "prevControl": { - "x": 2.5849006990356145, - "y": 6.792228327969778 - }, - "nextControl": { - "x": 2.893488447139776, - "y": 7.018526009912829 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.176657654978019, - "y": 6.532338005293588 - }, - "prevControl": { - "x": 2.226657654978018, - "y": 6.532338005293588 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 4, - "rotationDegrees": 35.0, - "rotateFast": false - }, - { - "waypointRelativePos": 3, - "rotationDegrees": 26.570354868584797, - "rotateFast": false - }, - { - "waypointRelativePos": 1, - "rotationDegrees": 0, - "rotateFast": false - }, - { - "waypointRelativePos": 2, - "rotationDegrees": 0, - "rotateFast": false - } - ], - "constraintZones": [], - "eventMarkers": [ - { - "name": "New Event Marker", - "waypointRelativePos": 0.0, - "command": { - "type": "parallel", - "data": { - "commands": [] - } - } - }, - { - "name": "New Event Marker", - "waypointRelativePos": 2.0, - "command": { - "type": "parallel", - "data": { - "commands": [] - } - } - }, - { - "name": "New Event Marker", - "waypointRelativePos": 4.0, - "command": { - "type": "parallel", - "data": { - "commands": [] - } - } - }, - { - "name": "New Event Marker", - "waypointRelativePos": 6.0, - "command": { - "type": "parallel", - "data": { - "commands": [] - } - } - } - ], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, - "rotation": 36.25383773744482, - "rotateFast": false - }, - "reversed": false, - "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path deleted file mode 100644 index 4c59bb4f..00000000 --- a/RobotCode Imported/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 7.681248725726151, - "y": 7.436223661684991 - }, - "prevControl": null, - "nextControl": { -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Middle Start to Top Note.path - "x": 1.7566125160740347, - "y": 5.87046553010485 -======== - "x": 6.089086976380232, - "y": 7.574272368275679 ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Copy of Example Path.path - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.0917237977973722, - "y": 6.635541163459008 - }, - "prevControl": { - "x": 2.278942674477277, - "y": 7.132516507185481 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Top Note" - } - ], - "rotationTargets": [], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, - "rotation": -122.4711922908485, - "rotateFast": false - }, - "reversed": false, - "folder": null, - "previewStartingState": null, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path b/RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path deleted file mode 100644 index 78c69c14..00000000 --- a/RobotCode Imported/src/main/deploy/pathplanner/paths/Top Start to Top Note.path +++ /dev/null @@ -1,78 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path - "x": 0.9964924773154389, - "y": 6.6188914144210065 - }, - "prevControl": null, - "nextControl": { - "x": 1.861859906055994, - "y": 6.700750495518085 -======== - "x": 2.0, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 3.843494682503839, - "y": 7.114110012973941 ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path - "x": 2.5734465818707433, - "y": 6.644744410565054 - }, - "prevControl": { - "x": 1.8852482149408742, - "y": 6.6188914144210065 -======== - "x": 7.644435737300745, - "y": 7.445426908791589 - }, - "prevControl": { - "x": 6.457216860620841, - "y": 7.316581449306948 ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Top Note" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0, - "rotationDegrees": 3.3114529284094747, - "rotateFast": false - } - ], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, -<<<<<<<< HEAD:RobotCode/src/main/deploy/pathplanner/paths/Top Start to Top Note.path - "rotation": -127.18508622746991, -======== - "rotation": 0, ->>>>>>>> dev:RobotCode/src/main/deploy/pathplanner/paths/Example Path.path - "rotateFast": false - }, - "reversed": false, - "folder": null, - "previewStartingState": null, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java b/RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java deleted file mode 100644 index 4b1bdb18..00000000 --- a/RobotCode Imported/src/main/java/frc/lib/examples/leds/Color.java +++ /dev/null @@ -1,69 +0,0 @@ -package frc.lib.examples.leds; - -import java.util.HashMap; - -public class Color { - - public static HashMap colors = new HashMap<>(); - - public boolean hsv; - - public int r, g, b; - public int h, s, v; - // It is ultimately pointless to make these private. - - public Color(int red, int green, int blue) { - this(red, green, blue, false); - } - - public Color(int[] color) { - this(color[0], color[1], color[2], false); - } - - public static Color fromHSV(int h, int s, int v) { - return new Color(h, s, v, true); - } - - private Color(int red, int green, int blue, boolean hsv) { - this.hsv = hsv; - if (!hsv) { - this.r = red; - this.g = green; - this.b = blue; - } else { - this.h = red; - this.s = green; - this.v = blue; - } - } - - public int[] getList() { - return hsv ? new int[] - { - h, s, v - } : new int[] - { - r, g, b - }; - } - - public int get(int index) { - return switch (index) { - case 0 -> hsv ? h : r; - case 1 -> hsv ? s : g; - case 2 -> hsv ? v : b; - default -> 0; - }; - } - - public Color clone() throws CloneNotSupportedException { - Color color = (Color) super.clone(); - return this.hsv ? new Color(this.r, this.g, this.b, true) - : new Color(this.h, this.s, this.b, false); - } - - public Color fromString(String color) { - return colors.get(color); - } - -} diff --git a/RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java b/RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java deleted file mode 100644 index 3aeb0934..00000000 --- a/RobotCode Imported/src/main/java/frc/lib/examples/leds/NamedColor.java +++ /dev/null @@ -1,16 +0,0 @@ -package frc.lib.examples.leds; - -public final class NamedColor -{ - - public static final Color RED = new Color(255, 0, 0); - public static final Color ORANGE = new Color(255, 100, 0); - public static final Color YELLOW = new Color(255, 255, 0); - public static final Color GREEN = new Color(0, 255, 0); - public static final Color BLUE = new Color(0, 0, 255); - public static final Color PURPLE = new Color(130, 0, 255); - - public static final Color WHITE = new Color(255, 255, 255); - public static final Color BLACK = new Color(0, 0, 0); - -} diff --git a/RobotCode Imported/src/main/java/frc/lib/util/Timer.java b/RobotCode Imported/src/main/java/frc/lib/util/Timer.java deleted file mode 100644 index 1785c33d..00000000 --- a/RobotCode Imported/src/main/java/frc/lib/util/Timer.java +++ /dev/null @@ -1,32 +0,0 @@ -package frc.lib.util; - -/** A class for doing countdowns or other forms of waiting */ -public class Timer -{ - - /** In ms */ - private long startTime, duration; - - /** - * @param duration in ms. Starts automatically - */ - public Timer(long duration) - { - this.duration = duration; - reset(); - } - - /** - * Sets {@link #startTime} to the current time, effectively resetting the timer - */ - public void reset() - { - startTime = System.currentTimeMillis(); - } - - public boolean isDone() - { - return System.currentTimeMillis() - startTime >= duration; - } - -} diff --git a/RobotCode Imported/src/main/java/frc/robot/Main.java b/RobotCode Imported/src/main/java/frc/robot/Main.java deleted file mode 100644 index d725d235..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/Main.java +++ /dev/null @@ -1,26 +0,0 @@ -package frc.robot; - -import edu.wpi.first.wpilibj.RobotBase; - -/** - * Do NOT add any static variables to this class, or any initialization at all. Unless you know what - * you are doing, do not modify this file except to change the parameter class to the startRobot - * call. - */ -public final class Main -{ - private Main() - { - - } - - /** - * Main initialization function. Do not perform any initialization here. - *

- * If you change your main robot class, change the parameter type. - */ - public static void main(String... args) - { - RobotBase.startRobot(Robot::new); - } -} diff --git a/RobotCode Imported/src/main/java/frc/robot/Robot.java b/RobotCode Imported/src/main/java/frc/robot/Robot.java deleted file mode 100644 index 137016d4..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/Robot.java +++ /dev/null @@ -1,153 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. -package frc.robot; - -import java.util.ArrayList; -import java.util.Optional; - -import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; -import frc.robot.core.ILogSource; -import frc.robot.core.IModeChangeListener; - -public class Robot extends TimedRobot implements ILogSource, IModeChangeListener -{ - - private static Robot instance; - - private Optional autonomousCommand; - - private ArrayList modeChangeListeners = new ArrayList<>(); - - /** - * This function is run when the robot is first started up and should be used for any - * initialization code. - */ - @Override - public void robotInit() - { - if (instance != null) - System.err.println("WARNING: Robot instance already exists!"); - instance = this; - } - - /** - * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics - * that you want ran during disabled, autonomous, teleoperated and test. - *

- * This runs after the mode specific periodic functions, but before LiveWindow and - * SmartDashboard integrated updating. - */ - @Override - public void robotPeriodic() - { - // Runs the Scheduler. This is responsible for polling buttons, adding - // newly-scheduled - // commands, running already-scheduled commands, removing finished or - // interrupted commands, - // and running subsystem periodic() methods. This must be called from the - // robot's periodic - // block in order for anything in the Command-based framework to work. - CommandScheduler.getInstance().run(); - } - - /** This function is called once each time the robot enters Disabled mode. */ - @Override - public void disabledInit() - { - for (IModeChangeListener modeChangeListener : modeChangeListeners) - { - modeChangeListener.disabledInit(); - } - } - - @Override - public void disabledPeriodic() - {} - - /** - * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. - */ - @Override - public void autonomousInit() - { - logInfo("Autonomous intializing..."); - - for (IModeChangeListener modeChangeListener : modeChangeListeners) - { - modeChangeListener.autonomousInit(); - } - - logFine("Getting and running auto command..."); - // schedule the autonomous command (example) - if (autonomousCommand.isPresent()) - { - autonomousCommand.get().schedule(); - } - } - - /** This function is called periodically during autonomous. */ - @Override - public void autonomousPeriodic() - {} - - @Override - public void teleopInit() - { - logInfo("Teleop initializing..."); - - // This makes sure that the autonomous stops running when - // teleop starts running. If you want the autonomous to - // continue until interrupted by another command, remove - // this line or comment it out. - if (autonomousCommand.isPresent()) - { - logFine("Cancelling auto command..."); - autonomousCommand.get().cancel(); - } - - for (IModeChangeListener modeChangeListener : modeChangeListeners) - { - modeChangeListener.teleopInit(); - } - } - - /** This function is called periodically during operator control. */ - @Override - public void teleopPeriodic() - {} - - @Override - public void testInit() - { - // Cancels all running commands at the start of test mode. - CommandScheduler.getInstance().cancelAll(); - - for (IModeChangeListener modeChangeListener : modeChangeListeners) - { - modeChangeListener.testInit(); - } - } - - /** This function is called periodically during test mode. */ - @Override - public void testPeriodic() - {} - - /** This function is called once when the robot is first started up. */ - @Override - public void simulationInit() - {} - - /** This function is called periodically whilst in simulation. */ - @Override - public void simulationPeriodic() - {} - - public static void addSubsystem(IModeChangeListener modeChangeListener) - { - instance.modeChangeListeners.add(modeChangeListener); - } -} diff --git a/RobotCode Imported/src/main/java/frc/robot/RobotContainer.java b/RobotCode Imported/src/main/java/frc/robot/RobotContainer.java deleted file mode 100644 index 7ca917aa..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/RobotContainer.java +++ /dev/null @@ -1,42 +0,0 @@ -package frc.robot; - -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; - -/** - * The container for the robot. Contains subsystems, OI devices, and commands. - */ -public class RobotContainer { - - private static RobotContainer instance; - - private final ShuffleboardTab ShuffleboardTab; - - /** - * The container for the robot. Contains subsystems, OI devices, and commands. - */ - public RobotContainer() { - instance = this; - - ShuffleboardTab = Shuffleboard.getTab("Tab 1"); - - // Instantiate subsystems - - // Configure the button bindings - configurePrimaryBindings(); - configureSecondaryBindings(); - } - - private void configurePrimaryBindings() { - - } - - private void configureSecondaryBindings() { - } - - @SuppressWarnings("unused") - public static ShuffleboardTab getShuffleboardTab() { - return instance.ShuffleboardTab; - } - -} diff --git a/RobotCode Imported/src/main/java/frc/robot/constants/Constants.java b/RobotCode Imported/src/main/java/frc/robot/constants/Constants.java deleted file mode 100644 index 4a607fc2..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/constants/Constants.java +++ /dev/null @@ -1,6 +0,0 @@ -package frc.robot.constants; - -public class Constants -{ - -} diff --git a/RobotCode Imported/src/main/java/frc/robot/constants/Ports.java b/RobotCode Imported/src/main/java/frc/robot/constants/Ports.java deleted file mode 100644 index cbf79b3f..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/constants/Ports.java +++ /dev/null @@ -1,6 +0,0 @@ -package frc.robot.constants; - -public final class Ports -{ - -} diff --git a/RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java b/RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java deleted file mode 100644 index e8f36e7c..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/core/ILogSource.java +++ /dev/null @@ -1,166 +0,0 @@ -package frc.robot.core; - -import java.text.MessageFormat; -import java.util.Date; -import java.util.HashMap; -import java.util.logging.ConsoleHandler; -import java.util.logging.Filter; -import java.util.logging.Formatter; -import java.util.logging.Level; -import java.util.logging.LogRecord; -import java.util.logging.Logger; - -public interface ILogSource -{ - - int STACK_TRACE_LENGTH = 5; - - /** - * Using a map is hacky, but works. I'm not that concerned since map access is 0(1) time - * complexity in most cases. If we have too many loggers, it could be a problem (worst case is - * O(n) time complexity). - */ - HashMap Loggers = new HashMap<>(); - - Formatter Formatter = new Formatter() - { - @Override - public String format(LogRecord record) - { - return MessageFormat.format("{0,date,HH:mm:ss} {1} [{2}]: {3}\n", new Object[] - { - new Date(record.getMillis()), record.getLoggerName(), - record.getLevel().getName(), record.getMessage() - }); - } - }; - - class LogFilter implements Filter - { - private Level level; - - public LogFilter(Level level) - { - this.level = level; - } - - public void setLevel(Level level) - { - this.level = level; - } - - /** Determines whether the message is logged */ - @Override - public boolean isLoggable(LogRecord record) - { - return record.getLevel().intValue() >= level.intValue(); - } - } - - public default String getLoggerName() - { - return getClass().getName() + "@" + System.identityHashCode(this); - } - - /** - * Get the logger for this class. If the logger does not exist, it will be created. - */ - private Logger getLogger() - { - String loggerName = getLoggerName(); - - Logger logger = Loggers.get(loggerName); - - if (logger == null) - { - // Initialize the logger - - logger = Logger.getLogger(loggerName); - logger.setLevel(Level.ALL); // We will filter the messages in our own filter - - // Set up the console handler - ConsoleHandler consoleHandler = new ConsoleHandler(); - consoleHandler.setFormatter(Formatter); - consoleHandler.setLevel(Level.ALL); // We will filter the messages in our own filter - // Here's where we filter the messages - consoleHandler.setFilter(new LogFilter(Level.CONFIG)); - - // Disable the default handler - logger.setUseParentHandlers(false); - logger.addHandler(consoleHandler); // Add our own handler - - Loggers.put(loggerName, logger); - - logger.log(Level.CONFIG, "Logger created: " + loggerName); - } - - return logger; - } - - /** Sets the minimum level for a message to be logged */ - public default void setLogFilterLevel(Level level) - { - ((LogFilter) getLogger().getHandlers()[0].getFilter()).setLevel(level); - } - - public default void log(Level level, String message) - { - getLogger().log(level, message); - } - - public default void logInfo(String message) - { - log(Level.INFO, message); - } - - public default void logWarning(String message) - { - log(Level.WARNING, message); - } - - public default void logSevere(String message) - { - log(Level.SEVERE, message); - } - - public default void logException(Exception e) - { - String msg = e.getMessage(); - - StackTraceElement[] stackTrace = e.getStackTrace(); - for (int i = 0; i < Math.min(STACK_TRACE_LENGTH, stackTrace.length); i++) - msg += "\n\t" + stackTrace[i].toString(); - - log(Level.SEVERE, msg); - } - - /** - * Alternative to {@link #logException(Exception)} for custom exceptions that don't warrant - * their own classes. - */ - public default void logException(String message) - { - logException(new Exception(message)); - } - - public default void logConfig(String message) - { - log(Level.CONFIG, message); - } - - public default void logFine(String message) - { - log(Level.FINE, message); - } - - public default void logFiner(String message) - { - log(Level.FINER, message); - } - - public default void logFinest(String message) - { - log(Level.FINEST, message); - } - -} diff --git a/RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java b/RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java deleted file mode 100644 index ff14bdb3..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/core/IModeChangeListener.java +++ /dev/null @@ -1,29 +0,0 @@ -package frc.robot.core; - -import frc.robot.Robot; - -public interface IModeChangeListener -{ - - public default void defaultMethod() - { - Robot.addSubsystem(this); - } - - public default void disabledInit(){ - - } - - public default void teleopInit(){ - - } - - public default void autonomousInit(){ - - } - - public default void testInit(){ - - } - -} diff --git a/RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java b/RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java deleted file mode 100644 index e6114ca2..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/core/LogitechControllerButtons.java +++ /dev/null @@ -1,20 +0,0 @@ -package frc.robot.core; - -public class LogitechControllerButtons -{ - public static final int a = 2; - public static final int b = 3; - public static final int x = 1; - public static final int y = 4; - public static final int bumperLeft = 5; - public static final int bumperRight = 6; - public static final int triggerLeft = 7; - public static final int triggerRight = 8; - public static final int home = 9; - public static final int start = 10; - - public static final int up = 0; - public static final int right = 90; - public static final int down = 180; - public static final int left = 270; -} \ No newline at end of file diff --git a/RobotCode Imported/src/main/java/frc/robot/core/Untested.java b/RobotCode Imported/src/main/java/frc/robot/core/Untested.java deleted file mode 100644 index 6a2d6d72..00000000 --- a/RobotCode Imported/src/main/java/frc/robot/core/Untested.java +++ /dev/null @@ -1,13 +0,0 @@ -package frc.robot.core; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Target; - -/** - * Untested marks code that has not been tested on a robot. If a class is marked as untested, its methods do not need to - * also be marked as untested. It does not need to be applied to constants classes. - */ -@Target({ ElementType.TYPE, ElementType.METHOD }) -public @interface Untested { - -} \ No newline at end of file diff --git a/RobotCode Imported/src/test/java/LogTest.java b/RobotCode Imported/src/test/java/LogTest.java deleted file mode 100644 index a18c18e3..00000000 --- a/RobotCode Imported/src/test/java/LogTest.java +++ /dev/null @@ -1,32 +0,0 @@ -import java.util.logging.Level; - -import frc.robot.core.ILogSource; - -class LogTest implements ILogSource { - - // Uncommnet @Test to run the test on build - // @Test - void testLog() { - System.out.println("Testing log functions"); - - logConfig("This is a config message"); - // logInfo("This is an info message"); - // logWarning("This is a warning message"); - // logSevere("This is a severe message"); - // logException(new Exception("This is an exception message")); - logConfig("This is a config message"); - - logFine("This is a fine message that should not be printed"); - setLogFilterLevel(Level.FINE); - logFine("This is another fine message"); - logFiner("This is a finer message and should not be printed"); - - setLogFilterLevel(Level.FINEST); - logFinest("This is the finest message"); - - System.out.println("Log functions tested"); - - assert (true); - } - -} diff --git a/RobotCode Imported/vendordeps/WPILibNewCommands.json b/RobotCode Imported/vendordeps/WPILibNewCommands.json deleted file mode 100644 index d90630e9..00000000 --- a/RobotCode Imported/vendordeps/WPILibNewCommands.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxsystemcore", - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} diff --git a/RobotCode/.gitignore b/RobotCode/.gitignore index 5528d4f6..34cbaac1 100644 --- a/RobotCode/.gitignore +++ b/RobotCode/.gitignore @@ -169,6 +169,8 @@ out/ .fleet # Simulation GUI and other tools window save file +networktables.json +simgui.json *-window.json # Simulation data log directory @@ -176,3 +178,10 @@ logs/ # Folder that has CTRE Phoenix Sim device config storage ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/RobotCode/.pathplanner/settings.json b/RobotCode/.pathplanner/settings.json deleted file mode 100644 index 42b34b16..00000000 --- a/RobotCode/.pathplanner/settings.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "robotWidth": 0.62, - "robotLength": 0.62, - "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, - "maxModuleSpeed": 3.7 -} \ No newline at end of file diff --git a/RobotCode/.vscode/launch.json b/RobotCode/.vscode/launch.json index 0b8bb7ef..c9c9713d 100644 --- a/RobotCode/.vscode/launch.json +++ b/RobotCode/.vscode/launch.json @@ -4,17 +4,18 @@ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ + { "type": "wpilib", "name": "WPILib Desktop Debug", "request": "launch", - "desktop": true + "desktop": true, }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false + "desktop": false, } ] } diff --git a/RobotCode/.vscode/settings.json b/RobotCode/.vscode/settings.json index 45e943b9..5e6ede86 100644 --- a/RobotCode/.vscode/settings.json +++ b/RobotCode/.vscode/settings.json @@ -18,21 +18,44 @@ { "name": "WPIlibUnitTests", "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ - "-Djava.library.path=${workspaceFolder}/build/jni/release" - ], + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release", + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" } - } + }, ], "java.test.defaultConfig": "WPIlibUnitTests", - "java.debug.settings.onBuildFailureProceed": true, - "java.format.settings.url": "https://raw.githubusercontent.com/Decatur-High-GlobalDynamics/Common-Library-And-Wiki/main/.vscode/java-formatter.xml", - "editor.defaultFormatter": "redhat.java", - "java.format.settings.profile": "4026Style", - "editor.stickyTabStops": true, - "editor.formatOnSave": true, - "editor.formatOnPaste": true + "java.import.gradle.annotationProcessing.enabled": false, + "java.completion.favoriteStaticMembers": [ + "org.junit.Assert.*", + "org.junit.Assume.*", + "org.junit.jupiter.api.Assertions.*", + "org.junit.jupiter.api.Assumptions.*", + "org.junit.jupiter.api.DynamicContainer.*", + "org.junit.jupiter.api.DynamicTest.*", + "org.mockito.Mockito.*", + "org.mockito.ArgumentMatchers.*", + "org.mockito.Answers.*", + "edu.wpi.first.units.Units.*" + ], + "java.completion.filteredTypes": [ + "java.awt.*", + "com.sun.*", + "sun.*", + "jdk.*", + "org.graalvm.*", + "io.micrometer.shaded.*", + "java.beans.*", + "java.util.Base64.*", + "java.util.Timer", + "java.sql.*", + "javax.swing.*", + "javax.management.*", + "javax.smartcardio.*", + "edu.wpi.first.math.proto.*", + "edu.wpi.first.math.**.proto.*", + "edu.wpi.first.math.**.struct.*", + ], + "java.dependency.enableDependencyCheckup": false } diff --git a/RobotCode/.wpilib/wpilib_preferences.json b/RobotCode/.wpilib/wpilib_preferences.json index 1b99cfbf..1c589a28 100644 --- a/RobotCode/.wpilib/wpilib_preferences.json +++ b/RobotCode/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2024", + "projectYear": "2026", "teamNumber": 4026 } \ No newline at end of file diff --git a/RobotCode/WPILib-License.md b/RobotCode/WPILib-License.md index 43b62ec2..eb3061b0 100644 --- a/RobotCode/WPILib-License.md +++ b/RobotCode/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2023 FIRST and other WPILib contributors +Copyright (c) 2009-2026 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/RobotCode/build.gradle b/RobotCode/build.gradle index 58153810..322a386e 100644 --- a/RobotCode/build.gradle +++ b/RobotCode/build.gradle @@ -1,9 +1,6 @@ -//file:noinspection DependencyNotationArgument -import edu.wpi.first.gradlerio.GradleRIOPlugin - plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2024.3.1" + id "edu.wpi.first.GradleRIO" version "2026.2.1" } java { @@ -36,6 +33,8 @@ deploy { frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project } } } @@ -44,15 +43,17 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = false +def includeDesktopSupport = true // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() @@ -71,9 +72,7 @@ dependencies { simulationRelease wpi.sim.enableRelease() testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - // testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - implementation 'com.google.code.gson:gson:2.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } test { @@ -90,8 +89,10 @@ wpi.sim.addDriverstation() // knows where to look for our Robot Class. jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } - from sourceSets.main.allSource - manifest GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } @@ -101,6 +102,6 @@ wpi.java.configureExecutableTasks(jar) wpi.java.configureTestTasks(test) // Configure string concat to always inline compile -tasks.withType(JavaCompile).configureEach { +tasks.withType(JavaCompile) { options.compilerArgs.add '-XDstringConcat=inline' } diff --git a/RobotCode/gradle/wrapper/gradle-wrapper.jar b/RobotCode/gradle/wrapper/gradle-wrapper.jar index d64cd4917707c1f8861d8cb53dd15194d4248596..a4b76b9530d66f5e68d973ea569d8e19de379189 100644 GIT binary patch delta 34592 zcmY(qRX`kF)3u#IAjsf0xCD212@LM;?(PINyAue(f;$XO2=4Cg1P$=#e%|lo zKk1`B>Q#GH)wNd-&cJog!qw7YfYndTeo)CyX{fOHsQjGa<{e=jamMNwjdatD={CN3>GNchOE9OGPIqr)3v>RcKWR3Z zF-guIMjE2UF0Wqk1)21791y#}ciBI*bAenY*BMW_)AeSuM5}vz_~`+1i!Lo?XAEq{TlK5-efNFgHr6o zD>^vB&%3ZGEWMS>`?tu!@66|uiDvS5`?bF=gIq3rkK(j<_TybyoaDHg8;Y#`;>tXI z=tXo~e9{U!*hqTe#nZjW4z0mP8A9UUv1}C#R*@yu9G3k;`Me0-BA2&Aw6f`{Ozan2 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zzzBlA<6+TFhl2c=Jl_@yJ}518aXJd2YFCAVu-7TMwT$KZefT7 zs5NxjtWvoM1u)bqHBp$PBs0RBf))u;m?bp>hDT6vTw&Lr!dBTtgj5XtcKJWphk_H; zeH09+T|vQZQ8Efz6lS0!cG`T`QE*MzYzhh@C0zhrg|>NSMAtY9%Huc+TF>Ppkl@@zX1imQDFMlS23i7E;Qs+kyyrF{7O&UZxN+ z-QgiSOj1$l30gw2$s1etFkp1{tI8Eq=&i{Q(-jkZqNBkxHjo*)Mn|Eg=J}ZZ*M!@$ m8X&e#V;O~v<{(@8u;?|riGH1;*CyBcIM_}B>Hc%VBjPV`^lBFX diff --git a/RobotCode/gradle/wrapper/gradle-wrapper.properties b/RobotCode/gradle/wrapper/gradle-wrapper.properties index 5e82d67b..34bd9ce9 100644 --- a/RobotCode/gradle/wrapper/gradle-wrapper.properties +++ b/RobotCode/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ distributionBase=GRADLE_USER_HOME distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip networkTimeout=10000 validateDistributionUrl=true zipStoreBase=GRADLE_USER_HOME diff --git a/RobotCode/gradlew b/RobotCode/gradlew index 1aa94a42..f5feea6d 100644 --- a/RobotCode/gradlew +++ b/RobotCode/gradlew @@ -15,6 +15,8 @@ # See the License for the specific language governing permissions and # limitations under the License. # +# SPDX-License-Identifier: Apache-2.0 +# ############################################################################## # @@ -55,7 +57,7 @@ # Darwin, MinGW, and NonStop. # # (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt # within the Gradle project. # # You can find Gradle at https://github.com/gradle/gradle/. @@ -84,7 +86,8 @@ done # shellcheck disable=SC2034 APP_BASE_NAME=${0##*/} # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD=maximum diff --git a/RobotCode/gradlew.bat b/RobotCode/gradlew.bat index 93e3f59f..9d21a218 100644 --- a/RobotCode/gradlew.bat +++ b/RobotCode/gradlew.bat @@ -13,6 +13,8 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem @if "%DEBUG%"=="" @echo off @rem ########################################################################## @@ -43,11 +45,11 @@ set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 if %ERRORLEVEL% equ 0 goto execute -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe if exist "%JAVA_EXE%" goto execute -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail diff --git a/RobotCode/networktables.json b/RobotCode/networktables.json deleted file mode 100644 index fe51488c..00000000 --- a/RobotCode/networktables.json +++ /dev/null @@ -1 +0,0 @@ -[] diff --git a/RobotCode/settings.gradle b/RobotCode/settings.gradle index d94f73c6..25f6f6e8 100644 --- a/RobotCode/settings.gradle +++ b/RobotCode/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2024' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/RobotCode/simgui-ds.json b/RobotCode/simgui-ds.json deleted file mode 100644 index 73cc713c..00000000 --- a/RobotCode/simgui-ds.json +++ /dev/null @@ -1,92 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ] -} diff --git a/RobotCode/simgui.json b/RobotCode/simgui.json deleted file mode 100644 index 5f9d2754..00000000 --- a/RobotCode/simgui.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo" - } - }, - "NetworkTables Info": { - "visible": true - } -} diff --git a/RobotCode/vendordeps/PathplannerLib.json b/RobotCode/vendordeps/PathplannerLib.json deleted file mode 100644 index 6dc648db..00000000 --- a/RobotCode/vendordeps/PathplannerLib.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "PathplannerLib.json", - "name": "PathplannerLib", - "version": "2024.2.8", - "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2024", - "mavenUrls": [ - "https://3015rangerrobotics.github.io/pathplannerlib/repo" - ], - "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", - "javaDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-java", - "version": "2024.2.8" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.pathplanner.lib", - "artifactId": "PathplannerLib-cpp", - "version": "2024.2.8", - "libName": "PathplannerLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal", - "linuxathena", - "linuxarm32", - "linuxarm64" - ] - } - ] -} \ No newline at end of file diff --git a/RobotCode/vendordeps/Phoenix6.json b/RobotCode/vendordeps/Phoenix6.json deleted file mode 100644 index 03223850..00000000 --- a/RobotCode/vendordeps/Phoenix6.json +++ /dev/null @@ -1,339 +0,0 @@ -{ - "fileName": "Phoenix6.json", - "name": "CTRE-Phoenix (v6)", - "version": "24.3.0", - "frcYear": 2024, - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", - "conflictsWith": [ - { - "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", - "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", - "offlineFileName": "Phoenix6And5.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "24.3.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonFX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "24.3.0", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "24.3.0", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "24.3.0", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "24.3.0", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "24.3.0", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonFX", - "version": "24.3.0", - "libName": "CTRE_SimTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "24.3.0", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "24.3.0", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "24.3.0", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "24.3.0", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "24.3.0", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "24.3.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/RobotCode/vendordeps/REVLib.json b/RobotCode/vendordeps/REVLib.json deleted file mode 100644 index f85acd40..00000000 --- a/RobotCode/vendordeps/REVLib.json +++ /dev/null @@ -1,74 +0,0 @@ -{ - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2024.2.4", - "frcYear": "2024", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2024.2.4" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.4", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2024.2.4", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.4", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/RobotCode/vendordeps/WPILibNewCommands.json b/RobotCode/vendordeps/WPILibNewCommands.json index 67bf3898..d90630e9 100644 --- a/RobotCode/vendordeps/WPILibNewCommands.json +++ b/RobotCode/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2024", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/RobotCode/vendordeps/photonlib.json b/RobotCode/vendordeps/photonlib.json deleted file mode 100644 index 8e1b780b..00000000 --- a/RobotCode/vendordeps/photonlib.json +++ /dev/null @@ -1,57 +0,0 @@ -{ - "fileName": "photonlib.json", - "name": "photonlib", - "version": "v2024.2.2", - "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2024", - "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" - ], - "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2024.2.2", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2024.2.2", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } - ], - "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2024.2.2" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2024.2.2" - } - ] -} \ No newline at end of file