Sync with GRRBase

.vscode/extensions.json

@@ -4,7 +4,6 @@
         "streetsidesoftware.code-spell-checker",
         "vscjava.vscode-java-debug",
         "vscjava.vscode-java-pack",
-        "github.vscode-github-actions",
         "visualstudioexptteam.vscodeintellicode",
         "visualstudioexptteam.intellicode-api-usage-examples",
         "visualstudioexptteam.vscodeintellicode-completions",

.vscode/launch.json

@@ -1,24 +1,17 @@
 {
   "version": "0.2.0",
   "configurations": [
-    {
-      "type": "java",
-      "name": "Main",
-      "request": "launch",
-      "mainClass": "org.team340.robot.Main",
-      "projectName": "Crescendo2024-340"
-    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true
+      "desktop": true,
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false
+      "desktop": false,
     }
   ]
 }

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
   "java.configuration.updateBuildConfiguration": "automatic",
+  "java.debug.settings.onBuildFailureProceed": true,
   "java.server.launchMode": "Standard",
   "files.exclude": {
     "**/.git": true,
@@ -48,8 +49,8 @@
     "Desaturated",
     "Desaturation",
     "Devs",
-    "Discretize",
     "Discretization",
+    "Discretize",
     "DTheta",
     "Falsi",
     "Feedforward",
@@ -61,15 +62,18 @@
     "Interpolatable",
     "JoystickProfiles",
     "Keepalive",
+    "Lerp",
     "Motorcontrol",
     "Msgpack",
     "NetworkTables",
+    "NTURI",
     "Odometry",
     "Overcurrent",
     "PIDF",
     "Powerup",
-    "Pubuid",
     "Protobuf",
+    "Pubuid",
+    "Quasistatic",
     "Ratelimiter",
     "Ratelimits",
     "Regula",
@@ -82,14 +86,17 @@
     "TalonSRX",
     "Tauri",
     "Teleop",
+    "Topicsonly",
     "Traj",
     "Unannounce",
+    "Unsub",
     "Unsubscriber",
     "Unsubscribers",
     "Vbat",
     "WPIBlue",
     "WPILib",
     "WPILibJ",
-    "WPIRed"
+    "WPIRed",
+    "Writables"
   ]
 }

README.md

@@ -1,28 +1,2 @@
-# GRRBase
-A template repository for Java-based robots in the FIRST Robotics Competition. It contains boilerplate for programming with WPILib's command framework, as well as utilities outlined in the packages section below. Additionally, this repository contains GRRDashboard, a Svelte-based dashboard for interacting with and analyzing functions of the robot via Network Tables.
-
-## Code Styling
-All Java code follows the styling guide of [Prettier](https://prettier.io/). You can apply these rules via [Spotless](https://github.com/diffplug/spotless/tree/main) using the command `./gradlew spotlessApply`
-
-## Packages
-
-### `org.team340.lib`
-Contains an extended subsystem that automatically logs hardware information, as well as bindings to our custom dashboard.
-
-### `org.team340.lib.commands`
-Contains a builder class for creating inline commands with a similar API to subclassed commands.
-
-### `org.team340.lib.controller`
-Contains a joystick profiler for controllers, as well as a wrapper class for WPILib's `XboxController` class.
-
-### `org.team340.lib.swerve`
-Contains a hardware agnostic swerve library with extra features such as a rate limiter that respects the kinematic constraints of the robot.
-
-### `org.team340.lib.utils`
-Contains various utility classes.
-
-### `org.team340.lib.utils.config`
-Contains various wrapper classes for saving constants.
-
-### `org.team340.lib.utils.config.rev`
-Contains configuration builders that safely apply settings to REV hardware.
+# Crescendo2024-340
+FRC 340's code for the 2024 season, Crescendo.

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id "com.diffplug.spotless" version "6.23.3"
 }
 
@@ -70,6 +70,8 @@ dependencies {
 
     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'
 }
 
 // Code formatting via spotless

dashboard/index.html

@@ -25,9 +25,9 @@
                 --good: #28cd41;
                 --bad: #ff453a;
 
-                --auto-spline: #ffffffc9;
-                --auto-cp-red: #a20010;
-                --auto-cp-blue: #0048a7;
+                --auto-line: #ffffffc9;
+                --auto-waypoint-red: #a20010;
+                --auto-waypoint-blue: #0048a7;
 
                 --graph-grid: #ffffff5b;
                 --graph-red: #ff453a;

dashboard/package.json

@@ -7,24 +7,24 @@
         "check": "svelte-check --tsconfig ./tsconfig.json",
         "dev": "vite",
         "dev:tauri": "tauri dev",
-        "format": "prettier --write --plugin prettier-plugin-svelte .",
-        "format:check": "prettier --check --plugin prettier-plugin-svelte .",
+        "format": "prettier --write --plugin prettier-plugin-svelte ./src/",
+        "format:check": "prettier --check --plugin prettier-plugin-svelte ./src/",
         "preview": "vite preview",
         "tauri": "tauri"
     },
     "devDependencies": {
-        "@sveltejs/vite-plugin-svelte": "^2.4.6",
-        "@tauri-apps/cli": "^1.5.6",
+        "@sveltejs/vite-plugin-svelte": "^3.0.1",
+        "@tauri-apps/cli": "^1.5.9",
         "@tsconfig/svelte": "^5.0.2",
-        "chart.js": "^4.4.0",
+        "chart.js": "^4.4.1",
         "chartjs-plugin-zoom": "^2.0.1",
-        "prettier": "^3.0.3",
-        "prettier-plugin-svelte": "^3.0.3",
-        "svelte": "^4.2.2",
-        "svelte-check": "^3.5.2",
-        "tslib": "^2.6.1",
-        "typescript": "^5.2.2",
-        "vite": "^4.5.0"
+        "prettier": "^3.2.4",
+        "prettier-plugin-svelte": "^3.1.2",
+        "svelte": "^4.2.9",
+        "svelte-check": "^3.6.3",
+        "tslib": "^2.6.2",
+        "typescript": "^5.3.3",
+        "vite": "^5.0.12"
     },
     "private": true
 }

dashboard/src/App.svelte

@@ -4,11 +4,11 @@
     import ConnectingDialog from "./components/ConnectingDialog.svelte";
     import NavBar from "./components/NavBar.svelte";
 
-    import Analysis from "./tabs/Analysis.svelte";
     import AutoSelection from "./tabs/AutoSelection.svelte";
     import DriverView from "./tabs/DriverView.svelte";
 
-    import { NTConnected, RobotEnabled } from "./ntStores";
+    import { NTConnected } from "./ntStores";
+    import { NTSvelteClientState } from "./lib/NTSvelte";
 
     // Define your tabs here.
     // The navbar will be automatically populated using this object, and tabs will be dynamically displayed when selected.
@@ -17,7 +17,6 @@
     const tabs = {
         "Driver View": DriverView,
         "Auto Selection": AutoSelection,
-        Analysis: Analysis,
     };
 
     // Helpers for tab selection.
@@ -28,10 +27,8 @@
 </script>
 
 <main>
-    {#if $NTConnected || IGNORE_CONNECTION}
-        <!-- If connected, show the current tab and the navbar. -->
-        <p>{$RobotEnabled}</p>
-
+    <!-- If connected, show the current tab and the navbar. -->
+    {#if $NTConnected === NTSvelteClientState.CONNECTED || IGNORE_CONNECTION}
         <!-- The selected tab. -->
         <div class="tab">
             <svelte:component this="{tabs[currentTab]}" />

dashboard/src/components/NavBar.svelte

@@ -100,7 +100,7 @@
                 <code class="nav-bar-connection-address" contenteditable on:blur="{onURIBlur}">{$NTURI}</code>
 
                 <!-- NT Connection Stats. -->
-                <code>{$NTBitrate}kb/s | {$NTLatency}ms</code>
+                <code>{($NTBitrate / 1000).toFixed(2)}kb/s | {$NTLatency.toFixed(2)}ms</code>
             </div>
         </div>
     </div>