Merge pull request #43 from TitaniumTitans/GearFox-AddAdkitAgain

Add back AdvantageKit to code and initial tuning for autos and driver practice.
TitaniumTitans · Mar 11, 2024 · 4d1c128 · 4d1c128
2 parents 91183a1 + 4eaa404
commit 4d1c128
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Showing 110 changed files with 8,833 additions and 2,304 deletions.
diff --git a/.gitignore b/.gitignore
@@ -175,4 +175,5 @@ simgui*.json
 src/main/java/frc/robot/BuildConstants.java
 
 # sim files
-ctre_sim
+ctre_sim
+logs
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -0,0 +1,12 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
diff --git a/2024Crescendo.chor b/2024Crescendo.chor
diff --git a/Crescendo2024.chor b/Crescendo2024.chor
diff --git a/build.gradle b/build.gradle
@@ -2,6 +2,7 @@ plugins {
   id "java"
   id "edu.wpi.first.GradleRIO" version "2024.3.1"
   id "org.sonarqube" version "4.4.1.3373"
+  id "com.peterabeles.gversion" version "1.10"
 }
 
 java {
@@ -11,6 +12,27 @@ java {
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+repositories {
+  maven {
+    url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+    credentials {
+      username = "Mechanical-Advantage-Bot"
+      password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+    }
+  }
+  mavenLocal()
+}
+
+configurations.all {
+  exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+  mainClass = "org.littletonrobotics.junction.CheckInstall"
+  classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
@@ -29,12 +51,12 @@ deploy {
 
         frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
           // Enable VisualVM connection
-          jvmArgs.add("-Dcom.sun.management.jmxremote=true")
-          jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
-          jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
-          jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
-          jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
-          jvmArgs.add("-Djava.rmi.server.hostname=10.44.67.2") // Replace XX.XX with team number
+//          jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+//          jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+//          jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+//          jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+//          jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+//          jvmArgs.add("-Djava.rmi.server.hostname=10.44.67.2") // Replace XX.XX with team number
         }
 
         // Static files artifact
@@ -76,6 +98,9 @@ dependencies {
   simulationRelease wpi.sim.enableRelease()
 
   implementation 'gov.nist.math:jama:1.0.3'
+
+  def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+  annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
@@ -115,10 +140,20 @@ deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
 
+// Create version file
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+  srcDir       = "src/main/java/"
+  classPackage = "frc.robot"
+  className    = "BuildConstants"
+  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+  timeZone     = "America/New_York"
+  indent       = "  "
+}
+
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
   options.compilerArgs.add '-XDstringConcat=inline'
-
 }
 
 
diff --git a/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 010 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 010 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 016 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 016 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat
diff --git a/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat
diff --git a/logs/FRC_20240310_203436.wpilog b/logs/FRC_20240310_203436.wpilog
diff --git a/logs/FRC_20240310_203649.wpilog b/logs/FRC_20240310_203649.wpilog
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diff --git a/logs/FRC_20240310_221546.wpilog b/logs/FRC_20240310_221546.wpilog
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diff --git a/logs/FRC_20240311_001902.wpilog b/logs/FRC_20240311_001902.wpilog
diff --git a/logs/sim_2024-03-10_16-34-27.hoot b/logs/sim_2024-03-10_16-34-27.hoot