alpha robot

build.gradle

@@ -2,7 +2,7 @@ plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.1.1"
     id "com.peterabeles.gversion" version "1.10"
-    // id "com.diffplug.spotless" version "6.12.0"
+    id 'com.diffplug.spotless' version '6.12.0'
 }
 
 java {
@@ -49,30 +49,8 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
-// Configuration for AdvantageKit
-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
-
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 4.
+// Also defines JUnit 5.
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
@@ -91,24 +69,33 @@ dependencies {
     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'
-
-    implementation 'gov.nist.math:jama:1.0.3'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 
     implementation("com.google.guava:guava:33.0.0-jre")
 }
 
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Los_Angeles" // Use preferred time zone
+    indent       = "  "
+}
+
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
-wpi.sim.addGui()
+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')
@@ -131,56 +118,67 @@ tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
 
-// 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       = "  "
+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()
 }
 
-// Spotless formatting
-// project.compileJava.dependsOn(spotlessApply)
-// spotless {
-//     enforceCheck false
-//     java {
-//         target fileTree(".") {
-//             include "**/*.java"
-//             exclude "**/build/**", "**/build-*/**"
-//         }
-//         toggleOffOn()
-//         googleJavaFormat()
-//         removeUnusedImports()
-//         trimTrailingWhitespace()
-//         endWithNewline()
-//     }
-//     groovyGradle {
-//         target fileTree(".") {
-//             include "**/*.gradle"
-//             exclude "**/build/**", "**/build-*/**"
-//         }
-//         greclipse()
-//         indentWithSpaces(4)
-//         trimTrailingWhitespace()
-//         endWithNewline()
-//     }
-//     json {
-//         target fileTree(".") {
-//             include "**/*.json"
-//             exclude "**/build/**", "**/build-*/**"
-//         }
-//         gson().indentWithSpaces(2)
-//     }
-//     format "misc", {
-//         target fileTree(".") {
-//             include "**/*.md", "**/.gitignore"
-//             exclude "**/build/**", "**/build-*/**"
-//         }
-//         trimTrailingWhitespace()
-//         indentWithSpaces(2)
-//         endWithNewline()
-//     }
-// }
+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
+
+spotless {
+    enforceCheck false
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**', '**/BuildConstants.java'
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'xml', {
+        target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        eclipseWtp('xml')
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}

src/main/java/frc/robot/Constants.java

@@ -0,0 +1,5 @@
+package frc.robot;
+
+public class Constants {
+
+}

src/main/java/frc/robot/subsystems/kicker/KickerIO.java

@@ -6,13 +6,15 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
+import edu.wpi.first.math.geometry.Rotation2d;
+
 /** Add your docs here. */
 public interface KickerIO {
   @AutoLog
   public class KickerIOInputs {
 
     // Motor values
-    public double velocityRPM;
+    public double velocityRPS;
     public double currentDrawAmps;
     public double temperatureCelsius;
     public double motorOutputVolts;

src/main/java/frc/robot/subsystems/kicker/KickerIOReal.java

@@ -8,42 +8,45 @@
 import edu.wpi.first.math.util.Units;
 
 public class KickerIOReal implements KickerIO {
-
+    public static final int KICKER_MOTOR_ID = 12; 
+
     private TalonFX kickerMotor = new TalonFX(12);
     private PositionVoltage motorRequest = new PositionVoltage(0.0);
 
-    private StatusSignal<Double> supplyVoltageSignal = kickerMotor.getDutyCycle();
+    private StatusSignal<Double> supplyVoltageSignal = kickerMotor.getMotorVoltage();
     private StatusSignal<Double> position = kickerMotor.getRotorPosition();
     private StatusSignal<Double> velocity = kickerMotor.getRotorVelocity();
     private StatusSignal<Double> currentDraw = kickerMotor.getStatorCurrent();
 
     public KickerIOReal (){
         TalonFXConfiguration kickerConfig  = new TalonFXConfiguration();
+        kickerConfig.Feedback.SensorToMechanismRatio = 125/1;
         kickerConfig.Slot0.kP = 10.0;
         kickerConfig.Slot0.kD = 0.0;
         kickerConfig.Slot0.kI = 0.0;
+
         kickerConfig.CurrentLimits.StatorCurrentLimit = 20.0;
         kickerConfig.CurrentLimits.StatorCurrentLimitEnable = true;
         kickerConfig.Feedback.SensorToMechanismRatio = 125.0;
         kickerMotor.getConfigurator().apply(kickerConfig);
     }
 
     public void setPosition(double degrees) {
-        kickerMotor.setControl(motorRequest.withPosition(Units.degreesToRotations(degrees)));    
+        kickerMotor.setControl(motorRequest.withPosition(Units.degreesToRotations(degrees))); 
     }
 
     public void reset(double degrees){ 
         kickerMotor.setPosition((Units.degreesToRotations(degrees)));
     }
 
     public KickerIOInputsAutoLogged updateInputs() {
-        KickerIOInputsAutoLogged current = new KickerIOInputsAutoLogged();
+        KickerIOInputsAutoLogged updated = new KickerIOInputsAutoLogged(); //new values
 
-        current.currentDrawAmps = currentDraw.refresh().getValue();
-        current.positionRotations = position.refresh().getValue();
-        current.velocityRPM = velocity.refresh().getValue();
-        current.motorOutputVolts = 12 * supplyVoltageSignal.getValue();
+        updated.currentDrawAmps = currentDraw.getValue();
+        updated.positionRotations = position.getValue();
+        updated.velocityRPS = velocity.getValue();
+        updated.motorOutputVolts = 12 * supplyVoltageSignal.getValue();
 
-        return(current);
+        return(updated);
     }
 }

src/main/java/frc/robot/subsystems/kicker/KickerSubsystem.java

@@ -4,6 +4,7 @@
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,8 +24,8 @@ public KickerSubsystem(KickerIO io) {
             ));
     }
 
-    public InstantCommand reset (){
-       return new InstantCommand(
+    public Command reset (){
+       return this.runOnce(
             ()->{io.reset(0);}
             );
     }

src/main/java/frc/robot/subsystems/pivot/PivotIO.java

@@ -12,7 +12,7 @@ public interface PivotIO {
   public class PivotIOInputs {
 
     // Motor values
-    public double velocityRPM;
+    public double velocityRPS;
     public double currentDrawAmps;
     public double temperatureCelsius;
     public double motorOutputVolts;

src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java

@@ -15,15 +15,17 @@
 
 public class PivotIOReal implements PivotIO{
 
+    public static final int PIVOT_MOTOR_ID = 10; 
+    public static final double PIVOT_GEAR_RATIO = (27.0 / 1) * (48.0 / 22); //check if this is the correct gear ratio
+
     private TalonFX pivotMotor = new TalonFX(10);
     private PositionVoltage motorRequest = new PositionVoltage(0.0);
 
-    private StatusSignal<Double> supplyVoltageSignal = pivotMotor.getDutyCycle();
+    private StatusSignal<Double> supplyVoltageSignal = pivotMotor.getMotorVoltage();
     private StatusSignal<Double> position = pivotMotor.getRotorPosition();
     private StatusSignal<Double> velocity = pivotMotor.getRotorVelocity();
     private StatusSignal<Double> currentDraw = pivotMotor.getStatorCurrent();
 
-
     public PivotIOReal (){
         TalonFXConfiguration pivotConfig  = new TalonFXConfiguration();
         pivotConfig.Slot0.kP = 120;
@@ -51,13 +53,13 @@ public void reset(double degrees){
 
     @Override
     public PivotIOInputsAutoLogged updateInputs() {
-        PivotIOInputsAutoLogged current = new PivotIOInputsAutoLogged();
+        PivotIOInputsAutoLogged updated = new PivotIOInputsAutoLogged();
 
-        current.currentDrawAmps = currentDraw.refresh().getValue();
-        current.positionRotations = position.refresh().getValue();
-        current.velocityRPM = velocity.refresh().getValue();
-        current.motorOutputVolts = 12 * supplyVoltageSignal.getValue();
+        updated.currentDrawAmps = currentDraw.getValue();
+        updated.positionRotations = position.getValue();
+        updated.velocityRPS = velocity.getValue();
+        updated.motorOutputVolts = 12 * supplyVoltageSignal.getValue();
 
-        return(current);
+        return(updated);
     }
 }

src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java

@@ -30,7 +30,7 @@ public PivotIOInputsAutoLogged updateInputs() {
 
     // var motorSimState = motor.getSimState();
 
-    input.velocityRPM = arm.getVelocityRadPerSec() * 60;
+    input.velocityRPS = arm.getVelocityRadPerSec() * 60;
     input.currentDrawAmps = arm.getCurrentDrawAmps();
     input.temperatureCelsius = 0;
     input.motorOutputVolts = arm.getOutput(0);

src/main/java/frc/robot/subsystems/pivot/PivotSubsystem.java

@@ -26,8 +26,8 @@ public PivotSubsystem(PivotIO io) {
             ));
     }
 
-    public InstantCommand reset (){
-       return new InstantCommand(
+    public Command reset (){
+       return this.runOnce(
             ()->{io.reset(0);}
             );
     }

src/main/java/frc/robot/subsystems/shooter/ShooterIO.java

@@ -12,12 +12,12 @@ public interface ShooterIO {
   public class ShooterIOInputs {
 
     // Motor values
-    public double velocityRPM;
+    public double velocityRPS;
     public double currentDrawAmps;
     public double temperatureCelsius;
     public double motorOutputVolts;  }
 
-  public abstract void setVelocity(double velocity);
+  public abstract void setVelocity(double rotationsPerSecond);
 
   public abstract ShooterIOInputsAutoLogged updateInputs();
 }