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‎.gitmodules‎

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‎.idea/gradle.xml‎

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‎build.gradle.kts‎

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import com.android.builder.symbols.exportToCompiledJava
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import org.jetbrains.dokka.plugability.configuration
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plugins {
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id("org.jetbrains.kotlin.android") version "1.9.20"
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id("org.jetbrains.kotlin.plugin.serialization") version "1.9.20"
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id("com.android.library") version "8.1.2"
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`maven-publish`
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id("org.jetbrains.dokka") version "1.9.20"
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}
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tasks.named<org.jetbrains.dokka.gradle.DokkaTask>("dokkaJavadoc") {
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outputDirectory.set(file("${buildDir}/dokka"))
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dokkaSourceSets {
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named("main") {
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sourceRoots.from(file("src/main/kotlin"), file("src/main/java"))
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reportUndocumented.set(true)
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skipDeprecated.set(false)
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jdkVersion.set(8) // or adjust based on your requirements
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perPackageOption {
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matchingRegex.set("com\\.acmerobotics\\.roadrunner\\.ftc.*")
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suppress.set(true) // Exclude this package
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}
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}
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}
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}
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tasks.dokkaHtml {
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dokkaSourceSets {
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named("main") {
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perPackageOption {
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matchingRegex.set("com\\.acmerobotics\\.roadrunner\\.ftc.*")
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suppress.set(true) // Exclude this package
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}
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}
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}
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}
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val defaultMinSdkVersion by extra(29)
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val defaultMinSdkVersion1 by extra(23)
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repositories {
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mavenCentral()
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google()
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maven("https://maven.brott.dev/")
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}
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android {
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namespace = "com.pedropathing.pedropathing"
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compileSdk = 32
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compileOptions {
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sourceCompatibility = JavaVersion.VERSION_1_8
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targetCompatibility = JavaVersion.VERSION_1_8
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}
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kotlinOptions {
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jvmTarget = "1.8"
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}
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publishing {
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singleVariant("release")
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}
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sourceSets {
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getByName("main") {
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java.srcDirs("src/main/kotlin")
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}
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}
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defaultConfig {
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minSdk = 23
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}
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}
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dependencies {
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compileOnly("org.firstinspires.ftc:RobotCore:10.2.0")
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compileOnly("org.firstinspires.ftc:Hardware:10.2.0")
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compileOnly("org.firstinspires.ftc:FtcCommon:10.2.0")
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compileOnly("org.firstinspires.ftc:RobotServer:10.2.0")
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compileOnly("org.firstinspires.ftc:OnBotJava:10.2.0")
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compileOnly("com.acmerobotics.dashboard:dashboard:0.4.16")
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implementation("org.apache.commons:commons-math3:3.6.1")
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dokkaHtmlPlugin("org.jetbrains.dokka:kotlin-as-java-plugin:1.9.20")
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dokkaGfmPlugin("org.jetbrains.dokka:kotlin-as-java-plugin:1.9.20")
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implementation("org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.9.20")
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}
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// CONFIGURE PUBLICATION
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publishing {
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publications {
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register<MavenPublication>("release") {
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groupId = "com.pedropathing"
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artifactId = "pedro"
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version = "1.0.9"
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afterEvaluate {
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from(components["release"])
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}
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}
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}
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repositories {
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maven {
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name = "publishing"
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url = uri("./maven.pedropathing.com")
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}
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}
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}
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alias(libs.plugins.android.library) apply false
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alias(libs.plugins.dokka) apply false
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}

‎core/build.gradle.kts‎

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plugins {
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id("java-library")
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id("maven-publish")
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}
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dependencies {
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compileOnly(libs.annotations)
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}
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java {
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sourceCompatibility = JavaVersion.VERSION_1_8
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targetCompatibility = JavaVersion.VERSION_1_8
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withSourcesJar()
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withJavadocJar()
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}
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publishing {
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publications {
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register<MavenPublication>("release") {
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groupId = "com.pedropathing"
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artifactId = "core"
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version = property("version") as String
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from(components["java"])
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}
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}
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repositories {
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maven {
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name = "publishing"
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url = uri("../../maven.pedropathing.com")
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}
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}
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}

‎core/src/main/java/com/pedropathing/Drivetrain.java‎

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package com.pedropathing;
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import com.pedropathing.math.Vector;
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import com.pedropathing.math.MathFunctions;
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public abstract class Drivetrain {
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/**
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* These are the movement vectors for the drivetrain, essentially the directions of the forces created by each wheel, such that x-components are scaled by the x velocity and y-components are scaled by the y velocity.
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*/
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protected Vector[] vectors;
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/**
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* This is the maximum power scaling for the drivetrain. This is used to limit the maximum
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* power that can be applied to the motors, which is useful for preventing damage to the
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* drivetrain or for controlling the speed of the robot.
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*/
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protected double maxPowerScaling;
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/**
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* This is used to determine whether the drivetrain should use voltage compensation or not.
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*/
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protected boolean voltageCompensation;
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/**
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* This is the nominal voltage for the drivetrain. This is used for voltage compensation.
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* It is set to 12.0V by default, which is the nominal voltage for most FTC robots.
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*/
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protected double nominalVoltage;
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/**
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* This takes in vectors for corrective power, heading power, and pathing power and outputs
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* an Array.
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* IMPORTANT NOTE: all vector inputs are clamped between 0 and 1 inclusive in magnitude.
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*
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* @param correctivePower this Vector includes the centrifugal force scaling Vector as well as a
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* translational power Vector to correct onto the Bezier curve the Follower
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* is following.
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* @param headingPower this Vector points in the direction of the robot's current heading, and
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* the magnitude tells the robot how much it should turn and in which
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* direction.
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* @param pathingPower this Vector points in the direction the robot needs to go to continue along
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* the Path.
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* @param robotHeading this is the current heading of the robot, which is used to calculate how
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* much power to allocate to each wheel.
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* @return this returns an Array of doubles with a length of 4, which contains the wheel powers.
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*/
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public abstract double[] calculateDrive(Vector correctivePower, Vector headingPower, Vector pathingPower, double robotHeading);
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/**
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* This sets the maximum power scaling for the drivetrain. This is used to limit the maximum
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* power that can be applied to the motors, which is useful for preventing damage to the
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* drivetrain or for controlling the speed of the robot.
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*
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* @param maxPowerScaling this is a double between 0 and 1 inclusive that represents the maximum
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* power scaling factor.
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*/
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public void setMaxPowerScaling(double maxPowerScaling) {
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this.maxPowerScaling = MathFunctions.clamp(maxPowerScaling, 0, 1);
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}
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/**
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* This gets the maximum power scaling for the drivetrain. This is used to limit the maximum
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* power that can be applied to the motors, which is useful for preventing damage to the
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* drivetrain or for controlling the speed of the robot.
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*
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* @return this returns a double between 0 and 1 inclusive that represents the maximum power
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* scaling factor.
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*/
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public double getMaxPowerScaling() {
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return maxPowerScaling;
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}
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/**
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* This updates the constants used by the drivetrain.
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*/
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public abstract void updateConstants();
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/**
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* This is used to break the drivetrain's following. This is useful for stopping the robot from following a Path or PathChain.
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*/
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public abstract void breakFollowing();
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/**
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* This runs the drivetrain with the specified drive powers. This is used to set the power of the motors directly.
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*
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* @param drivePowers this is an Array of doubles with a length of 4, which contains the wheel powers.
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*/
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public abstract void runDrive(double[] drivePowers);
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/**
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* This gets the drive powers and runs them immediately.
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*
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* @param correctivePower this Vector includes the centrifugal force scaling Vector as well as a
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* translational power Vector to correct onto the Bezier curve the Follower
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* is following.
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* @param headingPower this Vector points in the direction of the robot's current heading, and
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* the magnitude tells the robot how much it should turn and in which
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* direction.
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* @param pathingPower this Vector points in the direction the robot needs to go to continue along
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* the Path.
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* @param robotHeading this is the current heading of the robot, which is used to calculate how
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* much power to allocate to each wheel.
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*/
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public void runDrive(Vector correctivePower, Vector headingPower, Vector pathingPower, double robotHeading) {
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runDrive(calculateDrive(correctivePower, headingPower, pathingPower, robotHeading));
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}
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/**
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* This starts the TeleOp drive mode. This is used to set the drivetrain into TeleOp mode, where
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* it can be controlled by the driver.
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*/
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public abstract void startTeleopDrive();
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/**
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* This starts the TeleOp drive mode with a specified brake mode. This is used to set the drivetrain
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* into TeleOp mode, where it can be controlled by the driver, and allows for setting the brake mode.
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*
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* @param brakeMode this is a boolean that specifies whether the drivetrain should use brake mode or not.
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*/
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public abstract void startTeleopDrive(boolean brakeMode);
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/**
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* This gets the current x velocity of the drivetrain.
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* @return this returns the x velocity of the drivetrain.
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*/
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public abstract double xVelocity();
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/**
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* This gets the current y velocity of the drivetrain.
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* @return this returns the y velocity of the drivetrain.
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*/
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public abstract double yVelocity();
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/**
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* This sets the x velocity of the drivetrain.
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* @param xMovement this is the x velocity to set.
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*/
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public abstract void setXVelocity(double xMovement);
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/**
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* This sets the y velocity of the drivetrain.
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* @param yMovement this is the y velocity to set.
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*/
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public abstract void setYVelocity(double yMovement);
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/**
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* This sets whether the drivetrain should use voltage compensation or not.
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* @param use this is a boolean that specifies whether the drivetrain should use voltage compensation or not.
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*/
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public void useVoltageCompensation(boolean use) {
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this.voltageCompensation = use;
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}
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/**
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* This gets whether the drivetrain is using voltage compensation or not.
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* @return this returns a boolean that specifies whether the drivetrain is using voltage compensation or not.
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*/
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public boolean isVoltageCompensation() {
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return voltageCompensation;
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}
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/**
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* This gets the nominal voltage for the drivetrain.
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* @return this returns the nominal voltage for the drivetrain.
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*/
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public double getNominalVoltage() {
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return nominalVoltage;
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}
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/**
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* This sets the nominal voltage for the drivetrain. This is used for voltage compensation.
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* @param set this is the nominal voltage to set.
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*/
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public void setNominalVoltage(double set) {
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this.nominalVoltage = set;
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}
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/**
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* This is used to get the voltage of the drivetrain. This is useful for debugging purposes.
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* It should be called periodically to get the current voltage of the drivetrain.
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*/
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public abstract double getVoltage();
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/**
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* This is used to get a debug string for the drivetrain. This is useful for debugging purposes.
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*
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* @return this returns a String that contains the debug information for the drivetrain.
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*/
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public abstract String debugString();
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}

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