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Merge remote-tracking branch 'origin/develop' into climber-drudgery
2 parents 8f7f0f1 + 4febdcb commit 9de49a9

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‎.vscode/settings.json‎

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@@ -57,5 +57,7 @@
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"edu.wpi.first.math.**.proto.*",
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"edu.wpi.first.math.**.struct.*",
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],
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"wpilib.deployOffline": true
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"wpilib.deployOffline": true,
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"wpilib.offline": true,
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"wpilib.autoStartRioLog": false
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}

‎build.gradle‎

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@@ -1,150 +1,150 @@
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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2025.3.2"
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id "com.peterabeles.gversion" version "1.10"
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}
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java {
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sourceCompatibility = JavaVersion.VERSION_17
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targetCompatibility = JavaVersion.VERSION_17
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}
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def ROBOT_MAIN_CLASS = "frc.robot.Main"
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repositories {
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maven {
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url = "https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit"
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credentials {
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username = "Mechanical-Advantage-Bot"
19-
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"
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}
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}
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maven { url = "https://jitpack.io" }
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}
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project.compileJava.dependsOn(createVersionFile)
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gversion {
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srcDir = "src/main/java/"
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classPackage = "frc.robot"
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className = "BuildConstants"
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dateFormat = "yyyy-MM-dd HH:mm:ss z"
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timeZone = "America/Chicago" // Use preferred time zone
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indent = " "
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}
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// Define my targets (RoboRIO) and artifacts (deployable files)
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// This is added by GradleRIO's backing project DeployUtils.
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deploy {
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targets {
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roborio(getTargetTypeClass('RoboRIO')) {
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// Team number is loaded either from the .wpilib/wpilib_preferences.json
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// or from command line. If not found an exception will be thrown.
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// You can use getTeamOrDefault(team) instead of getTeamNumber if you
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// want to store a team number in this file.
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team = project.frc.getTeamNumber()
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debug = project.frc.getDebugOrDefault(false)
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artifacts {
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// First part is artifact name, 2nd is artifact type
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// getTargetTypeClass is a shortcut to get the class type using a string
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frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
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}
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// Static files artifact
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frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
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files = project.fileTree('src/main/deploy')
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directory = '/home/lvuser/deploy'
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deleteOldFiles = true // Change to true to delete files on roboRIO that no
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// longer exist in deploy directory of this project
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}
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}
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}
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}
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}
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def deployArtifact = deploy.targets.roborio.artifacts.frcJava
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// Set to true to use debug for JNI.
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wpi.java.debugJni = false
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// Set this to true to enable desktop support.
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def includeDesktopSupport = true
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// Get AdvantageKit version from vendordep file
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def AdvantageKitJSON = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
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// Also defines JUnit 5.
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dependencies {
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annotationProcessor wpi.java.deps.wpilibAnnotations()
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implementation wpi.java.deps.wpilib()
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implementation wpi.java.vendor.java()
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roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
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roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
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roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
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roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
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nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
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nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
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simulationDebug wpi.sim.enableDebug()
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nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
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nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
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simulationRelease wpi.sim.enableRelease()
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implementation 'com.github.lasarobotics:PurpleLib:v2025.0.7'
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implementation 'org.apache.commons:commons-math3:3.+'
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implementation 'org.tinylog:tinylog-api:2.7.0'
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implementation 'org.tinylog:tinylog-impl:2.7.0'
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testImplementation 'org.junit.jupiter:junit-jupiter:5.+'
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testImplementation 'org.mockito:mockito-core:3.+'
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testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.+'
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annotationProcessor "org.littletonrobotics.akit:akit-autolog:$AdvantageKitJSON.version"
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}
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test {
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useJUnitPlatform()
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systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
116-
}
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// Simulation configuration (e.g. environment variables).
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wpi.sim.addGui().defaultEnabled = true
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wpi.sim.addDriverstation()
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// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
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// in order to make them all available at runtime. Also adding the manifest so WPILib
124-
// knows where to look for our Robot Class.
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jar {
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from {
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configurations.runtimeClasspath.collect {
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it.isDirectory() ? it : zipTree(it)
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}
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}
131-
from sourceSets.main.allSource
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manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
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duplicatesStrategy = DuplicatesStrategy.INCLUDE
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}
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// Configure replay watch task
137-
task(replayWatch, type: JavaExec) {
138-
mainClass = "org.littletonrobotics.junction.ReplayWatch"
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classpath = sourceSets.main.runtimeClasspath
140-
}
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// Configure jar and deploy tasks
143-
deployArtifact.jarTask = jar
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wpi.java.configureExecutableTasks(jar)
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wpi.java.configureTestTasks(test)
146-
147-
// Configure string concat to always inline compile
148-
tasks.withType(JavaCompile) {
149-
options.compilerArgs.add '-XDstringConcat=inline'
150-
}
1+
plugins {
2+
id "java"
3+
id "edu.wpi.first.GradleRIO" version "2025.3.2"
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id "com.peterabeles.gversion" version "1.10"
5+
}
6+
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java {
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sourceCompatibility = JavaVersion.VERSION_17
9+
targetCompatibility = JavaVersion.VERSION_17
10+
}
11+
12+
def ROBOT_MAIN_CLASS = "frc.robot.Main"
13+
14+
repositories {
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maven {
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url = "https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit"
17+
credentials {
18+
username = "Mechanical-Advantage-Bot"
19+
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"
20+
}
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}
22+
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maven { url = "https://jitpack.io" }
24+
}
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project.compileJava.dependsOn(createVersionFile)
27+
gversion {
28+
srcDir = "src/main/java/"
29+
classPackage = "frc.robot"
30+
className = "BuildConstants"
31+
dateFormat = "yyyy-MM-dd HH:mm:ss z"
32+
timeZone = "America/Chicago" // Use preferred time zone
33+
indent = " "
34+
}
35+
36+
// Define my targets (RoboRIO) and artifacts (deployable files)
37+
// This is added by GradleRIO's backing project DeployUtils.
38+
deploy {
39+
targets {
40+
roborio(getTargetTypeClass('RoboRIO')) {
41+
// Team number is loaded either from the .wpilib/wpilib_preferences.json
42+
// or from command line. If not found an exception will be thrown.
43+
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
44+
// want to store a team number in this file.
45+
team = project.frc.getTeamNumber()
46+
debug = project.frc.getDebugOrDefault(false)
47+
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artifacts {
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// First part is artifact name, 2nd is artifact type
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// getTargetTypeClass is a shortcut to get the class type using a string
51+
52+
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
53+
}
54+
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// Static files artifact
56+
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
57+
files = project.fileTree('src/main/deploy')
58+
directory = '/home/lvuser/deploy'
59+
deleteOldFiles = true // Change to true to delete files on roboRIO that no
60+
// longer exist in deploy directory of this project
61+
}
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}
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}
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}
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}
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def deployArtifact = deploy.targets.roborio.artifacts.frcJava
68+
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// Set to true to use debug for JNI.
70+
wpi.java.debugJni = false
71+
72+
// Set this to true to enable desktop support.
73+
def includeDesktopSupport = true
74+
75+
// Get AdvantageKit version from vendordep file
76+
def AdvantageKitJSON = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
77+
78+
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
79+
// Also defines JUnit 5.
80+
dependencies {
81+
annotationProcessor wpi.java.deps.wpilibAnnotations()
82+
implementation wpi.java.deps.wpilib()
83+
implementation wpi.java.vendor.java()
84+
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roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
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roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
87+
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roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
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roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
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nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
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nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
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simulationDebug wpi.sim.enableDebug()
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nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
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nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
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simulationRelease wpi.sim.enableRelease()
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implementation 'com.github.lasarobotics:PurpleLib:v2025.0.7'
100+
101+
implementation 'org.apache.commons:commons-math3:3.+'
102+
implementation 'org.tinylog:tinylog-api:2.7.0'
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implementation 'org.tinylog:tinylog-impl:2.7.0'
104+
105+
testImplementation 'org.junit.jupiter:junit-jupiter:5.+'
106+
testImplementation 'org.mockito:mockito-core:3.+'
107+
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testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.+'
109+
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annotationProcessor "org.littletonrobotics.akit:akit-autolog:$AdvantageKitJSON.version"
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}
112+
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test {
114+
useJUnitPlatform()
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systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
116+
}
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// Simulation configuration (e.g. environment variables).
119+
wpi.sim.addGui().defaultEnabled = true
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wpi.sim.addDriverstation()
121+
122+
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
123+
// in order to make them all available at runtime. Also adding the manifest so WPILib
124+
// knows where to look for our Robot Class.
125+
jar {
126+
from {
127+
configurations.runtimeClasspath.collect {
128+
it.isDirectory() ? it : zipTree(it)
129+
}
130+
}
131+
from sourceSets.main.allSource
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manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
133+
duplicatesStrategy = DuplicatesStrategy.INCLUDE
134+
}
135+
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// Configure replay watch task
137+
task(replayWatch, type: JavaExec) {
138+
mainClass = "org.littletonrobotics.junction.ReplayWatch"
139+
classpath = sourceSets.main.runtimeClasspath
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}
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// Configure jar and deploy tasks
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deployArtifact.jarTask = jar
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wpi.java.configureExecutableTasks(jar)
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wpi.java.configureTestTasks(test)
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// Configure string concat to always inline compile
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tasks.withType(JavaCompile) {
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options.compilerArgs.add '-XDstringConcat=inline'
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}

‎src/main/deploy/pathplanner/autos/3 left coral auto.auto‎

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{
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"version": "2025.0",
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"command": {
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"type": "sequential",
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"data": {
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"commands": [
7+
{
8+
"type": "named",
9+
"data": {
10+
"name": "lift to L4 no wait"
11+
}
12+
},
13+
{
14+
"type": "named",
15+
"data": {
16+
"name": "auto align first coral left"
17+
}
18+
},
19+
{
20+
"type": "named",
21+
"data": {
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"name": "score coral"
23+
}
24+
},
25+
{
26+
"type": "path",
27+
"data": {
28+
"pathName": "11b to intake (top)"
29+
}
30+
},
31+
{
32+
"type": "named",
33+
"data": {
34+
"name": "wait for intake"
35+
}
36+
},
37+
{
38+
"type": "named",
39+
"data": {
40+
"name": "auto align second coral left"
41+
}
42+
},
43+
{
44+
"type": "named",
45+
"data": {
46+
"name": "score coral"
47+
}
48+
},
49+
{
50+
"type": "path",
51+
"data": {
52+
"pathName": "9b to intake (top)"
53+
}
54+
},
55+
{
56+
"type": "named",
57+
"data": {
58+
"name": "wait for intake"
59+
}
60+
},
61+
{
62+
"type": "named",
63+
"data": {
64+
"name": "auto align third coral left"
65+
}
66+
},
67+
{
68+
"type": "named",
69+
"data": {
70+
"name": "score coral"
71+
}
72+
}
73+
]
74+
}
75+
},
76+
"resetOdom": false,
77+
"folder": null,
78+
"choreoAuto": false
79+
}

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