Mating

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 '6.12.0'
     id "com.peterabeles.gversion" version "1.10"
 }
@@ -52,6 +52,7 @@ def includeDesktopSupport = false
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
+    implementation 'org.jetbrains:annotations:24.0.0'
 
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
@@ -68,6 +69,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testImplementation 'org.junit.platform:junit-platform-launcher:1.8.2'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
@@ -104,14 +106,16 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**','**/BuildConstants.java'
+            exclude '**/build/**', '**/build-*/**','src/main/java/org/robolancers321/BuildConstants.java'
         }
+
         toggleOffOn()
         googleJavaFormat().reflowLongStrings()
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()
 
+
         licenseHeader '/* (C) Robolancers 2024 */'
     }
     kotlin {
@@ -156,12 +160,12 @@ spotless {
     }
 }
 
-project.compileJava.dependsOn(createVersionFile)
-gversion {
-    srcDir       = "src/main/java/"
-    classPackage = "org.robolancers321"
-    className    = "BuildConstants"
-    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
-    timeZone     = "America/New_York" // Use preferred time zone
-    indent       = "  "
-}
+// project.compileJava.dependsOn(createVersionFile)
+// // gversion {
+// //     srcDir       = "src/main/java/"
+// //     classPackage = "org.robolancers321"
+// //     className    = "BuildConstants"
+// //     dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+// //     timeZone     = "America/New_York" // Use preferred time zone
+// //     indent       = "  "
+// // }

networktables.json

@@ -0,0 +1 @@
+[]

settings.gradle

@@ -26,5 +26,5 @@ pluginManagement {
     }
 }
 
-Properties props = System.getProperties();
-props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
+Properties props = System.getProperties()
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true")

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,10 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/org/robolancers321/BuildConstants.java

@@ -7,13 +7,13 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "321-Crescendo-2024";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 4;
-  public static final String GIT_SHA = "890b1f13f053a4a882dc48c8de3887bfe2f9294f";
-  public static final String GIT_DATE = "2024-01-18 19:40:03 EST";
-  public static final String GIT_BRANCH = "dev";
-  public static final String BUILD_DATE = "2024-01-18 19:43:26 EST";
-  public static final long BUILD_UNIX_TIME = 1705625006821L;
-  public static final int DIRTY = 1;
+  public static final int GIT_REVISION = 26;
+  public static final String GIT_SHA = "98ec876acf210c51a7146e70cdaf9765448c192a";
+  public static final String GIT_DATE = "2024-01-29 15:02:18 EST";
+  public static final String GIT_BRANCH = "dev-launcher-4";
+  public static final String BUILD_DATE = "2024-01-29 15:36:21 EST";
+  public static final long BUILD_UNIX_TIME = 1706560581324L;
+  public static final int DIRTY = 0;
 
   private BuildConstants(){}
 }

src/main/java/org/robolancers321/RobotContainer.java

@@ -3,9 +3,21 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import org.robolancers321.subsystems.intake.Intake;
+import org.robolancers321.subsystems.launcher.Launcher;
 
 public class RobotContainer {
+  Intake intake;
+  Launcher launcher;
+
   public RobotContainer() {
+    this.intake = Intake.getInstance();
+    this.launcher = Launcher.getInstance();
+
+    this.intake.retractor.setDefaultCommand(this.intake.retractor.tuneControllers());
+    this.launcher.pivot.setDefaultCommand(this.launcher.pivot.tuneControllers());
+    this.launcher.flywheel.setDefaultCommand(this.launcher.flywheel.tuneController());
+
     configureBindings();
   }
 

src/main/java/org/robolancers321/commands/Mate.java

@@ -0,0 +1,31 @@
+/* (C) Robolancers 2024 */
+package org.robolancers321.commands;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import java.util.function.DoubleSupplier;
+import org.robolancers321.subsystems.intake.Intake;
+import org.robolancers321.subsystems.launcher.Launcher;
+
+public class Mate extends SequentialCommandGroup {
+  private Intake intake;
+  private Launcher launcher;
+
+  public Mate(DoubleSupplier distanceSupplier) {
+    // TODO
+    /*
+
+    this.intake = Intake.getInstance();
+    this.launcher = Launcher.getInstance();
+
+    addCommands(
+        new ParallelCommandGroup(
+            this.intake.retractor.moveToMating(), this.launcher.pivot.moveToMating()),
+        new ParallelRaceGroup(this.intake.sucker.out(), this.launcher.acceptHandoff()));
+
+    addRequirements(this.intake, this.launcher);
+
+    */
+  }
+}

src/main/java/org/robolancers321/subsystems/intake/Intake.java

@@ -0,0 +1,40 @@
+/* (C) Robolancers 2024 */
+package org.robolancers321.subsystems.intake;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+  /*
+   * Singleton
+   */
+
+  private static Intake instance = null;
+
+  public static Intake getInstance() {
+    if (instance == null) instance = new Intake();
+
+    return instance;
+  }
+
+  /*
+   * Constants
+   */
+
+  // TODO: implement beam break
+
+  /*
+   * Implementation
+   */
+
+  public final Retractor retractor;
+
+  // TODO
+  // public final Sucker sucker;
+
+  private Intake() {
+    this.retractor = Retractor.getInstance();
+
+    // TODO
+    // this.sucker = Sucker.getInstance();
+  }
+}