Merge pull request #22 from CrossTheRoadElec/SimAdditions

Sim additions
CrossTheRoadElec · Dec 8, 2023 · 5942179 · 5942179
2 parents 87c6444 + 41537ba
commit 5942179
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diff --git a/cpp/BasicLatencyCompensation/build.gradle b/cpp/BasicLatencyCompensation/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CANcoder/build.gradle b/cpp/CANcoder/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CommandBasedDrive/build.gradle b/cpp/CommandBasedDrive/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CommandBasedDrive/src/main/include/subsystems/DriveSubsystem.h b/cpp/CommandBasedDrive/src/main/include/subsystems/DriveSubsystem.h
@@ -43,7 +43,7 @@ class DriveSubsystem : public frc2::SubsystemBase
     static constexpr units::inch_t kWheelRadiusInches = 3_in;
 
     frc::sim::DifferentialDrivetrainSim m_driveSim{
-        frc::DCMotor::Falcon500(2),
+        frc::DCMotor::Falcon500FOC(2),
         kGearRatio,
         2.1_kg_sq_m, // MOI of 2.1 kg m^2 (from CAD model)
         26.5_kg,     // Mass of robot is 26.5 kg

diff --git a/cpp/CurrentLimits/build.gradle b/cpp/CurrentLimits/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/CurrentLimits/src/main/include/Robot.h b/cpp/CurrentLimits/src/main/include/Robot.h
@@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot {
   void SimulationInit() override;
   void SimulationPeriodic() override;
 
-  ctre::phoenix6::hardware::TalonFX m_fx{0, "Fred"};
+  ctre::phoenix6::hardware::TalonFX m_fx{0, "canivore"};
   ctre::phoenix6::controls::DutyCycleOut m_output{0};
   ctre::phoenix6::configs::CurrentLimitsConfigs m_currentLimits{};
 

diff --git a/cpp/Falcon500ArcadeDrive/build.gradle b/cpp/Falcon500ArcadeDrive/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/FusedCANcoder/build.gradle b/cpp/FusedCANcoder/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/FusedCANcoder/src/main/include/Robot.h b/cpp/FusedCANcoder/src/main/include/Robot.h
@@ -30,8 +30,8 @@ class Robot : public frc::TimedRobot {
   void SimulationPeriodic() override;
 
 
-  ctre::phoenix6::hardware::TalonFX m_fx{1, "fred"};
-  ctre::phoenix6::hardware::CANcoder m_cc{1, "fred"};
+  ctre::phoenix6::hardware::TalonFX m_fx{1, "canivore"};
+  ctre::phoenix6::hardware::CANcoder m_cc{1, "canivore"};
   ctre::phoenix6::StatusSignal<bool> f_fusedSensorOutOfSync = m_fx.GetFault_FusedSensorOutOfSync();
   ctre::phoenix6::StatusSignal<bool> sf_fusedSensorOutOfSync = m_fx.GetStickyFault_FusedSensorOutOfSync();
   ctre::phoenix6::StatusSignal<bool> f_remoteSensorInvalid = m_fx.GetFault_RemoteSensorDataInvalid();

diff --git a/cpp/MotionMagic/build.gradle b/cpp/MotionMagic/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/MotionMagic/src/main/cpp/Robot.cpp b/cpp/MotionMagic/src/main/cpp/Robot.cpp
@@ -20,24 +20,21 @@ void Robot::RobotInit() {
   configs::TalonFXConfiguration cfg{};
 
   /* Configure current limits */
-  configs::MotionMagicConfigs mm{};
+  configs::MotionMagicConfigs &mm = cfg.MotionMagic;
   mm.MotionMagicCruiseVelocity = 5; // 5 rotations per second cruise
   mm.MotionMagicAcceleration = 10; // Take approximately 0.5 seconds to reach max vel
   // Take approximately 0.2 seconds to reach max accel 
   mm.MotionMagicJerk = 50;
-  cfg.MotionMagic = mm;
 
-  configs::Slot0Configs slot0{};
+  configs::Slot0Configs &slot0 = cfg.Slot0;
   slot0.kP = 60;
   slot0.kI = 0;
   slot0.kD = 0.1;
   slot0.kV = 0.12;
   slot0.kS = 0.25; // Approximately 0.25V to get the mechanism moving
-  cfg.Slot0 = slot0;
 
-  configs::FeedbackConfigs fdb{};
+  configs::FeedbackConfigs &fdb = cfg.Feedback;
   fdb.SensorToMechanismRatio = 12.8;
-  cfg.Feedback = fdb;
 
   ctre::phoenix::StatusCode status = ctre::phoenix::StatusCode::StatusCodeNotInitialized;
   for(int i = 0; i < 5; ++i) {

diff --git a/cpp/MotionMagic/src/main/cpp/sim/TalonFXSimProfile.cpp b/cpp/MotionMagic/src/main/cpp/sim/TalonFXSimProfile.cpp
@@ -3,7 +3,7 @@
 using namespace ctre::phoenix6;
 
 TalonFXSimProfile::TalonFXSimProfile(hardware::TalonFX& falcon, units::kilogram_square_meter_t rotorInertia) :
-    _motorSim{frc::DCMotor::Falcon500(1), 1, rotorInertia},
+    _motorSim{frc::DCMotor::Falcon500FOC(1), 1, rotorInertia},
     _falcon{falcon} {
 }
 
@@ -15,9 +15,10 @@ void TalonFXSimProfile::Run() {
     _motorSim.Update(GetPeriod());
 
     /// SET SIM PHYSICS INPUTS
-    auto velocity = _motorSim.GetAngularVelocity();
+    auto const position = _motorSim.GetAngularPosition();
+    auto const velocity = _motorSim.GetAngularVelocity();
 
-    _falcon.GetSimState().SetRawRotorPosition(_motorSim.GetAngularPosition());
+    _falcon.GetSimState().SetRawRotorPosition(position);
     _falcon.GetSimState().SetRotorVelocity(velocity);
 
     _falcon.GetSimState().SetSupplyVoltage(12_V - _falcon.GetSimState().GetSupplyCurrent() * kMotorResistance);

diff --git a/cpp/MotionMagic/src/main/include/sim/TalonFXSimProfile.h b/cpp/MotionMagic/src/main/include/sim/TalonFXSimProfile.h
@@ -9,7 +9,7 @@
  * Holds information about a simulated TalonFX.
  */
 class TalonFXSimProfile : public SimProfile {
-    units::ohm_t kMotorResistance = 2_mOhm; // Assume 2mOhm resistance for voltage drop calculation
+    static constexpr units::ohm_t kMotorResistance = 2_mOhm; // Assume 2mOhm resistance for voltage drop calculation
     frc::sim::DCMotorSim _motorSim;
     ctre::phoenix6::hardware::TalonFX& _falcon;
 

diff --git a/cpp/Pigeon2/build.gradle b/cpp/Pigeon2/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/PositionClosedLoop/build.gradle b/cpp/PositionClosedLoop/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/Simulation/build.gradle b/cpp/Simulation/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/Simulation/src/main/include/Robot.h b/cpp/Simulation/src/main/include/Robot.h
@@ -44,7 +44,7 @@ class Robot : public frc::TimedRobot {
   static constexpr units::inch_t kWheelRadiusInches = 3_in;
 
   frc::sim::DifferentialDrivetrainSim m_driveSim{
-    frc::DCMotor::Falcon500(2),
+    frc::DCMotor::Falcon500FOC(2),
     kGearRatio,
     2.1_kg_sq_m, // MOI of 2.1 kg m^2 (from CAD model)
     26.5_kg,     // Mass of robot is 26.5 kg

diff --git a/cpp/VelocityClosedLoop/build.gradle b/cpp/VelocityClosedLoop/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/cpp/WaitForAll/build.gradle b/cpp/WaitForAll/build.gradle
@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

diff --git a/java/BasicLatencyCompensation/build.gradle b/java/BasicLatencyCompensation/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java b/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java
@@ -21,29 +21,29 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private final String CANBUS_NAME = "Fred";
-  private CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
-  private TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
-  private Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
+  private static final String CANBUS_NAME = "canivore";
+  private final CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
+  private final TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
+  private final Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
   private int m_printCount = 0;
 
-  private DutyCycleOut m_dutycycle = new DutyCycleOut(0);
+  private final DutyCycleOut m_dutycycle = new DutyCycleOut(0);
 
-  XboxController m_joystick = new XboxController(0);
+  private final XboxController m_joystick = new XboxController(0);
 
-  StatusSignal<Double> m_ccpos = m_cc.getPosition();
-  StatusSignal<Double> m_fxpos = m_fx.getPosition();
-  StatusSignal<Double> m_p2yaw = m_p2.getYaw();
-  StatusSignal<Double> m_ccvel = m_cc.getVelocity();
-  StatusSignal<Double> m_fxvel = m_fx.getVelocity();
+  private final StatusSignal<Double> m_ccpos = m_cc.getPosition();
+  private final StatusSignal<Double> m_fxpos = m_fx.getPosition();
+  private final StatusSignal<Double> m_p2yaw = m_p2.getYaw();
+  private final StatusSignal<Double> m_ccvel = m_cc.getVelocity();
+  private final StatusSignal<Double> m_fxvel = m_fx.getVelocity();
   /**
    * Pigeon2 can only perform this latency compensation if the Z axis is straight up, since the
    * angular velocity Z value comes from the pre-mount orientation gyroscope.
    * For more information on what signals have what algorithms applied to them,
    * see section 1.6 of the Pigeon 2's User's Guide
    * https://store.ctr-electronics.com/content/user-manual/Pigeon2%20User's%20Guide.pdf 
    */
-  StatusSignal<Double> m_p2yawRate = m_p2.getAngularVelocityZ();
+  private final StatusSignal<Double> m_p2yawRate = m_p2.getAngularVelocityZ();
 
   /**
    * This function is run when the robot is first started up and should be used for any

diff --git a/java/CANcoder/.Glass/glass.json b/java/CANcoder/.Glass/glass.json
@@ -0,0 +1,24 @@
+{
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "open": true
+      }
+    },
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/mech2d": "Mechanism2d"
+    },
+    "windows": {
+      "/SmartDashboard/mech2d": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "7762"
+  }
+}
diff --git a/java/CANcoder/.vscode/launch.json b/java/CANcoder/.vscode/launch.json
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "CANcoder"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/java/CANcoder/build.gradle b/java/CANcoder/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
 }
 
 java {

diff --git a/java/CANcoder/src/main/java/frc/robot/Mechanisms.java b/java/CANcoder/src/main/java/frc/robot/Mechanisms.java
@@ -0,0 +1,43 @@
+package frc.robot;
+
+import com.ctre.phoenix6.StatusSignal;
+
+import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
+import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
+
+/**
+ * Class to keep all the mechanism-specific objects together and out of the main example
+ */
+public class Mechanisms {
+  private final double HEIGHT = 1;
+  private final double WIDTH = 1;
+  private final double ROOT_X = WIDTH / 2;
+  private final double ROOT_Y = HEIGHT / 2;
+
+  private Mechanism2d mech = new Mechanism2d(WIDTH, HEIGHT); // Main mechanism object
+  private MechanismLigament2d wrist = mech.getRoot("base", ROOT_X, ROOT_Y)
+      .append(new MechanismLigament2d("Wrist", .25, 90, 6, new Color8Bit(Color.kAliceBlue)));
+
+  @SuppressWarnings("unused")
+  private MechanismLigament2d leftArrow = wrist.append(
+                                              new MechanismLigament2d("LeftArrow", 
+                                                                      0.1, 
+                                                                      150, 
+                                                                      6, 
+                                                                      new Color8Bit(Color.kAliceBlue)));
+  @SuppressWarnings("unused")
+  private MechanismLigament2d rightArrow = wrist.append(
+                                               new MechanismLigament2d("RightArrow", 
+                                                                       0.1, 
+                                                                       -150, 
+                                                                       6, 
+                                                                       new Color8Bit(Color.kAliceBlue)));
+
+  public void update(StatusSignal<Double> angle) {
+    SmartDashboard.putData("mech2d", mech); // Creates a mech2d window in GUI
+    wrist.setAngle(angle.getValue() * 360); // Converts 1 rotation to 360 degrees
+  }
+}