Merge branch 'dev' into srx-abs

.gitignore

@@ -169,10 +169,16 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
 logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025beta",
     "teamNumber": 3481
 }

IronMaple-License.md

@@ -0,0 +1,15 @@
+<p align="center">
+  <img src="https://github.com/Shenzhen-Robotics-Alliance/maple-sim/raw/main/docs/media/team_logo.png" width="20%"  alt="team logo"/>
+  <img src="https://github.com/Shenzhen-Robotics-Alliance/maple-sim/raw/main/docs/media/icon.png" width="79%"  alt="project logo"/>
+</p>
+
+#### This project uses [maple-sim](https://github.com/Shenzhen-Robotics-Alliance/maple-sim) for simulation.
+If you encounter any bugs related to drivetrain physics simulation, please [submit an issue to maple-sim](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/issues/new/choose).
+
+## MIT License, Copyright (c) 2024 Team5516 "Iron Maple"
+
+**Permission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:**
+
+> #### The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+*THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.*

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }
 
 java {
@@ -45,11 +45,12 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = true
+def includeDesktopSupport = false
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -98,4 +99,4 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
-}
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

simgui.json

@@ -60,10 +60,15 @@
       "/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
       "/LiveWindow/Ungrouped/Pigeon 2 [13]": "Gyro",
       "/LiveWindow/Ungrouped/Scheduler": "Scheduler",
+      "/SmartDashboard/Encoders": "Alerts",
       "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/IMU": "Alerts",
+      "/SmartDashboard/JSON": "Alerts",
+      "/SmartDashboard/Motors": "Alerts",
       "/SmartDashboard/Pigeon 2 (v6) [13]": "Gyro",
       "/SmartDashboard/Pigeon 2 [13]": "Gyro",
       "/SmartDashboard/SendableChooser[0]": "String Chooser",
+      "/SmartDashboard/Swerve Drive": "Alerts",
       "/SmartDashboard/VisionSystemSim-Vision/Sim Field": "Field2d",
       "/SmartDashboard/navX-Sensor[1]": "Gyro",
       "/SmartDashboard/navX-Sensor[4]": "Gyro"
@@ -75,6 +80,20 @@
         }
       },
       "/SmartDashboard/Field": {
+        "OdometryPose": {
+          "arrowColor": [
+            255.0,
+            255.0,
+            0.0,
+            255.0
+          ],
+          "color": [
+            224.99996948242188,
+            0.0,
+            255.0,
+            255.0
+          ]
+        },
         "XModules": {
           "arrowColor": [
             0.09611687064170837,

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -1,12 +1,5 @@
 {
-  "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 2.0,
-      "y": 7.0
-    },
-    "rotation": 0
-  },
+  "version": "2025.0",
   "command": {
     "type": "sequential",
     "data": {
@@ -20,6 +13,7 @@
       ]
     }
   },
+  "resetOdom": true,
   "folder": null,
   "choreoAuto": false
 }

src/main/deploy/pathplanner/paths/New Path.path

@@ -1,5 +1,5 @@
 {
-  "version": 1.0,
+  "version": "2025.0",
   "waypoints": [
     {
       "anchor": {
@@ -46,20 +46,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
+  "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
-    "rotateFast": false
+    "rotation": 0.0
   },
   "reversed": false,
   "folder": null,
-  "previewStartingState": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
   "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "NEO",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

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

@@ -4,7 +4,6 @@
 
 package frc.robot;
 
-import com.pathplanner.lib.util.PIDConstants;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import swervelib.math.Matter;
@@ -26,12 +25,12 @@ public final class Constants
   public static final double MAX_SPEED  = Units.feetToMeters(14.5);
   // Maximum speed of the robot in meters per second, used to limit acceleration.
 
-  public static final class AutonConstants
-  {
-
-    public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0, 0);
-    public static final PIDConstants ANGLE_PID       = new PIDConstants(0.4, 0, 0.01);
-  }
+//  public static final class AutonConstants
+//  {
+//
+//    public static final PIDConstants TRANSLATION_PID = new PIDConstants(0.7, 0, 0);
+//    public static final PIDConstants ANGLE_PID       = new PIDConstants(0.4, 0, 0.01);
+//  }
 
   public static final class DrivebaseConstants
   {

src/main/java/frc/robot/RobotContainer.java

@@ -78,6 +78,11 @@ public class RobotContainer
       () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
       () -> driverXbox.getRawAxis(2));
 
+  Command driveSetpointGenSim = drivebase.simDriveCommand(
+      () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+      () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+      () -> driverXbox.getRawAxis(2));
+
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
@@ -96,6 +101,10 @@ public RobotContainer()
    */
   private void configureBindings()
   {
+    if (Robot.isSimulation())
+    {
+      driverXbox.start().onTrue(Commands.runOnce(() -> drivebase.resetOdometry(new Pose2d(3, 3, new Rotation2d()))));
+    }
     if (DriverStation.isTest())
     {
       driverXbox.b().whileTrue(drivebase.sysIdDriveMotorCommand());
@@ -112,9 +121,9 @@ private void configureBindings()
       driverXbox.a().onTrue((Commands.runOnce(drivebase::zeroGyro)));
       driverXbox.x().onTrue(Commands.runOnce(drivebase::addFakeVisionReading));
       driverXbox.b().whileTrue(
-          Commands.deferredProxy(() -> drivebase.driveToPose(
-                                     new Pose2d(new Translation2d(4, 4), Rotation2d.fromDegrees(0)))
-                                ));
+          drivebase.driveToPose(
+              new Pose2d(new Translation2d(4, 4), Rotation2d.fromDegrees(0)))
+                              );
       driverXbox.y().whileTrue(drivebase.aimAtSpeaker(2));
       driverXbox.start().whileTrue(Commands.none());
       driverXbox.back().whileTrue(Commands.none());