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rmheuerrmheuer
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Merge pull request #159 from SouthwestRoboticsProgramming/test_bench
Test bench
2 parents ad2e096 + 02c5211 commit 2ecdd5a

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‎RobotLib/src/main/java/com/swrobotics/lib/motor/FeedbackMotor.java‎

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package com.swrobotics.lib.motor;
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import com.swrobotics.lib.encoder.Encoder;
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import com.swrobotics.lib.net.NTDouble;
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import com.swrobotics.lib.net.NTEntry;
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import com.swrobotics.mathlib.Angle;
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public interface FeedbackMotor extends Motor {
@@ -42,7 +42,7 @@ default void setPID(double kP, double kI, double kD) {
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setF(0);
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}
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default void setPID(NTDouble kP, NTDouble kI, NTDouble kD) {
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default void setPID(NTEntry<Double> kP, NTEntry<Double> kI, NTEntry<Double> kD) {
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kP.nowAndOnChange(() -> setP(kP.get()));
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kI.nowAndOnChange(() -> setI(kI.get()));
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kD.nowAndOnChange(() -> setD(kD.get()));
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setF(kF);
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}
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default void setPIDF(NTDouble kP, NTDouble kI, NTDouble kD, NTDouble kF) {
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default void setPIDF(NTEntry<Double> kP, NTEntry<Double> kI, NTEntry<Double> kD, NTEntry<Double> kF) {
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setPID(kP, kI, kD);
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kF.nowAndOnChange(() -> setF(kF.get()));
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}

‎RobotLib/src/main/java/com/swrobotics/lib/motor/rev/SparkMaxMotor.java‎

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}
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/**
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* Enables feedback using a relative encoder connected to the encoder port.
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* Enables feedback using a relative encoder connected to the encoder port,
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* or the data port if in brushed mode.
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*
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* @param type type of the encoder connected
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* @param ticksPerRotation number of ticks per encoder rotation

‎TestBench/.gitignore‎

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# This gitignore has been specially created by the WPILib team.
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# If you remove items from this file, intellisense might break.
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### C++ ###
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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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### Java ###
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# Compiled class file
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*.class
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# Log file
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*.log
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# BlueJ files
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*.ctxt
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# Mobile Tools for Java (J2ME)
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.mtj.tmp/
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# Package Files #
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*.jar
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*.war
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*.nar
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*.ear
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*.zip
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*.tar.gz
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*.rar
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# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
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hs_err_pid*
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### Linux ###
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*~
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# temporary files which can be created if a process still has a handle open of a deleted file
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.fuse_hidden*
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# KDE directory preferences
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.directory
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# Linux trash folder which might appear on any partition or disk
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.Trash-*
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# .nfs files are created when an open file is removed but is still being accessed
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.nfs*
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### macOS ###
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# General
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.DS_Store
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.AppleDouble
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.LSOverride
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# Icon must end with two \r
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Icon
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# Thumbnails
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._*
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# Files that might appear in the root of a volume
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.DocumentRevisions-V100
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.fseventsd
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.Spotlight-V100
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.TemporaryItems
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.Trashes
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.VolumeIcon.icns
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.com.apple.timemachine.donotpresent
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# Directories potentially created on remote AFP share
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.AppleDB
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.AppleDesktop
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Network Trash Folder
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Temporary Items
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.apdisk
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### VisualStudioCode ###
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.vscode/*
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!.vscode/settings.json
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!.vscode/tasks.json
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!.vscode/launch.json
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!.vscode/extensions.json
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### Windows ###
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# Windows thumbnail cache files
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Thumbs.db
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ehthumbs.db
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ehthumbs_vista.db
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# Dump file
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*.stackdump
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# Folder config file
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[Dd]esktop.ini
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# Recycle Bin used on file shares
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$RECYCLE.BIN/
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# Windows Installer files
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*.cab
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*.msi
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*.msix
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*.msm
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*.msp
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# Windows shortcuts
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*.lnk
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### Gradle ###
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.gradle
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/build/
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# Ignore Gradle GUI config
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gradle-app.setting
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# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
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!gradle-wrapper.jar
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# Cache of project
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.gradletasknamecache
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# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
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# gradle/wrapper/gradle-wrapper.properties
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# # VS Code Specific Java Settings
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# DO NOT REMOVE .classpath and .project
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.classpath
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.project
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.settings/
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bin/
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# Simulation GUI and other tools window save file
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*-window.json

‎TestBench/.pathplanner/settings.json‎

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{
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"robotWidth": 0.83,
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"robotLength": 0.83,
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"holonomicMode": true,
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"generateJSON": false,
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"generateCSV": false
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}

‎TestBench/build.gradle‎

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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2023.3.2"
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}
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sourceCompatibility = JavaVersion.VERSION_11
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targetCompatibility = JavaVersion.VERSION_11
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compileJava {
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sourceCompatibility = '11'
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targetCompatibility = '11'
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}
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def ROBOT_MAIN_CLASS = "com.swrobotics.robot.Main"
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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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}
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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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test {
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useJUnit()
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}
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
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// Also defines JUnit 4.
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dependencies {
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implementation project(':Messenger:MessengerClient')
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implementation project(':TaskManager:TaskManager-FileSystem')
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implementation project(':Profiler')
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implementation project(':MathLib')
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implementation project(':RobotLib')
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implementation 'com.google.code.gson:gson:2.9.0'
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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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testImplementation 'junit:junit:4.13.1'
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testImplementation 'org.mockito:mockito-core:2.+'
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}
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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
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// knows where to look for our Robot Class.
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jar {
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dependsOn ':Messenger:MessengerClient:jar'
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dependsOn ':TaskManager:TaskManager-FileSystem:jar'
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dependsOn ':Profiler:jar'
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dependsOn ':MathLib:jar'
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dependsOn ':RobotLib:jar'
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from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
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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 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)

‎TestBench/src/main/deploy/YOOOOO.png‎

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‎TestBench/src/main/deploy/example.txt‎

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Files placed in this directory will be deployed to the RoboRIO into the
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'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
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to get a proper path relative to the deploy directory.

‎TestBench/src/main/deploy/pathplanner/Balance Barrier.path‎

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{
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"waypoints": [
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{
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"anchorPoint": {
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"x": 2.9260858521717044,
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"y": 4.8874039628421135
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},
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"prevControl": null,
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"nextControl": {
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"x": 6.369990090640911,
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"y": 4.8874039628421135
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},
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"holonomicAngle": 0.0,
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"isReversal": false,
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"velOverride": null,
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"isLocked": false,
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"isStopPoint": false,
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"stopEvent": {
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"names": [],
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"executionBehavior": "parallel",
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"waitBehavior": "none",
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"waitTime": 0
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}
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},
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{
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"anchorPoint": {
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"x": 6.25,
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"y": 2.66
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},
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"prevControl": {
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"x": 6.25,
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"y": 4.420174972855124
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},
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"nextControl": null,
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"holonomicAngle": 0.0,
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"isReversal": false,
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"velOverride": null,
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"isLocked": false,
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"isStopPoint": false,
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"stopEvent": {
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"names": [
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"BALANCE"
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],
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"executionBehavior": "parallel",
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"waitBehavior": "none",
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"waitTime": 0
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}
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}
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],
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"markers": []
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}

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