Merge branch 'frc_2019'

cookiecutter.json

@@ -15,6 +15,8 @@
     ".gitignore",
     "gradlew",
     "gradlew.bat",
-    "gradle/wrapper/gradle-wrapper.jar"
+    "gradle/wrapper/gradle-wrapper.jar",
+    "vendordeps/phoenix.json",
+    "vendordeps/navx.json"
   ]
 }

hooks/post_gen_project.py

@@ -51,6 +51,13 @@ def rm_tree(top):
         rm_tree(os.path.join(MAIN_DIR, "resources"))
         rm_src_file("command", "LogCommand")
 
+    # vendor deps
+    if (
+        "{{ cookiecutter.use_thirdcoast_swerve }}" != "y"
+        and "{{ cookiecutter.use_thirdcoast_telemetry }}" != "y"
+    ):
+        rm_tree(os.path.join(PROJECT_DIR, "vendordeps"))
+
     # swerve
     if "{{ cookiecutter.use_thirdcoast_swerve }}" != "y":
         rm_src_file("command", "TeleOpDriveCommand")

{{cookiecutter.project_slug}}/.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+  "enableCppIntellisense": false,
+  "currentLanguage": "java",
+  "projectYear": "2019",
+  "teamNumber": {{ cookiecutter.frc_team }}
+}

{{cookiecutter.project_slug}}/build.gradle

@@ -1,40 +1,58 @@
-import edu.wpi.first.gradlerio.GradleRIOPlugin
-import edu.wpi.first.gradlerio.frc.FRCJavaArtifact
-import edu.wpi.first.gradlerio.frc.RoboRIO
-
 plugins {
 {% if cookiecutter.use_kotlin == 'y' %}
     id "org.jetbrains.kotlin.jvm" version "1.3.11"
 {% else %}
     id "java"
 {% endif %}
-    id "edu.wpi.first.GradleRIO" version "2019.0.0-alpha-3"
+    id "edu.wpi.first.GradleRIO" version "2019.1.1"
     id "idea"
 {% if cookiecutter.use_spotless == 'y' %}
-        id "com.diffplug.gradle.spotless" version "3.16.0"
+    id "com.diffplug.gradle.spotless" version "3.16.0"
 {% endif %}
 }
 
-def TEAM = {{ cookiecutter.frc_team }}
-def ROBOT_CLASS = "{{ cookiecutter.package_name }}.Robot"
+{% if cookiecutter.use_kotlin == 'y' %}
+def ROBOT_MAIN_CLASS = "{{ cookiecutter.package_name }}.MainKt"
+{% else %}
+def ROBOT_MAIN_CLASS = "{{ cookiecutter.package_name }}.Main"
+{% endif %}
 
-repositories {
-    jcenter()
+deploy {
+    targets {
+        roboRIO("roborio") {
+            team = frc.getTeamNumber() // loaded from .wpilib/wpilib_preferences.json
+        }
+    }
+    artifacts {
+        frcJavaArtifact("frcJava") {
+            targets << "roborio"
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact("frcStaticFileDeploy") {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: "src/main/deploy")
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = "/home/lvuser/deploy"
+        }
+    }
 }
 
-wpi {
-  ctreVersion = "5.7.1.0"
+repositories {
+    jcenter()
+    maven { url = "https://raw.githubusercontent.com/Open-RIO/Maven-Mirror/master/m2" } // FIXME
 }
 
 dependencies {
-{% if cookiecutter.use_kotlin == 'y' %}    
+{% if cookiecutter.use_kotlin == 'y' %}
     compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:${kotlinVersion}"
 {% endif %}
-    compile wpilib()
-{% if cookiecutter.use_thirdcoast_swerve == 'y' or cookiecutter.use_thirdcoast_telemetry == 'y' %}
-    compile ctre()
-    compile navx()
-{% endif %}
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
 {% if cookiecutter.use_thirdcoast_swerve == 'y' %}
     compile "org.strykeforce.thirdcoast:swerve:${thirdcoastVersion}"
 {% endif %}
@@ -53,31 +71,14 @@ dependencies {
 compileKotlin {
     kotlinOptions {
         jvmTarget = '1.8'
+        freeCompilerArgs = ['-progressive']
     }
 }
 {% endif %}
 
-def robotManifest = {
-    attributes "Main-Class": "edu.wpi.first.wpilibj.RobotBase"
-    attributes "Robot-Class": frc.robotClass
-}
-
 jar {
-    from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
-    manifest GradleRIOPlugin.javaManifest(ROBOT_CLASS)
-}
-
-deploy {
-    targets {
-        target("roborio", RoboRIO) {
-            team = TEAM
-        }
-    }
-    artifacts {
-        artifact("frcJava", FRCJavaArtifact) {
-            targets << "roborio"
-        }
-    }
+    from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
 }
 
 idea {
@@ -93,4 +94,4 @@ spotless {
     googleJavaFormat()
   }
 }
-{% endif %}
+{% endif %}

{{cookiecutter.project_slug}}/gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
-#Thu Aug 23 17:37:51 EDT 2018
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.9-all.zip
+zipStorePath=permwrapper/dists

{{cookiecutter.project_slug}}/gradlew

@@ -28,7 +28,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+DEFAULT_JVM_OPTS='"-Xmx64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"

{{cookiecutter.project_slug}}/gradlew.bat

@@ -14,7 +14,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS=
+set DEFAULT_JVM_OPTS="-Xmx64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome

{{cookiecutter.project_slug}}/src/main/java/{{ cookiecutter.package_path }}/Main.java

@@ -0,0 +1,21 @@
+package {{ cookiecutter.package_name }};
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

{{cookiecutter.project_slug}}/src/main/java/{{ cookiecutter.package_path }}/subsystem/DriveSubsystem.java

@@ -81,12 +81,12 @@ private Wheel[] getWheels() {
     azimuthConfig.continuousCurrentLimit = 10;
     azimuthConfig.peakCurrentDuration = 0;
     azimuthConfig.peakCurrentLimit = 0;
-    azimuthConfig.slot_0.kP = 10.0;
-    azimuthConfig.slot_0.kI = 0.0;
-    azimuthConfig.slot_0.kD = 100.0;
-    azimuthConfig.slot_0.kF = 0.0;
-    azimuthConfig.slot_0.integralZone = 0;
-    azimuthConfig.slot_0.allowableClosedloopError = 0;
+    azimuthConfig.slot0.kP = 10.0;
+    azimuthConfig.slot0.kI = 0.0;
+    azimuthConfig.slot0.kD = 100.0;
+    azimuthConfig.slot0.kF = 0.0;
+    azimuthConfig.slot0.integralZone = 0;
+    azimuthConfig.slot0.allowableClosedloopError = 0;
     azimuthConfig.motionAcceleration = 10_000;
     azimuthConfig.motionCruiseVelocity = 800;
 
@@ -109,7 +109,7 @@ private Wheel[] getWheels() {
       TalonSRX driveTalon = new TalonSRX(i + 10);
       driveTalon.configAllSettings(driveConfig);
       driveTalon.setNeutralMode(NeutralMode.Brake);
-  
+
     {% if cookiecutter.use_thirdcoast_telemetry == 'y' -%}
       telemetryService.register(azimuthTalon);
       telemetryService.register(driveTalon);

{{cookiecutter.project_slug}}/src/main/kotlin/{{ cookiecutter.package_path }}/Main.kt

@@ -0,0 +1,12 @@
+package {{ cookiecutter.package_name }}
+
+import edu.wpi.first.wpilibj.RobotBase
+
+/**
+  * Main initialization function. Do not perform any initialization here.
+  *
+  * <p>If you change your main robot class, change the parameter type.
+  */
+fun main(args : Array<String>) {
+  RobotBase.startRobot(::Robot)
+}

{{cookiecutter.project_slug}}/vendordeps/navx.json

@@ -0,0 +1,33 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "3.1.344",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "3.1.344"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "3.1.344",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        }
+    ]
+}

{{cookiecutter.project_slug}}/vendordeps/phoenix.json

@@ -0,0 +1,87 @@
+{
+    "fileName": "Phoenix.json",
+    "name": "CTRE-Phoenix",
+    "version": "5.12.0",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "http://devsite.ctr-electronics.com/maven/release/"
+    ],
+    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.12.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.12.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.12.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.12.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.12.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.12.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "core",
+            "version": "5.12.0",
+            "libName": "CTRE_PhoenixCore",
+            "headerClassifier": "headers"
+        }
+    ]
+}