Skip to content

Move constants from Drive elsewhere #18

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
onlycs wants to merge 11 commits into from
Closed

Move constants from Drive elsewhere #18

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
1bc4e9e
test commit?
onlycs Jan 29, 2026
6315b31
add photon code
onlycs Jan 29, 2026
2d73520
use photon in drivetrain, impl quest as gyro fallback
onlycs Jan 29, 2026
7d94dd2
add repulsor, commands, and deps
onlycs Jan 30, 2026
b6671dd
remove some old constants
onlycs Jan 30, 2026
8806ab6
Debugged questnav, currently working
KGitHub03 Feb 3, 2026
255d986
changes to camera implementation+use photon as fallback for quest
onlycs Feb 3, 2026
b52c6d6
fix build issue
onlycs Feb 3, 2026
ba463b7
Merge remote-tracking branch 'downstream/repulsor' into devel
onlycs Feb 4, 2026
9000a61
centralize constants that will be used in many places
onlycs Feb 5, 2026
7bf2a0f
centralize more constants used in multiple places
onlycs Feb 5, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions .envrc
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
use flake;
3 changes: 1 addition & 2 deletions .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -186,5 +186,4 @@ compile_commands.json
# Version file
src/main/java/frc/robot/BuildConstants.java
.direnv/
.envrc
flake.nix
flake.lock
3 changes: 3 additions & 0 deletions .prettierrc
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
{
"tabWidth": 4
}
138 changes: 66 additions & 72 deletions .vscode/settings.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,73 +1,67 @@
{
"java.configuration.updateBuildConfiguration": "automatic",
"java.server.launchMode": "Standard",
"files.exclude": {
"**/.git": true,
"**/.svn": true,
"**/.hg": true,
"**/CVS": true,
"**/.DS_Store": true,
"bin/": true,
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
"**/.factorypath": true,
"**/*~": true
},
"java.test.config": [
{
"name": "WPIlibUnitTests",
"workingDirectory": "${workspaceFolder}/build/jni/release",
"vmargs": [
"-Djava.library.path=${workspaceFolder}/build/jni/release"
],
"env": {
"LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
"DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
}
},
null
],
"java.test.defaultConfig": "WPIlibUnitTests",
"spotlessGradle.format.enable": true,
"spotlessGradle.diagnostics.enable": false,
"java.import.gradle.annotationProcessing.enabled": false,
"java.completion.favoriteStaticMembers": [
"org.junit.Assert.*",
"org.junit.Assume.*",
"org.junit.jupiter.api.Assertions.*",
"org.junit.jupiter.api.Assumptions.*",
"org.junit.jupiter.api.DynamicContainer.*",
"org.junit.jupiter.api.DynamicTest.*",
"org.mockito.Mockito.*",
"org.mockito.ArgumentMatchers.*",
"org.mockito.Answers.*",
"edu.wpi.first.units.Units.*"
],
"java.completion.filteredTypes": [
"java.awt.*",
"com.sun.*",
"sun.*",
"jdk.*",
"org.graalvm.*",
"io.micrometer.shaded.*",
"java.beans.*",
"java.util.Base64.*",
"java.util.Timer",
"java.sql.*",
"javax.swing.*",
"javax.management.*",
"javax.smartcardio.*",
"edu.wpi.first.math.proto.*",
"edu.wpi.first.math.**.proto.*",
"edu.wpi.first.math.**.struct.*"
],
"java.dependency.enableDependencyCheckup": false,
"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle",
"[json]": {
"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
},
"[java]": {
"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
}
}
"java.configuration.updateBuildConfiguration": "automatic",
"java.server.launchMode": "Standard",
"files.exclude": {
"**/.git": true,
"**/.svn": true,
"**/.hg": true,
"**/CVS": true,
"**/.DS_Store": true,
"bin/": true,
"**/.classpath": true,
"**/.project": true,
"**/.settings": true,
"**/.factorypath": true,
"**/*~": true
},
"java.test.config": [
{
"name": "WPIlibUnitTests",
"workingDirectory": "${workspaceFolder}/build/jni/release",
"vmargs": [
"-Djava.library.path=${workspaceFolder}/build/jni/release"
],
"env": {
"LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
"DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
}
}
],
"java.test.defaultConfig": "WPIlibUnitTests",
"spotlessGradle.format.enable": true,
"spotlessGradle.diagnostics.enable": false,
"java.import.gradle.annotationProcessing.enabled": false,
"java.completion.favoriteStaticMembers": [
"org.junit.Assert.*",
"org.junit.Assume.*",
"org.junit.jupiter.api.Assertions.*",
"org.junit.jupiter.api.Assumptions.*",
"org.junit.jupiter.api.DynamicContainer.*",
"org.junit.jupiter.api.DynamicTest.*",
"org.mockito.Mockito.*",
"org.mockito.ArgumentMatchers.*",
"org.mockito.Answers.*",
"edu.wpi.first.units.Units.*"
],
"java.completion.filteredTypes": [
"java.awt.*",
"com.sun.*",
"sun.*",
"jdk.*",
"org.graalvm.*",
"io.micrometer.shaded.*",
"java.beans.*",
"java.util.Base64.*",
"java.util.Timer",
"java.sql.*",
"javax.swing.*",
"javax.management.*",
"javax.smartcardio.*",
"edu.wpi.first.math.proto.*",
"edu.wpi.first.math.**.proto.*",
"edu.wpi.first.math.**.struct.*"
],
"java.dependency.enableDependencyCheckup": false,
"editor.formatOnSave": true,
"prettier-plugin-java-vscode.prettierConfigPath": "${workspaceFolder}/.pretterrc"
}
6 changes: 6 additions & 0 deletions build.gradle
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
id "com.peterabeles.gversion" version "1.10"
id "net.ltgt.errorprone" version "5.0.0"
}

java {
Expand Down Expand Up @@ -92,6 +93,7 @@ dependencies {

testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
errorprone "com.google.errorprone:error_prone_core:2.25.0"

def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
Expand Down Expand Up @@ -173,3 +175,7 @@ task(eventDeploy) {
}
}
createVersionFile.dependsOn(eventDeploy)

tasks.withType(JavaCompile).configureEach {
options.errorprone.disableWarningsInGeneratedCode = true
}
48 changes: 48 additions & 0 deletions flake.nix
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,48 @@
{
description = "Robotics Development Environment";

inputs = {
nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
flake-utils.url = "github:numtide/flake-utils";
};

outputs =
{
self,
nixpkgs,
flake-utils,
}:
flake-utils.lib.eachDefaultSystem (
system:
let
pkgs = import nixpkgs { inherit system; };

applications = with pkgs; [
nil
nixd

javaPackages.compiler.temurin-bin.jdk-17
gradle
jdt-language-server

nodejs
prettier
];

libraries = with pkgs; [
openssl
gcc
];
in
{
devShells.default = pkgs.mkShell {
buildInputs = applications ++ libraries;

OPENSSL_DIR = pkgs.openssl.dev;
OPENSSL_LIB_DIR = "${pkgs.openssl.out}/lib";
LD_LIBRARY_PATH = pkgs.lib.makeLibraryPath libraries;
PKG_CONFIG_PATH = pkgs.lib.makeSearchPath "lib/pkgconfig" libraries;
};
}
);
}
17 changes: 9 additions & 8 deletions src/main/java/frc/robot/commands/DriveCommands.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,12 @@
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.constants.ControlConstants;
import frc.robot.subsystems.drive.Drive;
import frc.robot.subsystems.drive.DriveConstants;
import java.text.DecimalFormat;
import java.text.NumberFormat;
import java.util.LinkedList;
import java.util.ArrayList;
import java.util.List;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
Expand Down Expand Up @@ -81,9 +82,9 @@ public static Command joystickDrive(
// Convert to field relative speeds & send command
ChassisSpeeds speeds =
new ChassisSpeeds(
linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
omega * drive.getMaxAngularSpeedRadPerSec());
linearVelocity.getX() * ControlConstants.Drive.kMaxLinearSpeed,
linearVelocity.getY() * ControlConstants.Drive.kMaxLinearSpeed,
omega * ControlConstants.Drive.kMaxAngularSpeed);
boolean isFlipped =
DriverStation.getAlliance().isPresent()
&& DriverStation.getAlliance().get() == Alliance.Red;
Expand Down Expand Up @@ -132,8 +133,8 @@ public static Command joystickDriveAtAngle(
// Convert to field relative speeds & send command
ChassisSpeeds speeds =
new ChassisSpeeds(
linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(),
linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(),
linearVelocity.getX() * ControlConstants.Drive.kMaxLinearSpeed,
linearVelocity.getY() * ControlConstants.Drive.kMaxLinearSpeed,
omega);
boolean isFlipped =
DriverStation.getAlliance().isPresent()
Expand All @@ -157,8 +158,8 @@ public static Command joystickDriveAtAngle(
* <p>This command should only be used in voltage control mode.
*/
public static Command feedforwardCharacterization(Drive drive) {
List<Double> velocitySamples = new LinkedList<>();
List<Double> voltageSamples = new LinkedList<>();
List<Double> velocitySamples = new ArrayList<>();
List<Double> voltageSamples = new ArrayList<>();
Timer timer = new Timer();

return Commands.sequence(
Expand Down
Loading
Loading