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Add URCL and refactor CANIDs into an enum #123

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95 changes: 56 additions & 39 deletions src/main/java/frc/robot/Config.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,9 @@
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.revrobotics.CANSparkBase.IdleMode;
Expand Down Expand Up @@ -50,30 +51,46 @@ public final class Config {
*/
private static int robotId = -1;

public static class CANID {
public static int PIGEON = robotSpecific(16, -1, 27, 30);
public static final int CANDLE = robotSpecific(25,-1,15,15);
public static final int CLIMBER = robotSpecific(18, 4, 5 ,-1);
public enum CANID {
PIGEON(robotSpecific(16, -1, 27, 30)),
CANDLE(robotSpecific(25, -1, 15, 15)),
CLIMBER(robotSpecific(18, 4, 5 ,-1)),

//swerve CAN IDs
public static final int SWERVE_FL_DRIVE = 4;
public static final int SWERVE_FL_STEERING = 5;
public static final int SWERVE_FR_DRIVE = 6;
public static final int SWERVE_FR_STEERING = 7;
public static final int SWERVE_RL_DRIVE = 8;
public static final int SWERVE_RL_STEERING = 9;
public static final int SWERVE_RR_DRIVE = 10;
public static final int SWERVE_RR_STEERING = 11;
public static final int SWERVE_FL_CANCODER = 12;
public static final int SWERVE_FR_CANCODER = 13;
public static final int SWERVE_RL_CANCODER = 14;
public static final int SWERVE_RR_CANCODER = 15;
SWERVE_FL_DRIVE(4),
SWERVE_FL_STEERING(5),
SWERVE_FR_DRIVE(6),
SWERVE_FR_STEERING(7),
SWERVE_RL_DRIVE(8),
SWERVE_RL_STEERING(9),
SWERVE_RR_DRIVE(10),
SWERVE_RR_STEERING(11),
SWERVE_FL_CANCODER(12),
SWERVE_FR_CANCODER(13),
SWERVE_RL_CANCODER(14),
SWERVE_RR_CANCODER(15),

//mechanism CAN IDs
public static final int ARM = 19;
public static final int INTAKE = 21;
public static final int SHOOTER = 22;

ARM(19),
INTAKE(21),
SHOOTER(22);

private final int id;
CANID(int id) {
this.id = id;
}

public int val() {
return id;
}

public static Map<Integer, String> mapCanIdsToNames() {
HashMap<Integer, String> map = new HashMap<>();
for (CANID canid : CANID.values()) {
map.put(canid.val(), canid.name());
}
return map;
}
}

public static final int CANTIMEOUT_MS = 100;
Expand Down Expand Up @@ -229,13 +246,13 @@ public static enum PhotonPositions {
}

public static final class Climber_CANID {
public static int CLIMBER = CANID.CLIMBER;
public static int CLIMBER = CANID.CLIMBER.val();
}

public static final class Swerve {
public static final double stickDeadband = 0.1;

public static final int pigeonID = CANID.PIGEON;
public static final int pigeonID = CANID.PIGEON.val();
public static final boolean invertGyro = false; // Always ensure Gyro is CCW+ CW-

/* Drivetrain Constants Changed */
Expand Down Expand Up @@ -328,39 +345,39 @@ public static enum TeleopSpeeds {
/* Module Specific Constants */
/* Front Left Module - Module 0 Changed*/
public static final class Mod0 {
public static final int driveMotorID = CANID.SWERVE_FL_DRIVE;
public static final int angleMotorID = CANID.SWERVE_FL_STEERING;
public static final int canCoderID = CANID.SWERVE_FL_CANCODER;
public static final int driveMotorID = CANID.SWERVE_FL_DRIVE.val();
public static final int angleMotorID = CANID.SWERVE_FL_STEERING.val();
public static final int canCoderID = CANID.SWERVE_FL_CANCODER.val();
public static final Rotation2d angleOffset = Rotation2d.fromDegrees(270);
public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID,
canCoderID, angleOffset);
}

/* Front Right Module - Module 1 Changed*/
public static final class Mod1 {
public static final int driveMotorID = CANID.SWERVE_FR_DRIVE;
public static final int angleMotorID = CANID.SWERVE_FR_STEERING;
public static final int canCoderID = CANID.SWERVE_FR_CANCODER;
public static final int driveMotorID = CANID.SWERVE_FR_DRIVE.val();
public static final int angleMotorID = CANID.SWERVE_FR_STEERING.val();
public static final int canCoderID = CANID.SWERVE_FR_CANCODER.val();
public static final Rotation2d angleOffset = Rotation2d.fromDegrees(157.5);
public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID,
canCoderID, angleOffset);
}

/* Back Left Module - Module 2 Changed*/
public static final class Mod2 {
public static final int driveMotorID = CANID.SWERVE_RL_DRIVE;
public static final int angleMotorID = CANID.SWERVE_RL_STEERING;
public static final int canCoderID = CANID.SWERVE_RL_CANCODER;
public static final int driveMotorID = CANID.SWERVE_RL_DRIVE.val();
public static final int angleMotorID = CANID.SWERVE_RL_STEERING.val();
public static final int canCoderID = CANID.SWERVE_RL_CANCODER.val();
public static final Rotation2d angleOffset = Rotation2d.fromDegrees(192);
public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID,
canCoderID, angleOffset);
}

/* Back Right Module - Module 3 Changed*/
public static final class Mod3 {
public static final int driveMotorID = CANID.SWERVE_RR_DRIVE;
public static final int angleMotorID = CANID.SWERVE_RR_STEERING;
public static final int canCoderID = CANID.SWERVE_RR_CANCODER;
public static final int driveMotorID = CANID.SWERVE_RR_DRIVE.val();
public static final int angleMotorID = CANID.SWERVE_RR_STEERING.val();
public static final int canCoderID = CANID.SWERVE_RR_CANCODER.val();
public static final Rotation2d angleOffset = Rotation2d.fromDegrees(6);
public static final SwerveModuleConstants constants = new SwerveModuleConstants(driveMotorID, angleMotorID,
canCoderID, angleOffset);
Expand All @@ -386,19 +403,19 @@ public static final class AutoConstants {
kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
}
public static final class BlingConstants {
public static int CANDLE = CANID.CANDLE;
public static int CANDLE = CANID.CANDLE.val();
}

public static final class Intake {
public static final int INTAKE = CANID.INTAKE;
public static final int INTAKE = CANID.INTAKE.val();
public static final byte frontSensor = 0;//its the same but lighter, so dtw
public static final byte centerSensor = 2;//its the same but lighter, so dtw
public static final byte backSensor = 1;//its the same but lighter, so dtw
}


public class ArmConfig {
public static final int ARM_SPARK_CAN_ID = CANID.ARM;
public static final int ARM_SPARK_CAN_ID = CANID.ARM.val();
public static final boolean SET_INVERTED = true;
public static final boolean setInvered = true;
public static final boolean INVERT_ENCODER = false;
Expand Down Expand Up @@ -517,7 +534,7 @@ public static class DIFF {

public static final boolean tuningMode = true;
public static final class ShooterConstants{
public static final byte MOTOR_ID = CANID.SHOOTER;
public static final byte MOTOR_ID = (byte) CANID.SHOOTER.val();
public static final double kP = 0.0002,
kI = 0.0,
kD = 0.0,
Expand Down
5 changes: 5 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package frc.robot;

import org.json.simple.parser.ContainerFactory;
import org.littletonrobotics.urcl.URCL;

import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
Expand All @@ -16,6 +17,7 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.lib.lib3512.config.CTREConfigs;
import frc.robot.Config.CANID;
import frc.robot.robotcontainers.BeetleContainer;
import frc.robot.robotcontainers.ClutchContainer;
import frc.robot.robotcontainers.ContainerForTesting;
Expand Down Expand Up @@ -46,6 +48,9 @@ public void robotInit() {
// Record both DS control and joystick data
DriverStation.startDataLog(DataLogManager.getLog());

// Start the URCL (Unofficial REV-Compatible Logger) by 6328. Logs all messages from REV devices.
URCL.start(CANID.mapCanIdsToNames());

// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
createRobotContainer();
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/DiffTalonSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -85,11 +85,11 @@ public DiffTalonSubsystem() {
Config.DIFF.FOLLOWER_RIGHT_INVERTED ? InvertType.OpposeMaster : InvertType.FollowMaster);
}

if (Config.CANID.PIGEON != -1) {
if (Config.CANID.PIGEON == Config.DIFF.DIFF_FOLLOWER_LEFT && leftFollower != null)
if (Config.CANID.PIGEON.val() != -1) {
if (Config.CANID.PIGEON.val() == Config.DIFF.DIFF_FOLLOWER_LEFT && leftFollower != null)
pigeon = new PigeonIMU((WPI_TalonSRX) leftFollower);
else {
pigeon = new PigeonIMU(Config.CANID.PIGEON);
pigeon = new PigeonIMU(Config.CANID.PIGEON.val());
}
}

Expand Down
65 changes: 65 additions & 0 deletions vendordeps/URCL.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,65 @@
{
"fileName": "URCL.json",
"name": "URCL",
"version": "2024.1.0",
"frcYear": "2024",
"uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c",
"mavenUrls": [
"https://raw.githubusercontent.com/Mechanical-Advantage/URCL/2024.1.0"
],
"jsonUrl": "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/maven/URCL.json",
"javaDependencies": [
{
"groupId": "org.littletonrobotics.urcl",
"artifactId": "URCL-java",
"version": "2024.1.0"
}
],
"jniDependencies": [
{
"groupId": "org.littletonrobotics.urcl",
"artifactId": "URCL-driver",
"version": "2024.1.0",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "org.littletonrobotics.urcl",
"artifactId": "URCL-cpp",
"version": "2024.1.0",
"libName": "URCL",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena",
"osxuniversal"
]
},
{
"groupId": "org.littletonrobotics.urcl",
"artifactId": "URCL-driver",
"version": "2024.1.0",
"libName": "URCLDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena",
"osxuniversal"
]
}
]
}