Merge pull request #4 from ThePinkAlliance/develop

ThePinkAlliance.json

@@ -1,7 +1,7 @@
 {
 	"fileName": "ThePinkAlliance.json",
 	"name": "ThePinkAlliance",
-	"version": "2.0.12",
+	"version": "2.0.14",
 	"uuid": "9619F7EA-7F96-4236-9D94-02338DFED572",
 	"mavenUrls": [
 		"https://jitpack.io",
@@ -13,7 +13,7 @@
 		{
 			"groupId": "com.github.ThePinkAlliance",
 			"artifactId": "core",
-			"version": "2.0.12"
+			"version": "2.0.14"
 		}
 	],
 	"jniDependencies": [],

build.gradle

@@ -2,7 +2,7 @@ apply plugin: 'java-library'
 apply plugin: 'maven-publish'
 
 group = 'com.ThePinkAlliance.core'
-version = '2.0.12'
+version = '2.0.14'
 
 sourceCompatibility = JavaVersion.VERSION_11 // java 11
 targetCompatibility = JavaVersion.VERSION_11
@@ -16,13 +16,17 @@ repositories {
   }
   maven { url = uri('https://maven.revrobotics.com/') }
   maven { url = uri('https://devsite.ctr-electronics.com/maven/release/') }
+  maven {
+    url = uri("https://plugins.gradle.org/m2/")
+  }
 }
 
 dependencies {
   implementation 'com.google.guava:guava:29.0-jre'
 
   implementation 'edu.wpi.first.wpilibj:wpilibj-java:2022.4.1'
   implementation 'edu.wpi.first.shuffleboard:shuffleboard:2022.4.1'
+  implementation 'edu.wpi.first.shuffleboard:api:2022.4.1'
   implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2022.4.1'
   implementation 'edu.wpi.first.wpiutil:wpiutil-java:2022.4.1'
   implementation 'edu.wpi.first.cscore:cscore-java:2022.4.1'
@@ -32,6 +36,7 @@ dependencies {
   implementation 'com.revrobotics.frc:REVLib-java:2022.1.1'
 }
 
+
 jar {
   def env = System.getenv("JITPACK")
 

src/main/java/com/ThePinkAlliance/core/annotations/Untested.java

@@ -0,0 +1,6 @@
+package com.ThePinkAlliance.core.annotations;
+
+import java.lang.annotation.ElementType;
+
+public @interface Untested {
+}

src/main/java/com/ThePinkAlliance/core/ctre/talon/TalonUtils.java

@@ -0,0 +1,6 @@
+package com.ThePinkAlliance.core.ctre.talon;
+
+public abstract class TalonUtils {
+
+  public static double FULL_TALON_ROTATION_TICKS = 2048;
+}

src/main/java/com/ThePinkAlliance/core/joystick/Joystick.java

@@ -27,6 +27,19 @@ public enum Buttons {
     }
   }
 
+  public enum POV_TYPE {
+    NORTH(0),
+    EAST(90),
+    WEST(270),
+    SOUTH(180);
+
+    int id = 0;
+
+    POV_TYPE(int id) {
+      this.id = id;
+    }
+  }
+
   public enum Axis {
     LEFT_X(JoystickMap.LEFT_X_AXIS),
     LEFT_Y(JoystickMap.LEFT_Y_AXIS),
@@ -55,4 +68,14 @@ public JoystickButton getButton(Buttons button) {
   public JoystickAxis getAxis(Axis axis) {
     return new JoystickAxis(this, axis);
   }
+
+  public boolean povActivated(POV_TYPE type) {
+    int pov = this.joy.getPOV();
+
+    if (pov == type.id) {
+      return true;
+    } else {
+      return false;
+    }
+  }
 }

src/main/java/com/ThePinkAlliance/core/joystick/JoystickAxis.java

@@ -2,87 +2,32 @@
 
 import com.ThePinkAlliance.core.joystick.Joystick.Axis;
 import com.ThePinkAlliance.core.joystick.Joystick.Buttons;
-import com.ThePinkAlliance.core.util.joystick.JoystickUtils;
 import java.util.function.Supplier;
 
 public class JoystickAxis {
 
   private Joystick joystick;
   private Axis axis;
-  private double axis_limit;
-
-  private boolean cube = false;
-  private boolean deadband = false;
-
-  private double deadbandSetpoint = 0.05;
 
   public JoystickAxis(Joystick joystick, Axis axis) {
     this.joystick = joystick;
     this.axis = axis;
-    this.axis_limit = 1;
   }
 
-  public JoystickAxis clearDeadband() {
-    this.deadband = false;
-
-    return this;
+  public Supplier<Double> getInvertedSupplier() {
+    return () -> (this.joystick.getJoystick().getRawAxis(this.axis.id) * -1);
   }
-
-  public JoystickAxis clearCubing() {
-    this.cube = false;
-
-    return this;
+
+  public double getInverted() {
+    return this.joystick.getJoystick().getRawAxis(this.axis.id) * -1;
   }
 
-  public JoystickAxis withLimit(double max) {
-    this.axis_limit = max / 100;
-
-    return this;
+  public Supplier<Double> getSuppliedValue() { 
+    return () -> this.joystick.getJoystick().getRawAxis(this.axis.id);
   }
 
-  public Supplier<Double> invert() {
-    double x =
-      (this.joystick.getJoystick().getRawAxis(this.axis.id) * -1) * axis_limit;
-
-    return () -> modAxis(x);
-  }
-
-  public JoystickAxis withAxisCubed() {
-    this.cube = true;
-
-    return this;
-  }
-
-  public JoystickAxis withDeadband() {
-    this.deadband = true;
-
-    return this;
-  }
-
-  public JoystickAxis withDeadband(double deadband) {
-    this.deadband = true;
-    this.deadbandSetpoint = deadband;
-
-    return this;
-  }
-
-  public Supplier<Double> getSuppliedValue() {
-    double x =
-      this.joystick.getJoystick().getRawAxis(this.axis.id) * axis_limit;
-
-    return () -> modAxis(x);
-  }
-
-  private double modAxis(double x) {
-    if (cube) {
-      x = Math.copySign(x * x * x, x);
-    }
-
-    if (deadband) {
-      x = JoystickUtils.deadband(x, deadbandSetpoint);
-    }
-
-    return x;
+  public double get() {
+    return this.joystick.getJoystick().getRawAxis(this.axis.id);
   }
 
   public JoystickButton getJoystickButton() {

src/main/java/com/ThePinkAlliance/core/limelight/Limelight.java

@@ -0,0 +1,152 @@
+package com.ThePinkAlliance.core.limelight;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class Limelight {
+
+  public enum LED_MODE {
+    BLINK(2),
+    ON(3),
+    OFF(1),
+    PIPELINE(0);
+
+    private int mode;
+
+    LED_MODE(int mode) {
+      this.mode = mode;
+    }
+
+    public int get() {
+      return mode;
+    }
+  }
+
+  public enum GAME_TARGET_HEIGHTS {
+    RAPID_REACT_TOP_HUB(102.375);
+
+    private double height;
+
+    GAME_TARGET_HEIGHTS(double height) {
+      this.height = height;
+    }
+
+    public double get() {
+      return height;
+    }
+  }
+
+  LED_MODE CURRENT_LED_MODE;
+
+  double HEIGHT_FROM_FLOOR;
+  double MOUNTED_ANGLE;
+  double REFLECTED_TAPE_HEIGHT;
+  double HORIZONTAL_OFFSET;
+
+  NetworkTable table;
+  NetworkTableEntry ty;
+  NetworkTableEntry tx;
+  NetworkTableEntry tv;
+  NetworkTableEntry ledMode;
+
+  /**
+   * @param height_from_floor The limelight lens height from the floor in inches.
+   * @param mounted_angle The current pitch angle of the limelight on its mount.
+   */
+  public Limelight(double height_from_floor, double mounted_angle) {
+    this.HEIGHT_FROM_FLOOR = height_from_floor;
+    this.MOUNTED_ANGLE = mounted_angle;
+    this.REFLECTED_TAPE_HEIGHT = GAME_TARGET_HEIGHTS.RAPID_REACT_TOP_HUB.get();
+    this.HORIZONTAL_OFFSET = 0;
+
+    configureLimelight();
+  }
+
+  /**
+   * @param height_from_floor The limelight lens height from the floor in inches.
+   * @param mounted_angle The current pitch angle of the limelight on its mount.
+   * @param horizontal_offset The angluar offset of the limelight from the center of the robot.
+   */
+  public Limelight(
+    double height_from_floor,
+    double mounted_angle,
+    double horizontal_offset
+  ) {
+    this.HEIGHT_FROM_FLOOR = height_from_floor;
+    this.MOUNTED_ANGLE = mounted_angle;
+    this.REFLECTED_TAPE_HEIGHT = GAME_TARGET_HEIGHTS.RAPID_REACT_TOP_HUB.get();
+    this.HORIZONTAL_OFFSET = horizontal_offset;
+
+    configureLimelight();
+  }
+
+  private void configureLimelight() {
+    this.CURRENT_LED_MODE = LED_MODE.OFF;
+
+    this.table = NetworkTableInstance.getDefault().getTable("limelight");
+    this.ty = this.table.getEntry("ty");
+    this.tx = this.table.getEntry("tx");
+
+    this.ledMode = this.table.getEntry("ledMode");
+    this.tv = this.table.getEntry("tv");
+
+    // Configure the limelight led's, camera mode and pipeline
+    this.ledMode.setNumber(this.CURRENT_LED_MODE.get());
+    this.table.getEntry("camMode").setNumber(0);
+    this.table.getEntry("pipeline").setNumber(0);
+  }
+
+  /**
+   *
+   * @param targetHeight The height of the reflective tape in inches.
+   */
+  public void configureTargetHeight(double targetHeight) {
+    this.REFLECTED_TAPE_HEIGHT = targetHeight;
+  }
+
+  /**
+   *
+   * @param targetHeight The height of the reflective tape in inches.
+   */
+  public void configureTargetHeight(GAME_TARGET_HEIGHTS targetHeight) {
+    this.configureTargetHeight(targetHeight.get());
+  }
+
+  public double calculateAngleOffset() {
+    return tx.getDouble(0) + HORIZONTAL_OFFSET;
+  }
+
+  /**
+   *
+   * @return if any valid targets are found.
+   */
+  public boolean foundTarget() {
+    return tv.getDouble(0) > 0;
+  }
+
+  /**
+   *
+   * @return amount of valid targets are found.
+   */
+  public double foundTargets() {
+    return tv.getDouble(0);
+  }
+
+  /**
+   * Returns the horizontal difference from the center of the detected target.
+   */
+  public double getHorizontalDiff() {
+    return this.tx.getDouble(0);
+  }
+
+  public double calculateDistance() {
+    double verticalOffset = ty.getDouble(0);
+    double targetAngleDeg = MOUNTED_ANGLE + verticalOffset;
+
+    return (
+      (REFLECTED_TAPE_HEIGHT - HEIGHT_FROM_FLOOR) /
+      Math.tan(Math.toRadians(targetAngleDeg))
+    );
+  }
+}

src/main/java/com/ThePinkAlliance/core/limelight/LimelightConstants.java

@@ -0,0 +1,3 @@
+package com.ThePinkAlliance.core.limelight;
+
+public class LimelightConstants {}

src/main/java/com/ThePinkAlliance/core/math/InterpolatingTimestamp.java

@@ -0,0 +1,11 @@
+package com.ThePinkAlliance.core.math;
+
+import edu.wpi.first.math.interpolation.TimeInterpolatableBuffer.InterpolateFunction;
+
+public class InterpolatingTimestamp implements InterpolateFunction<Double> {
+
+  @Override
+  public Double interpolate(Double start, Double end, double t) {
+    return null;
+  }
+}