Merge pull request #3 from blair-robot-project/voyager

Scrimmage code
blair-robot-project · Feb 27, 2023 · e55dc14 · e55dc14
2 parents 9e21a7e + 7cb2c5a
commit e55dc14
Show file tree

Hide file tree

Showing 87 changed files with 87,299 additions and 372 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.53,
-  "robotLength": 0.54,
+  "robotWidth": 0.6858,
+  "robotLength": 0.762,
   "holonomicMode": true,
   "generateJSON": false,
   "generateCSV": false

diff --git a/build.gradle b/build.gradle
@@ -4,7 +4,7 @@ plugins {
   id "java"
   id "idea"
   id "org.jetbrains.kotlin.jvm" version "1.6.21"
-  id "edu.wpi.first.GradleRIO" version "2023.2.1"
+  id "edu.wpi.first.GradleRIO" version "2023.4.1"
   id "org.jlleitschuh.gradle.ktlint" version "11.0.0"
   id "org.jetbrains.dokka" version "1.7.20"
 }

diff --git a/hs_err_pid3157.log b/hs_err_pid3157.log
@@ -0,0 +1,37 @@
+#
+# A fatal error has been detected by the Java Runtime Environment:
+#
+#  SIGSEGV (0xb) at pc=0x000000012101b680, pid=3157, tid=259
+#
+# JRE version: OpenJDK Runtime Environment Corretto-17.0.5.8.1 (17.0.5+8) (build 17.0.5+8-LTS)
+# Java VM: OpenJDK 64-Bit Server VM Corretto-17.0.5.8.1 (17.0.5+8-LTS, mixed mode, sharing, tiered, compressed oops, compressed class ptrs, g1 gc, bsd-aarch64)
+# Problematic frame:
+# C  [libhalsim_gui.dylib+0x1b680]  std::__1::__function::__func<halsimgui::NetworkTablesSimGui::Initialize()::$_0, std::__1::allocator<halsimgui::NetworkTablesSimGui::Initialize()::$_0>, void ()>::operator()()+0x8
+#
+# No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again
+#
+# If you would like to submit a bug report, please visit:
+#   https://github.com/corretto/corretto-17/issues/
+# The crash happened outside the Java Virtual Machine in native code.
+# See problematic frame for where to report the bug.
+#
+
+---------------  S U M M A R Y ------------
+
+Command Line: -Djava.library.path=/Users/elwobot/Documents/GitHub/robot2023/build/jni/release -Dfile.encoding=UTF-8 -Duser.country=US -Duser.language=en -Duser.variant /Users/elwobot/Documents/GitHub/robot2023/build/libs/robot2023.jar
+
+Host: "MacBookPro18,3" arm64, 8 cores, 16G, Darwin 22.3.0, macOS 13.2.1 (22D68)
+Time: Wed Feb 22 21:53:36 2023 EST elapsed time: 105.912211 seconds (0d 0h 1m 45s)
+
+---------------  T H R E A D  ---------------
+
+Current thread (0x000000012201b000):  JavaThread "main" [_thread_in_native, id=259, stack(0x000000016ebd0000,0x000000016f3cc000)]
+
+Stack: [0x000000016ebd0000,0x000000016f3cc000],  sp=0x000000016f3c8950,  free space=8162k
+Native frames: (J=compiled Java code, j=interpreted, Vv=VM code, C=native code)
+C  [libhalsim_gui.dylib+0x1b680]  std::__1::__function::__func<halsimgui::NetworkTablesSimGui::Initialize()::$_0, std::__1::allocator<halsimgui::NetworkTablesSimGui::Initialize()::$_0>, void ()>::operator()()+0x8
+C  [libhalsim_gui.dylib+0x884c4]  wpi::gui::PlatformRenderFrame()+0x2ec
+C  [libhalsim_gui.dylib+0x772f8]  wpi::gui::Main()+0x170
+C  [libhalsim_gui.dylib+0x1ae3c]  HALSIM_InitExtension::$_2::__invoke(void*)+0xc
+j  edu.wpi.first.hal.HAL.runMain()V+0
+j  edu.wpi.first.wpilibj.RobotBase.startRobot(Ljava/util/function/Supplier;)V
diff --git a/networktables.json b/networktables.json
@@ -0,0 +1 @@
+[]
diff --git a/src/main/deploy/pathplanner/farCone.path b/src/main/deploy/pathplanner/farCone.path
@@ -0,0 +1,58 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.7291745853106537,
+        "y": 4.414086773965274
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.724059428147387,
+        "y": 4.597054101383524
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "dropCone"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 6.51101337290394,
+        "y": 4.588496896292039
+      },
+      "prevControl": {
+        "x": 5.5951187340971185,
+        "y": 4.69731606129879
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": [
+    {
+      "position": 0.1745454545454425,
+      "names": [
+        "stowAndGround"
+      ]
+    }
+  ]
+}
diff --git a/src/main/deploy/pathplanner/farConeCube.path b/src/main/deploy/pathplanner/farConeCube.path
@@ -0,0 +1,92 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.7501749038585799,
+        "y": 4.969363973815667
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7501749038585803,
+        "y": 4.969363973815667
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "dropCone"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 6.565422955407315,
+        "y": 4.579428632541476
+      },
+      "prevControl": {
+        "x": 5.56791394284543,
+        "y": 4.806135226305541
+      },
+      "nextControl": {
+        "x": 5.56791394284543,
+        "y": 4.806135226305541
+      },
+      "holonomicAngle": 0,
+      "isReversal": true,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": true,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 1.7411066401080173,
+        "y": 4.416199885031349
+      },
+      "prevControl": {
+        "x": 2.3124072563934543,
+        "y": 4.434336412532474
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "dropCube",
+          "stowArm"
+        ],
+        "executionBehavior": "sequential",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": [
+    {
+      "position": 0.14545454545454548,
+      "names": [
+        "stowAndGround"
+      ]
+    },
+    {
+      "position": 1.1490909090908485,
+      "names": [
+        "stowAndHigh"
+      ]
+    }
+  ]
+}
diff --git a/src/main/deploy/pathplanner/farConeCubeStation.path b/src/main/deploy/pathplanner/farConeCubeStation.path
@@ -0,0 +1,124 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.7592431676091425,
+        "y": 4.960295710065105
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7592431676091476,
+        "y": 4.960295710065105
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "dropCone"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 6.556354691656752,
+        "y": 4.579428632541476
+      },
+      "prevControl": {
+        "x": 5.794620536609495,
+        "y": 4.506882522536975
+      },
+      "nextControl": {
+        "x": 5.794620536609495,
+        "y": 4.506882522536975
+      },
+      "holonomicAngle": 0,
+      "isReversal": true,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": true,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 1.7320383763574547,
+        "y": 4.425268148781912
+      },
+      "prevControl": {
+        "x": 2.2489294101395183,
+        "y": 4.41619988503135
+      },
+      "nextControl": {
+        "x": 2.2489294101395183,
+        "y": 4.41619988503135
+      },
+      "holonomicAngle": 0,
+      "isReversal": true,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": true,
+      "stopEvent": {
+        "names": [
+          "dropCube"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 2.5119090589058373,
+        "y": 3.2191890699570878
+      },
+      "prevControl": {
+        "x": 2.3940216301485235,
+        "y": 3.4096226087189025
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [
+          "balanceStation"
+        ],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": [
+    {
+      "position": 0.13090909090908348,
+      "names": [
+        "stowAndGround"
+      ]
+    },
+    {
+      "position": 1.2218181818181066,
+      "names": [
+        "stowAndHigh"
+      ]
+    },
+    {
+      "position": 2.225454545454537,
+      "names": [
+        "stowArm"
+      ]
+    }
+  ]
+}