Merge branch 'main' into Arm

# Conflicts: # src/main/java/com/frcteam3636/frc2024/Robot.kt
FRC3636 · Nov 14, 2024 · 88957e7 · 88957e7
2 parents c0a312e + f35064c
commit 88957e7
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Showing 6 changed files with 44 additions and 10 deletions.
diff --git a/build.gradle b/build.gradle
@@ -42,7 +42,7 @@ tasks.register('checkAkitInstall', JavaExec) {
 }
 compileJava.finalizedBy checkAkitInstall
 
-project.compileJava.dependsOn(createVersionFile)
+project.assemble.dependsOn(createVersionFile)
 gversion {
     srcDir = "src/main/java/"
     classPackage = ""

diff --git a/src/main/java/com/frcteam3636/frc2024/Robot.kt b/src/main/java/com/frcteam3636/frc2024/Robot.kt
@@ -1,7 +1,5 @@
 package com.frcteam3636.frc2024
 
-import BuildConstants
-import com.ctre.phoenix6.SignalLogger
 import com.ctre.phoenix6.StatusSignal
 import com.frcteam3636.frc2024.subsystems.arm.Arm
 import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
@@ -73,9 +71,11 @@ object Robot : LoggedRobot() {
 
     /** Start logging or pull replay logs from a file */
     private fun configureAdvantageKit() {
-        Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA)
+        Logger.recordMetadata("Git SHA", BuildConstants.GIT_SHA)
         Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE)
         Logger.recordMetadata("Model", model.name)
+        Logger.recordMetadata("Git Dirty", BuildConstants.DIRTY.toString())
+        Logger.recordMetadata("Git Branch", BuildConstants.GIT_BRANCH)
 
         if (isReal()) {
             Logger.addDataReceiver(WPILOGWriter()) // Log to a USB stick
@@ -211,7 +211,7 @@ object Robot : LoggedRobot() {
 
     /** A model of robot, depending on where we're deployed to. */
     enum class Model {
-        SIMULATION, COMPETITION,
+        SIMULATION, COMPETITION, PROTOTYPE
     }
 
     /** The model of this robot. */
@@ -220,6 +220,7 @@ object Robot : LoggedRobot() {
     } else {
         when (val key = Preferences.getString("Model", "competition")) {
             "competition" -> Model.COMPETITION
+            "prototype" -> Model.PROTOTYPE
             else -> throw Exception("invalid model found in preferences: $key")
         }
     }

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt
@@ -49,6 +49,7 @@ object Drivetrain : Subsystem, Sendable {
     private val io = when (Robot.model) {
         Robot.Model.SIMULATION -> DrivetrainIOSim()
         Robot.Model.COMPETITION -> DrivetrainIOReal.fromKrakenSwerve()
+        Robot.Model.PROTOTYPE -> DrivetrainIOReal.fromNeoSwerve()
     }
     val inputs = DrivetrainIO.Inputs()
 
@@ -84,10 +85,7 @@ object Drivetrain : Subsystem, Sendable {
 
     init {
         Pathfinding.setPathfinder(
-            when (Robot.model) {
-                Robot.Model.SIMULATION -> LocalADStarAK()
-                Robot.Model.COMPETITION -> RemoteADStarAK()
-            }
+            LocalADStarAK()
         )
 
         AutoBuilder.configureHolonomic(
@@ -358,6 +356,30 @@ object Drivetrain : Subsystem, Sendable {
                 ),
             )
 
+        internal val MODULE_CAN_IDS_PRACTICE =
+            PerCorner(
+                frontLeft =
+                Pair(
+                    REVMotorControllerId.FrontLeftDrivingMotor,
+                    REVMotorControllerId.FrontLeftTurningMotor
+                ),
+                frontRight =
+                Pair(
+                    REVMotorControllerId.FrontRightDrivingMotor,
+                    REVMotorControllerId.FrontRightTurningMotor
+                ),
+                backRight =
+                Pair(
+                    REVMotorControllerId.BackRightDrivingMotor,
+                    REVMotorControllerId.BackRightTurningMotor
+                ),
+                backLeft =
+                Pair(
+                    REVMotorControllerId.BackLeftDrivingMotor,
+                    REVMotorControllerId.BackLeftTurningMotor
+                ),
+            )
+
         /** A position with the modules radiating outwards from the center of the robot, preventing movement. */
         val BRAKE_POSITION = MODULE_POSITIONS.map { position -> SwerveModuleState(0.0, position.translation.angle) }
     }

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/DrivetrainIO.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/DrivetrainIO.kt
@@ -77,6 +77,16 @@ class DrivetrainIOReal(override val modules: PerCorner<out SwerveModule>) : Driv
                             position.rotation
                         )
                     })
+
+        fun fromNeoSwerve() =
+            DrivetrainIOReal(Drivetrain.Constants.MODULE_POSITIONS.zip(Drivetrain.Constants.MODULE_CAN_IDS_PRACTICE).map { (position, ids) ->
+                val (driveId, turnId) = ids
+                MAXSwerveModule(
+                    DrivingSparkMAX(driveId),
+                    turnId,
+                    position.rotation
+                )
+            })
     }
 }
 

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/intake/Intake.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/intake/Intake.kt
@@ -9,6 +9,7 @@ object Intake: Subsystem {
     private var io: IntakeIO = when (Robot.model) {
         Robot.Model.SIMULATION -> IntakeIO.IntakeIOSim()
         Robot.Model.COMPETITION -> IntakeIO.IntakeIOReal()
+        Robot.Model.PROTOTYPE -> IntakeIO.IntakeIOSim()
     }
 
     var inputs = IntakeIO.IntakeInputs()

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/wrist/Wrist.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/wrist/Wrist.kt
@@ -11,7 +11,7 @@ object Wrist: Subsystem {
     var inputs = IntakeIO.IntakeInputs()
 
     override fun periodic() {
-        Logger.processInputs("Intake", inputs)
+        Logger.processInputs("Wrist", inputs)
         //the wrist should always be parallel to the ground
         io.pivotToAndStop(Arm.inputs.position * -1.0) //use position variable from arm
     }