Merge pull request #1 from team422/Shooter

Shooter

.gitignore

@@ -41,6 +41,9 @@
 
 # Log file
 *.log
+*.wpilog
+advantagekit/logs
+logs
 
 # BlueJ files
 *.ctxt

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
   "enableCppIntellisense": false,
   "currentLanguage": "java",
   "projectYear": "2024",
-  "teamNumber": 6328
+  "teamNumber": 422
 }

build.gradle

@@ -1,8 +1,11 @@
+import java.text.SimpleDateFormat
+
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
+    id "org.ajoberstar.grgit" version "5.2.1"
 }
 
 java {
@@ -184,3 +187,22 @@ spotless {
         endWithNewline()
     }
 }
+
+task (commitOnDeploy, dependsOn: "spotlessApply") {
+    description = "Commits changes when the robot code is deployed"
+    doLast {
+        def date = new Date()
+        def sdf = new SimpleDateFormat("MM/dd/yyyy HH:mm:ss")
+        grgit.add(patterns: [
+            'src/',
+            'vendordeps/',
+            'build.gradle',
+            'logs',
+            'gradle',
+            '.wpilib'
+        ])
+        grgit.commit(message: "Automated commit on ${sdf.format(date)}")
+    }
+}
+
+deployArtifact.dependsOn commitOnDeploy

networktables.json

@@ -0,0 +1 @@
+[]

src/main/java/frc/lib/advantagekit/LoggedIO.java

@@ -0,0 +1,5 @@
+package frc.lib.advantagekit;
+
+public interface LoggedIO<T> {
+  public void updateInputs(T inputs);
+}

src/main/java/frc/lib/advantagekit/LoggerUtil.java

@@ -0,0 +1,58 @@
+package frc.lib.advantagekit;
+
+import frc.robot.BuildConstants;
+// import frc.robot.BuildConstants;
+import frc.robot.Robot;
+import java.io.File;
+import java.nio.file.Path;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+public class LoggerUtil {
+  public static final String kLogDirectory = "advantagekit/logs";
+
+  public static void initializeLogger() {
+
+    // Record metadata
+    Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+    Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+    Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+    Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+    Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+    Logger.recordMetadata("GitDirty", getGitDirtyString());
+
+    // Set up data receivers & replay source
+    if (Robot.isSimulation()) {
+      Logger.addDataReceiver(new WPILOGWriter(getLogPath()));
+      Logger.addDataReceiver(new NT4Publisher());
+    } else {
+      Logger.addDataReceiver(new WPILOGWriter("/media/sda1/"));
+      Logger.addDataReceiver(new NT4Publisher());
+    }
+
+    // Start AdvantageKit logger
+    Logger.start();
+  }
+
+  private static String getGitDirtyString() {
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        return "All changes committed";
+      case 1:
+        return "Uncomitted changes";
+      default:
+        return "Unknown";
+    }
+  }
+
+  private static String getLogPath() {
+    File file = Path.of(kLogDirectory).toFile();
+
+    if (!file.exists()) {
+      file.mkdirs();
+    }
+
+    return file.getAbsolutePath();
+  }
+}

src/main/java/frc/lib/utils/LoggedTunableNumber.java

@@ -0,0 +1,122 @@
+package frc.lib.utils;
+
+import frc.robot.Constants;
+// FROM 6328 Mechanical Advantage
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.function.Consumer;
+import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
+
+/**
+ * Class for a tunable number. Gets value from dashboard in tuning mode, returns default if not or
+ * value not in dashboard.
+ */
+public class LoggedTunableNumber {
+  private static final String tableKey = "TunableNumbers";
+
+  private final String key;
+  private boolean hasDefault = false;
+  private double defaultValue;
+  private LoggedDashboardNumber dashboardNumber;
+  private Map<Integer, Double> lastHasChangedValues = new HashMap<>();
+
+  /**
+   * Create a new LoggedTunableNumber
+   *
+   * @param dashboardKey Key on dashboard
+   */
+  public LoggedTunableNumber(String dashboardKey, String tableKey) {
+    this.key = tableKey + "/" + dashboardKey;
+    // this.key = tableKey + "/" + dashboardKey;
+  }
+
+  /**
+   * Create a new LoggedTunableNumber with the default value
+   *
+   * @param dashboardKey Key on dashboard
+   * @param defaultValue Default value
+   */
+  public LoggedTunableNumber(String dashboardKey, double defaultValue) {
+    this(dashboardKey, tableKey);
+    initDefault(defaultValue);
+  }
+
+  public LoggedTunableNumber(String dashboardKey, double defaultValue, String tableKey) {
+    this(dashboardKey, tableKey);
+    initDefault(defaultValue);
+  }
+
+  /**
+   * Set the default value of the number. The default value can only be set once.
+   *
+   * @param defaultValue The default value
+   */
+  public void initDefault(double defaultValue) {
+    if (!hasDefault) {
+      hasDefault = true;
+      this.defaultValue = defaultValue;
+      if (Constants.tuningMode) {
+        dashboardNumber = new LoggedDashboardNumber(key, defaultValue);
+      }
+    }
+  }
+
+  /**
+   * Get the current value, from dashboard if available and in tuning mode.
+   *
+   * @return The current value
+   */
+  public double get() {
+    if (!hasDefault) {
+      return 0.0;
+    } else {
+      return Constants.tuningMode ? dashboardNumber.get() : defaultValue;
+    }
+  }
+
+  public void set(double val) {
+    dashboardNumber.set(val);
+  }
+
+  /**
+   * Checks whether the number has changed since our last check
+   *
+   * @param id Unique identifier for the caller to avoid conflicts when shared between multiple
+   *     objects. Recommended approach is to pass the result of "hashCode()"
+   * @return True if the number has changed since the last time this method was called, false
+   *     otherwise.
+   */
+  public boolean hasChanged(int id) {
+    if (!Constants.tuningMode) return false;
+    double currentValue = get();
+    Double lastValue = lastHasChangedValues.get(id);
+    if (lastValue == null || currentValue != lastValue) {
+      lastHasChangedValues.put(id, currentValue);
+      return true;
+    }
+
+    return false;
+  }
+
+  /**
+   * Runs action if any of the tunableNumbers have changed
+   *
+   * @param id Unique identifier for the caller to avoid conflicts when shared between multiple *
+   *     objects. Recommended approach is to pass the result of "hashCode()"
+   * @param action Callback to run when any of the tunable numbers have changed. Access tunable
+   *     numbers in order inputted in method
+   * @param tunableNumbers All tunable numbers to check
+   */
+  public static void ifChanged(
+      int id, Consumer<double[]> action, LoggedTunableNumber... tunableNumbers) {
+    if (Arrays.stream(tunableNumbers).anyMatch(tunableNumber -> tunableNumber.hasChanged(id))) {
+      action.accept(Arrays.stream(tunableNumbers).mapToDouble(LoggedTunableNumber::get).toArray());
+    }
+  }
+
+  /** Runs action if any of the tunableNumbers have changed */
+  public static void ifChanged(int id, Runnable action, LoggedTunableNumber... tunableNumbers) {
+    ifChanged(id, values -> action.run(), tunableNumbers);
+  }
+}

src/main/java/frc/lib/utils/TunableNumber.java

@@ -0,0 +1,90 @@
+package frc.lib.utils;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.Constants;
+
+/**
+ * Class for a tunable number. Gets value from dashboard in tuning mode, returns default if not or
+ * value not in dashboard.
+ */
+public class TunableNumber {
+  private static final String tableKey = "TunableNumbers";
+
+  private String key;
+  private double defaultValue;
+  private double lastHasChangedValue = defaultValue;
+
+  /**
+   * Create a new TunableNumber
+   *
+   * @param dashboardKey Key on dashboard
+   */
+  public TunableNumber(String tableString, String dashboardKey) {
+    this.key = tableString + "/" + dashboardKey;
+  }
+
+  /**
+   * Create a new TunableNumber with the default value
+   *
+   * @param dashboardKey Key on dashboard
+   * @param defaultValue Default value
+   */
+  public TunableNumber(String dashboardKey, double defaultValue) {
+    this(tableKey, dashboardKey);
+    setDefault(defaultValue);
+  }
+
+  public TunableNumber(String dashboardKey, double defaultValue, String tableKey) {
+    this(tableKey, dashboardKey);
+    setDefault(defaultValue);
+  }
+
+  /**
+   * Get the default value for the number that has been set
+   *
+   * @return The default value
+   */
+  public double getDefault() {
+    return defaultValue;
+  }
+
+  /**
+   * Set the default value of the number
+   *
+   * @param defaultValue The default value
+   */
+  public void setDefault(double defaultValue) {
+    this.defaultValue = defaultValue;
+    if (Constants.tuningMode) {
+      // This makes sure the data is on NetworkTables but will not change it
+      SmartDashboard.putNumber(key, SmartDashboard.getNumber(key, defaultValue));
+    } else {
+      SmartDashboard.clearPersistent(key);
+    }
+  }
+
+  /**
+   * Get the current value, from dashboard if available and in tuning mode
+   *
+   * @return The current value
+   */
+  public double get() {
+    return Constants.tuningMode ? SmartDashboard.getNumber(key, defaultValue) : defaultValue;
+  }
+
+  /**
+   * Checks whether the number has changed since our last check
+   *
+   * @return True if the number has changed since the last time this method was called, false
+   *     otherwise
+   */
+  public boolean hasChanged() {
+    double currentValue = get();
+    if (currentValue != lastHasChangedValue) {
+      lastHasChangedValue = currentValue;
+      return true;
+    }
+
+    return false;
+  }
+}