Merge pull request #6 from applepi-2067/gordon/port/swerve_phoenix6

Gordon/port/swerve phoenix6

build.gradle

@@ -52,7 +52,6 @@ repositories {
 }
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 5.
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
@@ -71,9 +70,6 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
-
     implementation "com.github.Oblarg:Oblog:5.1.0"
 }
 

src/main/java/frc/robot/Robot.java

@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import io.github.oblarg.oblog.Logger;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -44,6 +45,8 @@ public void robotPeriodic() {
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+
+    Logger.updateEntries();
   }
 
   /** This function is called once each time the robot enters Disabled mode. */

src/main/java/frc/robot/RobotContainer.java

@@ -1,63 +1,55 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
-import frc.robot.Constants.OperatorConstants;
-import frc.robot.commands.Autos;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
+
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-
-/**
- * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
- * subsystems, commands, and trigger mappings) should be declared here.
- */
+
+import io.github.oblarg.oblog.Logger;
+
+import frc.robot.subsystems.Drivetrain;
+
+
 public class RobotContainer {
-  // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
+  // Subsystems.
+  private final Drivetrain m_drivetrain;
+
+  // Controllers.
+  private static final int DRIVER_CONTROLLER_PORT = 0;
+  private final CommandXboxController m_driverController;
 
-  // Replace with CommandPS4Controller or CommandJoystick if needed
-  private final CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    // Configure the trigger bindings
+    m_drivetrain = Drivetrain.getInstance();
+
+    m_driverController = new CommandXboxController(DRIVER_CONTROLLER_PORT);
     configureBindings();
+
+    Logger.configureLoggingAndConfig(this, false);
   }
 
-  /**
-   * Use this method to define your trigger->command mappings. Triggers can be created via the
-   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
-   * predicate, or via the named factories in {@link
-   * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
-   * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
-   * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
-   * joysticks}.
-   */
   private void configureBindings() {
-    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
-
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
-    // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+    m_drivetrain.setDefaultCommand(
+      Commands.run(
+        () -> m_drivetrain.drive(
+          m_driverController.getLeftX(),
+          m_driverController.getLeftY(),
+          m_driverController.getRightX()
+        ),
+        m_drivetrain
+      )
+    );
+
+    m_driverController.a().onTrue(
+      new InstantCommand(
+        () -> m_drivetrain.resetGyro()
+      )
+    );
   }
 
-  /**
-   * Use this to pass the autonomous command to the main {@link Robot} class.
-   *
-   * @return the command to run in autonomous
-   */
+  // Use this to pass the autonomous command to the main Robot.java class.
   public Command getAutonomousCommand() {
-    // An example command will be run in autonomous
-    return Autos.exampleAuto(m_exampleSubsystem);
+    return null;
   }
 }

src/main/java/frc/robot/constants/RobotMap.java

@@ -0,0 +1,16 @@
+package frc.robot.constants;
+
+
+public final class RobotMap {
+    public static class canIDs {
+        public static class Drivetrain {
+            // Follows back left, back right, front left, front right convention.
+            public static final int[] DRIVE = {1, 2, 3, 4};
+
+            public static final int[] STEER = {5, 6, 7, 8};
+            public static final int[] CANCoder = {1, 2, 3, 4};
+
+            public static final int GYRO = 9;
+        }
+    }
+}