Merge pull request #9 from Team846/drivetrain_impl

Drivetrain impl
Team846 · Jan 2, 2025 · b17d85c · b17d85c
2 parents e8fdc22 + 64a8efa
commit b17d85c
Show file tree

Hide file tree

Showing 56 changed files with 1,695 additions and 125 deletions.
diff --git a/.github/workflows/compilation_check.yaml b/.github/workflows/compilation_check.yaml
@@ -82,5 +82,8 @@ jobs:
       - name: Install Roborio Toolchain
         run: ./gradlew installRoborioToolchain
 
+      - name: Clear build directory
+        run: ./gradlew clean
+
       - name: Compile code and run tests
-        run: ./gradlew build -PfromCI -PrunningSpotlessCpp
+        run: ./gradlew build -PfromCI --refresh-dependencies
diff --git a/.github/workflows/formatting_check.yaml b/.github/workflows/formatting_check.yaml
@@ -34,4 +34,4 @@ jobs:
         run: ./gradlew installRoborioToolchain
 
       - name: Spotless Check
-        run: ./gradlew spotlessCheck -PfromCI
+        run: ./gradlew spotlessCheck -PfromCI  -PrunningSpotlessCpp
diff --git a/README.md b/README.md
@@ -75,7 +75,7 @@ If unfamiliar with GitHub, go through tutorials in the [Using Git](#using-git) s
 
 #### CppCheck
 
-- Download [CppCheck](https://sourceforge.net/projects/cppcheck/files/1.86/cppcheck-1.86-x64-Setup.msi/download).
+- Download [CppCheck](https://github.com/danmar/cppcheck/releases/download/2.16.0/cppcheck-2.16.0-x64-Setup.msi).
 - If "Add CppCheck to Path" is an option during setup process, select YES.
   - If not, add `C:\Program Files\Cppcheck` to PATH
   - Read [this](https://stackoverflow.com/questions/44272416/how-to-add-a-folder-to-path-environment-variable-in-windows-10-with-screensho) for more information on adding files to PATH.
@@ -178,9 +178,9 @@ To undo the going back:
 
 
 ## CppCheck Warnings
+
 ```
-src\frc846\cpp\frc846\math\collection.cc:11:0: warning: The function 'HorizontalDeadband' is never used. [unusedFunction]
+src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:152:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]
 src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
-src\frc846\cpp\frc846\math\collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
 src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
 ```
diff --git a/__metrics.py b/__metrics.py
@@ -0,0 +1,26 @@
+# Outputs metrics such as [linecount] for this codebase
+
+import os
+
+INCL = ['*.py', '*.cc', '*.cpp', '.h', '.hpp', '.gradle', '.bat', '.sh', '.md', '.standard', '.json', '.lst']
+FORCE_INCL_DIR = ["src\\deploy", "src/deploy"]
+
+if __name__ == "__main__":
+
+    cwd = os.getcwd()
+
+    files = []
+    for root, dirs, filenames in os.walk(cwd):
+        for filename in filenames:
+            if any([root.__contains__(d) for d in FORCE_INCL_DIR]):
+                files.append(os.path.join(root, filename))
+                continue
+            for ext in INCL:
+                if filename.endswith(ext):
+                    files.append(os.path.join(root, filename))
+
+    linecount = 0
+    for file in files:
+        linecount += sum(1 for line in open(file))
+
+    print(linecount)
diff --git a/build.gradle b/build.gradle
@@ -36,7 +36,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
 def includeDesktopSupport = false
 
 // Set to true to run simulation in debug mode
-wpi.cpp.debugSimulation = false
+wpi.cpp.debugSimulation = true
 
 // Default enable simgui
 wpi.sim.addGui().defaultEnabled = false
@@ -182,15 +182,21 @@ task runCppcheck(type: Exec) {
             }
         }
 
-        def cppcheckSection = """## CppCheck Warnings\n```\n${reportContent.trim()}\n```\n"""
+        def cppcheckSection = """
+## CppCheck Warnings
+
+```
+${reportContent.trim()}
+```
+"""
         def readmeFile = file('README.md')
-        def readmeContent = readmeFile.text
+        def readmeContent = readmeFile.text.trim()
 
         if (readmeContent.contains("## CppCheck Warnings")) {
             readmeContent = readmeContent.substring(0, readmeContent.indexOf("## CppCheck Warnings"))
         }
 
-        readmeContent += "\n" + cppcheckSection.trim()
+        readmeContent += cppcheckSection.trim()
         readmeFile.text = readmeContent
     }
 }

diff --git a/networktables.json b/networktables.json
@@ -0,0 +1,186 @@
+[
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_current_limit (A)",
+    "type": "double",
+    "value": 120.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_smart_current_limit (A)",
+    "type": "double",
+    "value": 80.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/drive_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 16.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/DrivetrainConstructor/DrivetrainConstructor/steer_motor_voltage_compensation (V)",
+    "type": "double",
+    "value": 12.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FR/SwerveDrivetrain/FR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/FL/SwerveDrivetrain/FL/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/BR/SwerveDrivetrain/BR/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/BL/SwerveDrivetrain/BL/cancoder_offset_ (deg)",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kP",
+    "type": "double",
+    "value": 0.3,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/steer_gains/kF",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/robot_container/init_drivetrain",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/robot_container/init_leds",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/control_input/trigger_threshold",
+    "type": "double",
+    "value": 0.3,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/SwerveDrivetrain/max_speed (fps)",
+    "type": "double",
+    "value": 15.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/SwerveDrivetrain/SwerveDrivetrain/max_omega (deg_per_s)",
+    "type": "double",
+    "value": 180.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/control_input/translation_deadband",
+    "type": "double",
+    "value": 0.07,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/control_input/translation_exponent",
+    "type": "int",
+    "value": 2,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/control_input/rotation_deadband",
+    "type": "double",
+    "value": 0.07,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/control_input/rotation_exponent",
+    "type": "int",
+    "value": 2,
+    "properties": {
+      "persistent": true
+    }
+  }
+]