Grover_2023

FRC Robot 2023 Java Code: Command-Based framework ** Updated to 2023.2.1 Release version

This repository runs parallel to our CommandBased_2023 robot code with the following changes:

• Drivetrain uses Talon motor controllers to run CIM motors
• IMU is AnalogDevices ADIS16448 instead of NavX

Subsystems

DriveSubsystem

• Talon controlled 4-Motor (2 Leaders/2 Followers) Drive System Depends upon CTRE vendor library

Arm (PID Subsystem)

• 2x SparkMax controlled brushless Neo motors, leader/follower for rotation
• 1x SparkMax controlled Neo motor for extension

Claw

• Pneumatic Actuator for open/close
• 1x SparkMax controlled Neo 550 motor for intake/eject gamepiece
• PWM controlled LED light strip

ExampleSubsystem

• Spike relay test light (on/off)

GroundIntake

• Pneumatic controlled extend/retract
• SparkMax controlled intake/eject motor

SignalLED

• PWM controlled LED light strip

Commands

• AutoBalancePID: Balance based on "roll" axis (NavX Orientation is sideways)
• DriveToDistance: Drive an arbitrary distance
• DriveToDistancePID: Unused
• ExampleCommand: Used for Testing only. Currently a relay controlled light
• TurnToAngle(angle): Unused
• TurnToAngleProfiled(angle): Turn to an arbitrary angle (PID)

Command Groups

• AutoDriveSequential: DriveToDistance (onto ramp); AutoBalancePID

Gradle Note:

In order to capture some compile-time data, we have modified the build.gradle file. Wpilib season updates may overwrite build.gradle. If this happens, you'll need to add the following to the end:

task writeBuildProperties() {
	outputs.upToDateWhen { false }  // never mark as up-to-date to ensure that this gets run every time


	doLast {
        def propFile = new File("${project.rootDir}/src/main/resources/build.properties")

        def prop = new Properties()

        prop.setProperty('build.time', (new Date()).format("yyyy_MM_dd HH:mm:ss"))
        prop.setProperty('build.computer', InetAddress.getLocalHost().getHostName())

        propFile.createNewFile();
        prop.store(propFile.newWriter(), null);

        println("task ran")
    }
}

processResources {
	outputs.upToDateWhen { false }  // never mark as up-to-date to ensure that this gets run every time
	dependsOn("writeBuildProperties")
}