(obj: A | undefined, ifTrue: (x: A) => B, ifFalse: () => B): B {
return obj ? ifTrue(obj) : ifFalse()
}
+
+export function getFontSize(element: Element): number {
+ const str = window.getComputedStyle(element).fontSize
+ return Number(str.substring(0, str.length - 2))
+}
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
index 8494d0b6f5..d696fabd26 100644
--- a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java
@@ -37,7 +37,7 @@ public CANSparkMax(int deviceId, MotorType motorType) {
* Sets the percent output of the real and simulated motors
* Setting a follower doesn't break the simulated follower - leader relationship, which it does for exclusively non-simulated motors
*
- * @param percentOutput The new percent output of the motor
+ * @param percent The new percent output of the motor
*
* See the original documentation for more information
*/
@@ -85,6 +85,10 @@ public com.autodesk.synthesis.revrobotics.SparkAbsoluteEncoder getAbsoluteEncode
return new SparkAbsoluteEncoder(super.getAbsoluteEncoder(), this.m_encoder);
}
+ public com.autodesk.synthesis.revrobotics.RelativeEncoder getEncoderSim() {
+ return new RelativeEncoder(super.getEncoder(), this.m_encoder);
+ }
+
/**
* Adds a follower to this motor controller.
*
diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/RelativeEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/RelativeEncoder.java
new file mode 100644
index 0000000000..7046cd7df3
--- /dev/null
+++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/RelativeEncoder.java
@@ -0,0 +1,102 @@
+package com.autodesk.synthesis.revrobotics;
+
+import com.autodesk.synthesis.CANEncoder;
+import com.revrobotics.REVLibError;
+
+public class RelativeEncoder implements com.revrobotics.RelativeEncoder {
+
+ private com.revrobotics.RelativeEncoder m_original;
+ private CANEncoder m_encoder;
+ private double m_zero = 0.0;
+ private double m_positionConversionFactor = 1.0;
+ private double m_velocityConversionFactor = 1.0;
+ private double m_invertedFactor = 1.0;
+
+ public RelativeEncoder(com.revrobotics.RelativeEncoder original, CANEncoder encoder) {
+ m_original = original;
+ m_encoder = encoder;
+
+ m_positionConversionFactor = m_original.getPositionConversionFactor();
+ m_velocityConversionFactor = m_original.getVelocityConversionFactor();
+ m_invertedFactor = m_original.getInverted() ? -1.0 : 1.0;
+ }
+
+ @Override
+ public double getPosition() {
+ return (m_encoder.getPosition() - m_zero) * m_positionConversionFactor * m_invertedFactor;
+ }
+
+ @Override
+ public double getVelocity() {
+ return m_encoder.getVelocity() * m_velocityConversionFactor * m_invertedFactor;
+ }
+
+ @Override
+ public REVLibError setPosition(double position) {
+ m_zero = position;
+ m_original.setPosition(position);
+ return REVLibError.kOk;
+ }
+
+ @Override
+ public REVLibError setPositionConversionFactor(double factor) {
+ m_positionConversionFactor = factor;
+ m_original.setPositionConversionFactor(factor);
+ return REVLibError.kOk;
+ }
+
+ @Override
+ public REVLibError setVelocityConversionFactor(double factor) {
+ m_velocityConversionFactor = factor;
+ m_original.setVelocityConversionFactor(factor);
+ return REVLibError.kOk;
+ }
+
+ @Override
+ public double getPositionConversionFactor() {
+ return m_positionConversionFactor;
+ }
+
+ @Override
+ public double getVelocityConversionFactor() {
+ return m_velocityConversionFactor;
+ }
+
+ @Override
+ public REVLibError setAverageDepth(int depth) {
+ return m_original.setAverageDepth(depth);
+ }
+
+ @Override
+ public int getAverageDepth() {
+ return m_original.getAverageDepth();
+ }
+
+ @Override
+ public REVLibError setMeasurementPeriod(int period_ms) {
+ return m_original.setMeasurementPeriod(period_ms);
+ }
+
+ @Override
+ public int getMeasurementPeriod() {
+ return m_original.getMeasurementPeriod();
+ }
+
+ @Override
+ public int getCountsPerRevolution() {
+ return 1;
+ }
+
+ @Override
+ public REVLibError setInverted(boolean inverted) {
+ m_invertedFactor = inverted ? -1.0 : 1.0;
+ m_original.setInverted(inverted);
+ return REVLibError.kOk;
+ }
+
+ @Override
+ public boolean getInverted() {
+ return m_invertedFactor < 0.0;
+ }
+
+}
diff --git a/simulation/samples/JavaAutoSample/.gitignore b/simulation/samples/JavaAutoSample/.gitignore
new file mode 100644
index 0000000000..4a2a0df950
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/.gitignore
@@ -0,0 +1,11 @@
+networktables.json
+simgui-ds.json
+simgui-window.json
+simgui.json
+
+.gradle/
+.vscode/
+.wpilib/
+build/
+ctre_sim/
+bin/
diff --git a/simulation/samples/JavaAutoSample/WPILib-License.md b/simulation/samples/JavaAutoSample/WPILib-License.md
new file mode 100644
index 0000000000..645e54253a
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/WPILib-License.md
@@ -0,0 +1,24 @@
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of FIRST, WPILib, nor the names of other WPILib
+ contributors may be used to endorse or promote products derived from
+ this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/simulation/samples/JavaAutoSample/build.gradle b/simulation/samples/JavaAutoSample/build.gradle
new file mode 100644
index 0000000000..5acbea004b
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/build.gradle
@@ -0,0 +1,115 @@
+plugins {
+ id "java"
+ id "edu.wpi.first.GradleRIO" version "2024.3.2"
+}
+
+repositories {
+ mavenLocal()
+}
+
+// wpi.maven.useLocal = false
+// wpi.maven.useFrcMavenLocalDevelopment = true
+// wpi.versions.wpilibVersion = '2024.424242.+'
+// wpi.versions.wpimathVersion = '2024.424242.+'
+
+java {
+ sourceCompatibility = JavaVersion.VERSION_17
+ targetCompatibility = JavaVersion.VERSION_17
+}
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+ targets {
+ roborio(getTargetTypeClass('RoboRIO')) {
+ // Team number is loaded either from the .wpilib/wpilib_preferences.json
+ // or from command line. If not found an exception will be thrown.
+ // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+ // want to store a team number in this file.
+ team = project.frc.getTeamOrDefault(997)
+ debug = project.frc.getDebugOrDefault(false)
+
+ artifacts {
+ // First part is artifact name, 2nd is artifact type
+ // getTargetTypeClass is a shortcut to get the class type using a string
+
+ frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+ }
+
+ // Static files artifact
+ frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+ files = project.fileTree('src/main/deploy')
+ directory = '/home/lvuser/deploy'
+ }
+ }
+ }
+ }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// 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()
+
+ roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+ roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
+ roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+ roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+ nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+ nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+ simulationDebug wpi.sim.enableDebug()
+
+ nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+ 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.autodesk.synthesis:SyntheSimJava:1.0.0"
+}
+
+test {
+ useJUnitPlatform()
+ systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
+wpi.sim.envVar("HALSIMWS_HOST", "127.0.0.1")
+wpi.sim.addWebsocketsServer().defaultEnabled = true
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+ from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+ from sourceSets.main.allSource
+ manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+ duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+ options.compilerArgs.add '-XDstringConcat=inline'
+}
diff --git a/simulation/samples/JavaAutoSample/gradle/wrapper/gradle-wrapper.jar b/simulation/samples/JavaAutoSample/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000000..d64cd49177
Binary files /dev/null and b/simulation/samples/JavaAutoSample/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/simulation/samples/JavaAutoSample/gradle/wrapper/gradle-wrapper.properties b/simulation/samples/JavaAutoSample/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000000..5e82d67b9f
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/simulation/samples/JavaAutoSample/gradlew b/simulation/samples/JavaAutoSample/gradlew
new file mode 100644
index 0000000000..1aa94a4269
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/gradlew
@@ -0,0 +1,249 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+#
+# Gradle start up script for POSIX generated by Gradle.
+#
+# Important for running:
+#
+# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+# noncompliant, but you have some other compliant shell such as ksh or
+# bash, then to run this script, type that shell name before the whole
+# command line, like:
+#
+# ksh Gradle
+#
+# Busybox and similar reduced shells will NOT work, because this script
+# requires all of these POSIX shell features:
+# * functions;
+# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+# * compound commands having a testable exit status, especially «case»;
+# * various built-in commands including «command», «set», and «ulimit».
+#
+# Important for patching:
+#
+# (2) This script targets any POSIX shell, so it avoids extensions provided
+# by Bash, Ksh, etc; in particular arrays are avoided.
+#
+# The "traditional" practice of packing multiple parameters into a
+# space-separated string is a well documented source of bugs and security
+# problems, so this is (mostly) avoided, by progressively accumulating
+# options in "$@", and eventually passing that to Java.
+#
+# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+# see the in-line comments for details.
+#
+# There are tweaks for specific operating systems such as AIX, CygWin,
+# Darwin, MinGW, and NonStop.
+#
+# (3) This script is generated from the Groovy template
+# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+# within the Gradle project.
+#
+# You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+ APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
+ [ -h "$app_path" ]
+do
+ ls=$( ls -ld "$app_path" )
+ link=${ls#*' -> '}
+ case $link in #(
+ /*) app_path=$link ;; #(
+ *) app_path=$APP_HOME$link ;;
+ esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+ echo "$*"
+} >&2
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in #(
+ CYGWIN* ) cygwin=true ;; #(
+ Darwin* ) darwin=true ;; #(
+ MSYS* | MINGW* ) msys=true ;; #(
+ NONSTOP* ) nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD=$JAVA_HOME/jre/sh/java
+ else
+ JAVACMD=$JAVA_HOME/bin/java
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD=java
+ if ! command -v java >/dev/null 2>&1
+ then
+ die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+ case $MAX_FD in #(
+ max*)
+ # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+ # shellcheck disable=SC2039,SC3045
+ MAX_FD=$( ulimit -H -n ) ||
+ warn "Could not query maximum file descriptor limit"
+ esac
+ case $MAX_FD in #(
+ '' | soft) :;; #(
+ *)
+ # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+ # shellcheck disable=SC2039,SC3045
+ ulimit -n "$MAX_FD" ||
+ warn "Could not set maximum file descriptor limit to $MAX_FD"
+ esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+# * args from the command line
+# * the main class name
+# * -classpath
+# * -D...appname settings
+# * --module-path (only if needed)
+# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+ APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+ CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+ JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ for arg do
+ if
+ case $arg in #(
+ -*) false ;; # don't mess with options #(
+ /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
+ [ -e "$t" ] ;; #(
+ *) false ;;
+ esac
+ then
+ arg=$( cygpath --path --ignore --mixed "$arg" )
+ fi
+ # Roll the args list around exactly as many times as the number of
+ # args, so each arg winds up back in the position where it started, but
+ # possibly modified.
+ #
+ # NB: a `for` loop captures its iteration list before it begins, so
+ # changing the positional parameters here affects neither the number of
+ # iterations, nor the values presented in `arg`.
+ shift # remove old arg
+ set -- "$@" "$arg" # push replacement arg
+ done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+# and any embedded shellness will be escaped.
+# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+# treated as '${Hostname}' itself on the command line.
+
+set -- \
+ "-Dorg.gradle.appname=$APP_BASE_NAME" \
+ -classpath "$CLASSPATH" \
+ org.gradle.wrapper.GradleWrapperMain \
+ "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+ die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+# set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+ printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+ xargs -n1 |
+ sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+ tr '\n' ' '
+ )" '"$@"'
+
+exec "$JAVACMD" "$@"
diff --git a/simulation/samples/JavaAutoSample/gradlew.bat b/simulation/samples/JavaAutoSample/gradlew.bat
new file mode 100644
index 0000000000..93e3f59f13
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/gradlew.bat
@@ -0,0 +1,92 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/simulation/samples/JavaAutoSample/settings.gradle b/simulation/samples/JavaAutoSample/settings.gradle
new file mode 100644
index 0000000000..d94f73c635
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/settings.gradle
@@ -0,0 +1,30 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+ repositories {
+ mavenLocal()
+ gradlePluginPortal()
+ String frcYear = '2024'
+ File frcHome
+ if (OperatingSystem.current().isWindows()) {
+ String publicFolder = System.getenv('PUBLIC')
+ if (publicFolder == null) {
+ publicFolder = "C:\\Users\\Public"
+ }
+ def homeRoot = new File(publicFolder, "wpilib")
+ frcHome = new File(homeRoot, frcYear)
+ } else {
+ def userFolder = System.getProperty("user.home")
+ def homeRoot = new File(userFolder, "wpilib")
+ frcHome = new File(homeRoot, frcYear)
+ }
+ def frcHomeMaven = new File(frcHome, 'maven')
+ maven {
+ name 'frcHome'
+ url frcHomeMaven
+ }
+ }
+}
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/simulation/samples/JavaAutoSample/src/main/deploy/example.txt b/simulation/samples/JavaAutoSample/src/main/deploy/example.txt
new file mode 100644
index 0000000000..bb82515dad
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/src/main/deploy/example.txt
@@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.
\ No newline at end of file
diff --git a/simulation/samples/JavaAutoSample/src/main/java/frc/robot/Main.java b/simulation/samples/JavaAutoSample/src/main/java/frc/robot/Main.java
new file mode 100644
index 0000000000..8776e5dda7
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/src/main/java/frc/robot/Main.java
@@ -0,0 +1,25 @@
+// 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 edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {}
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/simulation/samples/JavaAutoSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaAutoSample/src/main/java/frc/robot/Robot.java
new file mode 100644
index 0000000000..e8e8733c19
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/src/main/java/frc/robot/Robot.java
@@ -0,0 +1,161 @@
+// 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 com.revrobotics.CANSparkLowLevel.MotorType;
+
+import com.autodesk.synthesis.io.*;
+
+import edu.wpi.first.wpilibj.SPI;
+
+import edu.wpi.first.wpilibj.ADXL362;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.XboxController;
+
+import com.autodesk.synthesis.revrobotics.CANSparkMax;
+import com.kauailabs.navx.frc.AHRS;
+import com.autodesk.synthesis.ctre.TalonFX;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the
+ * name of this class or
+ * the package after creating this project, you must also update the
+ * build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private static final String kDefaultAuto = "Default";
+ private static final String kCustomAuto = "My Auto";
+ private String m_autoSelected;
+ private final SendableChooser m_chooser = new SendableChooser<>();
+
+ private ADXL362 m_Accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+ private AHRS m_Gyro = new AHRS();
+
+ private CANSparkMax m_sparkLeft = new CANSparkMax(1, MotorType.kBrushless);
+ private CANSparkMax m_sparkRight = new CANSparkMax(2, MotorType.kBrushless);
+ private CANSparkMax m_sparkArm = new CANSparkMax(3, MotorType.kBrushless);
+
+ /**
+ * This function is run when the robot is first started up and should be used
+ * for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
+ m_chooser.addOption("My Auto", kCustomAuto);
+ SmartDashboard.putData("Auto choices", m_chooser);
+ }
+
+ /**
+ * This function is called every 20 ms, no matter the mode. Use this for items
+ * like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ *
+ * This runs after the mode specific periodic functions, but before LiveWindow
+ * and
+ * SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ }
+
+ /**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different
+ * autonomous modes using the dashboard. The sendable chooser code works with
+ * the Java
+ * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the
+ * chooser code and
+ * uncomment the getString line to get the auto name from the text box below the
+ * Gyro
+ *
+ *
+ * You can add additional auto modes by adding additional comparisons to the
+ * switch structure
+ * below with additional strings. If using the SendableChooser make sure to add
+ * them to the
+ * chooser code above as well.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autoSelected = m_chooser.getSelected();
+ // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
+ System.out.println("Auto selected: " + m_autoSelected);
+ m_sparkLeft.getAbsoluteEncoderSim()
+ }
+
+ enum AutoState {
+ Stage1, Stage2
+ }
+
+ private AutoState m_autoState = AutoState.Stage1;
+
+ /** This function is called periodically during autonomous. */
+ @Override
+ public void autonomousPeriodic() {
+ switch (m_autoState) {
+ case Stage1: {
+ m_sparkLeft.set(0.5);
+ m_sparkRight.set(0.5);
+ if (m_sparkLeft.getEncoder())
+ break;
+ } case Stage2: {
+ break;
+ } default: {
+ break;
+ }
+ }
+ m_SparkMax1.set(0.2);
+ m_SparkMax2.set(-0.2);
+ }
+
+ /** This function is called once when teleop is enabled. */
+ @Override
+ public void teleopInit() {
+ }
+
+ /** This function is called periodically during operator control. */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ /** This function is called once when the robot is disabled. */
+ @Override
+ public void disabledInit() {
+ }
+
+ /** This function is called periodically when disabled. */
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /** This function is called once when test mode is enabled. */
+ @Override
+ public void testInit() {
+ }
+
+ /** This function is called periodically during test mode. */
+ @Override
+ public void testPeriodic() {
+ }
+
+ /** This function is called once when the robot is first started up. */
+ @Override
+ public void simulationInit() {
+ }
+
+ /** This function is called periodically whilst in simulation. */
+ @Override
+ public void simulationPeriodic() {
+ }
+}
diff --git a/simulation/samples/JavaAutoSample/vendordeps/NavX.json b/simulation/samples/JavaAutoSample/vendordeps/NavX.json
new file mode 100644
index 0000000000..e978a5f745
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/vendordeps/NavX.json
@@ -0,0 +1,40 @@
+{
+ "fileName": "NavX.json",
+ "name": "NavX",
+ "version": "2024.1.0",
+ "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+ "frcYear": "2024",
+ "mavenUrls": [
+ "https://dev.studica.com/maven/release/2024/"
+ ],
+ "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-frc-java",
+ "version": "2024.1.0"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "com.kauailabs.navx.frc",
+ "artifactId": "navx-frc-cpp",
+ "version": "2024.1.0",
+ "headerClassifier": "headers",
+ "sourcesClassifier": "sources",
+ "sharedLibrary": false,
+ "libName": "navx_frc",
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena",
+ "linuxraspbian",
+ "linuxarm32",
+ "linuxarm64",
+ "linuxx86-64",
+ "osxuniversal",
+ "windowsx86-64"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/simulation/samples/JavaAutoSample/vendordeps/Phoenix6.json b/simulation/samples/JavaAutoSample/vendordeps/Phoenix6.json
new file mode 100644
index 0000000000..032238505f
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/vendordeps/Phoenix6.json
@@ -0,0 +1,339 @@
+{
+ "fileName": "Phoenix6.json",
+ "name": "CTRE-Phoenix (v6)",
+ "version": "24.3.0",
+ "frcYear": 2024,
+ "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+ "mavenUrls": [
+ "https://maven.ctr-electronics.com/release/"
+ ],
+ "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+ "conflictsWith": [
+ {
+ "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+ "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+ "offlineFileName": "Phoenix6And5.json"
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-java",
+ "version": "24.3.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonFX",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "24.3.0",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-cpp",
+ "version": "24.3.0",
+ "libName": "CTRE_Phoenix6_WPI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "24.3.0",
+ "libName": "CTRE_PhoenixTools",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxathena"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "24.3.0",
+ "libName": "CTRE_Phoenix6_WPISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "24.3.0",
+ "libName": "CTRE_PhoenixTools_Sim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "24.3.0",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonFX",
+ "version": "24.3.0",
+ "libName": "CTRE_SimTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "24.3.0",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "24.3.0",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simCANCoder",
+ "version": "24.3.0",
+ "libName": "CTRE_SimCANCoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "24.3.0",
+ "libName": "CTRE_SimProTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "24.3.0",
+ "libName": "CTRE_SimProCANcoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "24.3.0",
+ "libName": "CTRE_SimProPigeon2",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/simulation/samples/JavaAutoSample/vendordeps/REVLib.json b/simulation/samples/JavaAutoSample/vendordeps/REVLib.json
new file mode 100644
index 0000000000..f85acd4054
--- /dev/null
+++ b/simulation/samples/JavaAutoSample/vendordeps/REVLib.json
@@ -0,0 +1,74 @@
+{
+ "fileName": "REVLib.json",
+ "name": "REVLib",
+ "version": "2024.2.4",
+ "frcYear": "2024",
+ "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+ "mavenUrls": [
+ "https://maven.revrobotics.com/"
+ ],
+ "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+ "javaDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-java",
+ "version": "2024.2.4"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2024.2.4",
+ "skipInvalidPlatforms": true,
+ "isJar": false,
+ "validPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxarm64",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxarm32",
+ "osxuniversal"
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-cpp",
+ "version": "2024.2.4",
+ "libName": "REVLib",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxarm64",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxarm32",
+ "osxuniversal"
+ ]
+ },
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2024.2.4",
+ "libName": "REVLibDriver",
+ "headerClassifier": "headers",
+ "sharedLibrary": false,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "windowsx86",
+ "linuxarm64",
+ "linuxx86-64",
+ "linuxathena",
+ "linuxarm32",
+ "osxuniversal"
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
index 302f80f47c..f1b05386fc 100644
--- a/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
+++ b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java
@@ -100,27 +100,30 @@ public void autonomousInit() {
@Override
public void autonomousPeriodic() {
- m_Spark1.set(0.5);
- m_Spark2.set(-0.5);
- m_Talon.set(-1.0);
-
- double position = m_SparkMax1.getAbsoluteEncoderSim().getPosition();
-
- if (position >= 20) {
- m_SparkMax1.set(0.0);
- m_SparkMax2.set(0.0);
- m_SparkMax3.set(0.0);
- m_SparkMax4.set(0.0);
- m_SparkMax5.set(0.0);
- m_SparkMax6.set(0.0);
- } else {
- m_SparkMax1.set(1.0);
- m_SparkMax2.set(1.0);
- m_SparkMax3.set(1.0);
- m_SparkMax4.set(1.0);
- m_SparkMax5.set(1.0);
- m_SparkMax6.set(1.0);
- }
+ m_SparkMax1.set(0.2);
+ m_SparkMax2.set(-0.2);
+
+ // m_Spark1.set(0.5);
+ // m_Spark2.set(-0.5);
+ // m_Talon.set(-1.0);
+
+ // double position = m_SparkMax1.getAbsoluteEncoderSim().getPosition();
+
+ // if (position >= 20) {
+ // m_SparkMax1.set(0.0);
+ // m_SparkMax2.set(0.0);
+ // m_SparkMax3.set(0.0);
+ // m_SparkMax4.set(0.0);
+ // m_SparkMax5.set(0.0);
+ // m_SparkMax6.set(0.0);
+ // } else {
+ // m_SparkMax1.set(1.0);
+ // m_SparkMax2.set(1.0);
+ // m_SparkMax3.set(1.0);
+ // m_SparkMax4.set(1.0);
+ // m_SparkMax5.set(1.0);
+ // m_SparkMax6.set(1.0);
+ // }
switch (m_autoSelected) {
case kCustomAuto:
@@ -140,11 +143,25 @@ public void teleopInit() {
m_AO.setVoltage(6.0);
}
+ private double clamp(double a, double min, double max) {
+ return Math.min(Math.max(a, min), max);
+ }
+
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
- m_SparkMax1.set(m_Controller.getLeftY());
- m_SparkMax2.set(-m_Controller.getRightY());
+ double forward = -m_Controller.getLeftY();
+ double turn = m_Controller.getRightX();
+ if (Math.abs(forward) < 0.2) {
+ forward = 0.0;
+ }
+ if (Math.abs(turn) < 0.2) {
+ turn = 0.0;
+ }
+
+ m_SparkMax1.set(clamp(forward + turn, -1, 1));
+ m_SparkMax2.set(clamp(forward - turn, -1, 1));
+
m_Talon.set(m_Controller.getLeftX());
System.out.println("LeftX: " + m_Controller.getLeftX());
// System.out.println("OUT: " + m_DO.get());