add swerve and turret code

README.md

@@ -1,2 +1,8 @@
 # 2021-release
 public release of our 2020-2021 season software
+
+* Galactic-Search: code for the FIRST@Home Galactic Search challenge
+* Infinite-Recharge: code for Lumi, our Infinite Recharge 2.0 robot
+* swerve-drive: code for our swerve drive prototype
+* turret: code for our turret shooter prototype
+

swerve-drive/.settings/org.eclipse.buildship.core.prefs

@@ -0,0 +1,13 @@
+arguments=
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+connection.project.dir=
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=/Library/Java/JavaVirtualMachines/adoptopenjdk-11.jdk/Contents/Home
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true

swerve-drive/.vscode/launch.json

@@ -0,0 +1,35 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "java",
+      "name": "Launch SwerveSimRunner",
+      "request": "launch",
+      "mainClass": "frc.robot.SwerveSimRunner",
+      "projectName": "InfiniteRecharge2021",
+      "cwd": "${workspaceFolder}/build/tmp/jniExtractDir",
+      "vmArgs": [
+        "-Djava.library.path=${workspaceFolder}/build/tmp/jniExtractDir"
+      ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/tmp/jniExtractDir",
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/tmp/jniExtractDir"
+      }
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib Desktop Debug",
+      "request": "launch",
+      "desktop": true
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib roboRIO Debug",
+      "request": "launch",
+      "desktop": false
+    }
+  ]
+}

swerve-drive/.vscode/settings.json

@@ -0,0 +1,27 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  }, "java.test.config": [
+    {
+        "name": "WPIlibUnitTests",
+        "workingDirectory": "${workspaceFolder}/build/tmp/jniExtractDir",
+        "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/tmp/jniExtractDir" ],
+        "env": { "LD_LIBRARY_PATH": "${workspaceFolder}/build/tmp/jniExtractDir" ,
+          "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/tmp/jniExtractDir" }
+
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
+}

swerve-drive/.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2021",
+    "teamNumber": 3061
+}

swerve-drive/READMEunitTestSetup.txt

@@ -0,0 +1,109 @@
+~~~~~~~~~~~~~~~~~~~~~~~~~~~Tutorial on how to set up a regular java robot project for unit testing~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Step 1
+Paste this code in build.gradle so build.gradle knows to install the mockito dependency from MavenCentral:
+repositories {
+    mavenCentral()
+}
+
+Step 2
+Paste this code inside the {}s of build.gradle dependencies to tell the gradle to compile the mockito dependency with version 2.23 (it is important to use this version since this version supports Java 11):
+testCompile group: 'org.mockito', name: 'mockito-core', version: '2.23.0'
+
+Step 3
+Create a folder named "test\java\frc\robot" inside the src folder
+If your robot project is a command project, add the "commands" & "subsystems" folders inside the test\java\frc\robot folder
+
+Step 4
+Add this to the .classpath file so VSCode recognizes the path your Unit Tests (.classpath file may not show up in VSCode, .classpath file should show up next to your build.gradle file in VSCode):
+<classpathentry kind="src" output="bin/test" path="src/test/java">
+    <attributes>
+        <attribute name="gradle_scope" value="test"/>
+        <attribute name="gradle_used_by_scope" value="test"/>
+        <attribute name="test" value="true"/>
+    </attributes>
+</classpathentry>
+
+Step 5
+delete the ".classpath" line from the .gitignore so Github Desktop knows to commit your .classpath file's change to your branch/repository
+
+Step 6
+Paste this as a new setting in the settings.json file inside the .vscode folder. This tells FRC VSCode where to find the JNI libaries needed for many WPI Modules (remember to put a comma between any previous settings and this one!):
+"java.test.config": [
+    {
+        "name": "WPIlibUnitTests",
+        "workingDirectory": "${workspaceFolder}/build/tmp/jniExtractDir",
+        "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/tmp/jniExtractDir" ],
+        "env": { "LD_LIBRARY_PATH": "${workspaceFolder}/build/tmp/jniExtractDir" ,
+          "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/tmp/jniExtractDir" }
+
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
+
+Step 7
+Ctrl+Shift+P to open command palette
+Choose this command:
+run Java: clean Java Language server workspace
+
+Step 8
+install the Java Test Runner extension in your FRC VSCode
+
+Step 9
+Close out of FRC VSCode and reopen it. After that, you're done!
+
+All unit tests go in src\test\java\frc\robot, and follow the same file structure & package statements as regular robot code
+Wpilib & CTRE imports also seem to work in unit tests if settings.json was set up correctly
+
+
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Basic structure of an FRC Unit Test~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+package frc.robot; //package frc.robot.subsystems if in subsystems folder, package frc.robot.commands if in commands folder
+
+import org.junit.*;
+import static org.junit.Assert.*;
+import org.mockito.*;
+import static org.mockito.Mockito.*;
+
+public class TemplateUnitTest {
+    @Before
+    public void setup() {
+        // code that runs before every test
+    }
+    @Mock
+    // put your mock instance variables here
+    Object objectMock;
+    @Test
+    public void myUnitTest() {
+        //write code for your unit test here
+    }
+    @Test
+    public void myUnitTest2() {
+        //write code for your 2nd unit test here
+    }
+}
+
+~~~~~~~~~~~~~~~~~~~~~~~~~~~How to run an FRC Unit Test~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Make sure that you have the Java Test Runner extension installed
+Click on the "run test" button that appears above a unit test method and below the @Test annotation
+Example:
+
+@Test
+Run Test | Debug Test
+public void myUnitTest() {
+    //write code for your unit test here
+}
+
+^^^^^^^^Unit test should look like this^^^^^^^^^^^^^
+If unit test passed, a checkmark should pop up next to the "Run Test | Debug Test" buttons. Click on the checkmark to view details about the test in a new window
+Example:
+@Test
+Run Test | Debug Test ✓
+public void myUnitTest() {
+    //write code for your unit test here
+}
+If unit test failed, an X should appear in the same spot. Click on the X to view details about the test in a new window
+
+~~~~~~~~~~~~~~~~~Known Bugs~~~~~~~~~~~~~~~~~
+Cannot find jniExtractDir because it does not exist:
+Make sure .scode\settings.json has correct settings (see above to setup settings.json correctly)
+Right click on build.gradle, click on "build robot code".

swerve-drive/WPILib-License.md

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 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.

swerve-drive/bin/main/frc/robot/swerve_math.txt

@@ -0,0 +1,3 @@
+swerve_math1.jpg: displays translation vector for each wheel (same vector as the tilt of joystick)
+swerve_math2.jpg: displays rotation vector for each wheel (wheels travel in a circle, vectors are perpendicular to the diagonal of the robot's rectangular chassis. Twist of joystick controls the magnitude of each rotation vector)
+swerve_math3.jpg: adds both the translation vector and rotation vector for each wheel

swerve-drive/build.gradle

@@ -0,0 +1,84 @@
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2021.2.1"
+}
+
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+    targets {
+        roboRIO("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 = frc.getTeamNumber()
+        }
+    }
+    artifacts {
+        frcJavaArtifact('frcJava') {
+            targets << "roborio"
+            // Debug can be overridden by command line, for use with VSCode
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact('frcStaticFileDeploy') {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: 'src/main/deploy')
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = '/home/lvuser/deploy'
+        }
+    }
+}
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+repositories {
+    mavenCentral()
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+    implementation wpi.deps.wpilib()
+    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
+
+    implementation wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    testImplementation 'junit:junit:4.12'
+    testCompile group: 'org.mockito', name: 'mockito-core', version: '2.23.0'
+
+    // Enable simulation gui support. Must check the box in vscode to enable support
+    // upon debugging
+    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+    simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, false)
+
+    // Websocket extensions require additional configuration.
+    // simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, false)
+    // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, false)
+}
+
+// Simulation configuration (e.g. environment variables).
+sim {
+    // Sets the websocket client remote host.
+    // envVar "HALSIMWS_HOST", "10.0.0.2"
+}
+
+// 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) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+}

swerve-drive/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists