Merge branch 'main' of https://github.com/OakvilleDynamics/2024-Robot

OakvilleDynamics · Feb 23, 2024 · dd334e1 · dd334e1
2 parents 38b423f + 471c8f1
commit dd334e1
Show file tree

Hide file tree

Showing 29 changed files with 709 additions and 105 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -0,0 +1,2 @@
+# Required for reviewing all commits
+*    @garrettsummerfi3ld
diff --git a/.github/workflows/build.yml → .github/workflows/ci.yml b/.github/workflows/build.yml → .github/workflows/ci.yml
@@ -1,5 +1,5 @@
 # This is a basic workflow to build robot code.
-name: Build
+name: Continuous Integration
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events but only for the main branch.
@@ -15,8 +15,9 @@ concurrency:
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  # This workflow contains a single job called "build"
+  # This job will build the robot code
   build:
+    name: Build
     # The type of runner that the job will run on
     runs-on: ubuntu-latest
 
@@ -34,12 +35,34 @@ jobs:
 
     # Setup Gradle
     - name: Setup Gradle
-      uses: gradle/gradle-build-action@v2
-
-    # Grant execute permission for gradlew
-    - name: Grant execute permission for gradlew
-      run: chmod +x gradlew
+      uses: gradle/actions/setup-gradle@v3
 
     # Runs a single command using the runners shell
     - name: Compile and run tests on robot code
-      run: ./gradlew build
+      run: ./gradlew build
+
+  # This job will run through tests on the robot code
+  test:
+    name: Test
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v4
+
+    # Declares the repository safe and not under dubious ownership.
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+    # Setup Gradle
+    - name: Setup Gradle
+      uses: gradle/actions/setup-gradle@v3
+
+    # Runs a single command using the runners shell
+    - name: Run tests on robot code
+      run: ./gradlew test
diff --git a/.github/workflows/gradle-wrapper-validation.yml b/.github/workflows/gradle-wrapper-validation.yml
@@ -25,6 +25,6 @@ jobs:
       - uses: actions/checkout@v4
 
       # Runs an action from the Gradle org to validate the Gradle wrapper, see 
-      # https://github.com/gradle/wrapper-validation-action/tree/v1/?tab=readme-ov-file#the-gradle-wrapper-problem-in-open-source
+      # https://github.com/gradle/wrapper-validation-action?tab=readme-ov-file#the-gradle-wrapper-problem-in-open-source
       # for more details as to why this is important.
-      - uses: gradle/wrapper-validation-action@v1
+      - uses: gradle/wrapper-validation-action@v2
diff --git a/.github/workflows/syntax-check.yml b/.github/workflows/syntax-check.yml
@@ -9,6 +9,10 @@ on:
   pull_request:
     branches: [ main ]
 
+# Set permissions for the workflow
+permissions:
+  contents: write
+
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
@@ -19,11 +23,14 @@ jobs:
   spotless:
     # The type of runner that the job will run on
     runs-on: ubuntu-latest
+    # If the action is triggered by Dependabot, do not run these checks
+    if: ${{ github.actor != 'dependabot[bot]' }}
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
       - uses: actions/checkout@v4
         with:
+          token: ${{ secrets.PAT }}
           fetch-depth: 0
 
       # Setup Java 17
@@ -34,11 +41,7 @@ jobs:
 
       # Setup Gradle
       - name: Setup Gradle
-        uses: gradle/gradle-build-action@v2
-
-      # Grant execute permission for gradlew
-      - name: Grant execute permission for gradlew
-        run: chmod +x gradlew
+        uses: gradle/actions/setup-gradle@v3
 
       # Runs our formatter for easier code review
       - name: Run spotlessApply
@@ -48,4 +51,4 @@ jobs:
       - name: Create commit of formatted code
         uses: stefanzweifel/git-auto-commit-action@v5
         with:
-          commit_message: "[Spotless] Apply formatting"
+          commit_message: "[Spotless] Apply formatting"
diff --git a/.gitignore b/.gitignore
@@ -176,3 +176,6 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# Build Constants for Git infomation
+src/main/java/frc/robot/BuildConstants.java
diff --git a/README.md b/README.md
@@ -6,11 +6,11 @@ The source code for our 2024 FRC Robot for Cresendo. Prepackaged with GitHub Act
 
 | Action            | Status                                                                                                                                                                                                                                                 |
 | ----------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| Build             | [![Build](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/build.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/build.yml)                                                           |
-| Qodana            | [![Qodana](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/qodana.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/qodana.yml)                                                        |
-| CodeQL            | [![CodeQL Scanning](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/codeql.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/codeql.yml)                                               |
-| Spotless          | [![Syntax Check](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/syntax-check.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/syntax-check.yml)                                      |
-| Gradle Validation | [![Validate Gradle Wrapper](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/gradle-wrapper-validation.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/gradle-wrapper-validation.yml) |
+| CI                | [![CI](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/ci.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/ci.yml)                                                                                    |
+| Qodana            | [![Qodana](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/qodana.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/qodana.yml)                                                                        |
+| CodeQL            | [![CodeQL Scanning](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/codeql.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/codeql.yml)                                                               |
+| Spotless          | [![Syntax Check](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/syntax-check.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/syntax-check.yml)                                                      |
+| Gradle Validation | [![Validate Gradle Wrapper](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/gradle-wrapper-validation.yml/badge.svg)](https://github.com/OakvilleDynamics/2024-Robot/actions/workflows/gradle-wrapper-validation.yml)                 |
 
 ## How to use
 
@@ -32,5 +32,5 @@ The source code for our 2024 FRC Robot for Cresendo. Prepackaged with GitHub Act
 
 ## Requirements
 
-- WPILib 2024.1.1
+- WPILib 2024.3.1
 - Internet connection (for Gradle to download dependencies)
diff --git a/build.gradle b/build.gradle
@@ -1,7 +1,8 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
-    id 'com.diffplug.spotless' version '6.25.0'
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "com.diffplug.spotless" version "6.25.0"
+    id "com.peterabeles.gversion" version "1.10.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -45,6 +46,20 @@ wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -66,9 +81,13 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.1'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.1'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.2'
+
+    // AdvantageKit
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
@@ -103,6 +122,24 @@ tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
 
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Chicago" // Use preferred time zone
+    indent       = "  "
+}
+compileJava.dependsOn 'spotlessApply'
+
+
 spotless {
     java {
         target fileTree('.') {

diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
@@ -1,17 +1,17 @@
 {
   "location": {
-    "front": -14.25,
-    "left": 14.25
+    "front": -13.5,
+    "left": 13.5
   },
-  "absoluteEncoderOffset": 55.020,
+  "absoluteEncoderOffset": 276.15234375,
   "drive": {
     "type": "sparkmax",
-    "id": 7,
+    "id": 41,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 8,
+    "id": 42,
     "canbus": null
   },
   "conversionFactor": {
@@ -20,11 +20,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 9,
+    "id": 43,
     "canbus": null
   },
   "inverted": {
-    "drive": true,
-    "angle": true
+    "drive": false,
+    "angle": false
   }
 }
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
@@ -1,17 +1,17 @@
 {
   "location": {
-    "front": -14.25,
-    "left": -14.25
+    "front": -13.5,
+    "left": -13.5
   },
-  "absoluteEncoderOffset": 298.740,
+  "absoluteEncoderOffset": 299.267578125,
   "drive": {
     "type": "sparkmax",
-    "id": 10,
+    "id": 11,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 11,
+    "id": 12,
     "canbus": null
   },
   "conversionFactor": {
@@ -20,11 +20,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 12,
+    "id": 13,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": true
+    "angle": false
   }
 }
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
@@ -1,17 +1,17 @@
 {
   "location": {
-    "front": 14.25,
-    "left": 14.25
+    "front": 13.5,
+    "left": 13.5
   },
-  "absoluteEncoderOffset": 185.977,
+  "absoluteEncoderOffset": 357.978515625,
   "drive": {
     "type": "sparkmax",
-    "id": 1,
+    "id": 31,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 2,
+    "id": 32,
     "canbus": null
   },
   "conversionFactor": {
@@ -20,11 +20,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 3,
+    "id": 33,
     "canbus": null
   },
   "inverted": {
-    "drive": true,
-    "angle": true
+    "drive": false,
+    "angle": false
   }
 }
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
@@ -1,17 +1,17 @@
 {
   "location": {
-    "front": 14.25,
-    "left": -14.25
+    "front": 13.5,
+    "left": -13.5
   },
-  "absoluteEncoderOffset": 88.330,
+  "absoluteEncoderOffset": 52.91015625,
   "drive": {
     "type": "sparkmax",
-    "id": 4,
+    "id": 21,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 5,
+    "id": 22,
     "canbus": null
   },
   "conversionFactor": {
@@ -20,11 +20,11 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 6,
+    "id": 23,
     "canbus": null
   },
   "inverted": {
     "drive": false,
-    "angle": true
+    "angle": false
   }
 }
diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json
@@ -2,8 +2,8 @@
   "optimalVoltage": 12,
   "wheelGripCoefficientOfFriction": 1.19,
   "currentLimit": {
-    "drive": 40,
-    "angle": 35
+    "drive": 25,
+    "angle": 30
   },
   "conversionFactor": {
     "angle": 16.8,