This repository will be used during the fall before the 2019 season for testing. This repository contains many improvements over GRTJava, including a special control loop for swerve and fieldmapping, sequential autonomous, and the removal of unused code.
Please follow the instructions here exactly. Make sure to install the Java Extension Pack so our code can look nice and consistent.
Packages are now found under src/main/java/frc/
No different from GRTJava. Contains global config class which parses config files. Config files are now .txt files found under resources/frc/config.
Contains SwerveControl which is the main loop for swerve. SwerveControl runs PID controllers for swerve as well as field mapping in one loop synced with sensor feedback. This package also contains synchronous PID and PIF controller implementations.
Contains a hierarchy of PositionTracker's which will be removed when a single implementation is found to be the best. Will eventually contain actual field mapping.
Contains mechs and MechCollection, a class that contains all of the mechs for easy passing to control modes.
Contains the main Robot class, as well as Teleop and Autonomous. JoystickProfile is a new class that will transform joystick inputs to improve drive handling. Currently contains some simple utility functions often used with joystick inputs.
Contains the FullSwerve class, which should now only be controlled through SwerveControl. Also contains Wheel, SwerveData, and NavXGyro classes as they are mainly used by swerve. The other swerve modes have been removed.
Contains GRTUtil, named such because there are so many other classes just called Util. GRTUtil contains utility functions which are not necessarilly used for joystick inputs.
Contains workspace settings and lauch configurations. The latter is useless as far as I know, the former will help make sure we all use the same settings.
Contains a preferences file which includes our team number and programming language.
Contains gradle wrapper jar file and preferences.
Tells Git which files to never stage or commit. This one was automatically generated and seems quite comprehensive.
Gradle build script for building and deploying. We probably won't mess with it.
Some formatter information to make sure our code is all formatted the same way.
Gradle wrapper script for MacOS/Linux. use this to call gradle commands.
Gradle wrapper script for Windows. use this to call gradle commands.
This document you are currently reading.
Some more Gradle settings. I guess you can never have too many.