Merge branch 'frc_2019'

Author: jhh

build.gradle

@@ -4,22 +4,25 @@ plugins {
     id "idea"
 }
 
-version = '18.2.1'
+version = "19.0.0"
 
 repositories {
     jcenter()
-    maven { url = "https://raw.githubusercontent.com/Open-RIO/Maven-Mirror/master/m2" }
+    maven { url = "http://devsite.ctr-electronics.com/maven/release/" }
     maven { url = "http://first.wpi.edu/FRC/roborio/maven/release" }
     mavenLocal()
 }
 
 dependencies {
     // FRC libs
-    compile 'openrio.mirror.third.ctre:CTRE-phoenix-java:5.7.1.0'
-    compile "edu.wpi.first.wpilibj:wpilibj-java:2018.4.1"
-    compile "edu.wpi.first.ntcore:ntcore-java:4.1.0"
-    compile "edu.wpi.first.cscore:cscore-java:1.3.0"
-    compile "org.opencv:opencv-java:3.2.0"
+    compile "edu.wpi.first.wpilibj:wpilibj-java:2019.1.1"
+    compile "edu.wpi.first.ntcore:ntcore-java:2019.1.1"
+    compile "edu.wpi.first.cscore:cscore-java:2019.1.1"
+    compile "edu.wpi.first.thirdparty.frc2019.opencv:opencv-java:3.4.4-4"
+    
+    // Vendor libs
+    compile "com.ctre.phoenix:api-java:5.12.0"
+    compile "com.ctre.phoenix:wpiapi-java:5.12.0"
 
     // Kotlin
     compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:${kotlin_version}"
@@ -75,7 +78,7 @@ test {
 }
 
 def robotManifest = {
-    attributes 'Main-Class': 'edu.wpi.first.wpilibj.RobotBase',
+    attributes 'Main-Class': 'org.strykeforce.thirdcoast.MainKt',
             'Robot-Class': 'org.strykeforce.thirdcoast.Robot',
             'Specification-Title': 'Third Coast Telemetry',
             'Specification-Version': "${thirdcoast_version}",

gradle.properties

@@ -2,4 +2,4 @@ kotlin.code.style=official
 kotlin_version = 1.3.11
 junit_version = 5.2.0
 koin_version = 1.0.1
-thirdcoast_version = 18.7.3
+thirdcoast_version = 19.0.0

gradle/wrapper/gradle-wrapper.jar

@@ -1,6 +1,5 @@
-#Tue Oct 23 14:18:08 EDT 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.10.2-all.zip

gradle/wrapper/gradle-wrapper.properties

@@ -28,7 +28,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+DEFAULT_JVM_OPTS='"-Xmx64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"

gradlew

@@ -14,7 +14,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @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=
+set DEFAULT_JVM_OPTS="-Xmx64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome

gradlew.bat

@@ -23,6 +23,6 @@ while [ $# -gt 0 ]; do
     shift
 done
 
-/usr/local/frc/JRE/bin/java -Djava.library.path=/usr/local/frc/lib/ -jar /usr/local/lib/tct.jar 2> $log
+/usr/local/frc/JRE/bin/java -Djava.library.path=/usr/local/frc/third-party/lib -jar /usr/local/lib/tct.jar 2> $log
 echo
 echo reboot roboRIO to restart robot code.

script/tct

@@ -69,7 +69,7 @@ private fun getWheels(): Array<Wheel> {
         continuousCurrentLimit = 10
         peakCurrentLimit = 0
         peakCurrentDuration = 0
-        slot_0.apply {
+        slot0.apply {
             kP = 10.0
             kI = 0.0
             kD = 100.0

src/main/kotlin/org/strykeforce/thirdcoast/Koin.kt

@@ -1,26 +1,12 @@
 package org.strykeforce.thirdcoast
 
-import org.koin.core.parameter.parametersOf
-import org.koin.log.Logger.SLF4JLogger
-import org.koin.standalone.KoinComponent
-import org.koin.standalone.StandAloneContext
-import org.koin.standalone.inject
-import org.strykeforce.thirdcoast.command.Command
-
-class Main : KoinComponent, Runnable {
-
-    override fun run() {
-        val toml = parseResource("/test.toml")
-        val root = Command.createFromToml(toml)
-        val shell: Shell by inject { parametersOf(root) }
-        shell.run()
-    }
-}
+import edu.wpi.first.wpilibj.RobotBase
 
 /**
- * Entry for command-line testing on laptop.
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
  */
-fun main() {
-    StandAloneContext.startKoin(listOf(tctModule), logger = SLF4JLogger())
-    Main().run()
+fun main(args : Array<String>) {
+    RobotBase.startRobot(::Robot)
 }

src/main/kotlin/org/strykeforce/thirdcoast/Main.kt

@@ -25,15 +25,15 @@ class FeedbackCoefficientCommand(
         get() = formatMenu(
             when (pidIndex) {
                 0 -> talonService.activeConfiguration.primaryPID.selectedFeedbackCoefficient
-                else -> talonService.activeConfiguration.auxilaryPID.selectedFeedbackCoefficient
+                else -> talonService.activeConfiguration.auxiliaryPID.selectedFeedbackCoefficient
             }
         )
 
     override fun execute(): Command {
         val config = talonService.activeConfiguration
         val default = when (pidIndex) {
             0 -> config.primaryPID.selectedFeedbackCoefficient
-            else -> config.auxilaryPID.selectedFeedbackCoefficient
+            else -> config.auxiliaryPID.selectedFeedbackCoefficient
         }
 
         val paramValue = param.readDouble(reader, default)