Merge branch 'develop'

Author: jhh

.travis.yml

@@ -9,26 +9,18 @@ after_success:
 deploy:
   -  provider:     pages
      skip_cleanup: true
-     github_token: "$GITHUB_TOKEN"
+     github_token: $GITHUB_TOKEN
      local_dir:    docs
      on:
        branch:     master
   - provider:      releases
     api_key:
       secure:      VawxVLIOq2XSIRsgsZUPEw5y1f6iWXqY6ujvhydIDO150KXEBjytHIv3BOkpDmtkM4PAjfe3LzXdL2gJ7xLjuvDiuE1+aD/eM5PtHD4omPtzBVxWBot/jwvsxP2zTmZsGvBGvkffvA2GalOdSFnfa5S18W5L5DgyGe1nJFCwLhMwNXTnSIBr01W8LemcN7PAu/rtpSB1iYPI75Weiyaq1SsjRYJ6La2/tIMhQUnEWEgWcJh1mg0DikcDE8A5pXDDmhHrIvEFa8Q3SJQmIC0ZiVdiWTlnV4LjPt8knfegPZXyrO6VvitIZxwHP+U5P6N7JsFIhVpU6N2isF40dgoXm9d/Nyi3HdsYTcqmbK1JpzcArx5XqjXolwpPPnZ5/KV5DLcZyOZqar2NOGVjs5h55WHnxdgHZqYP30nP9nc1SY8Bw/4Tm6aebOLFXR1PAnilxYfhbk666IQwGsAsPUxDK2ZpB3fBZfr0j2Mwi3ZwkBK0Cqike6E2PQKDkdSiGAkCHUKORepKy+iJC7/8B/ToakI2ena8pi763BBDegyHxllH4EZ+gep0Q/MNKmBvrEIvv8oRgcovV6RZ6JFy4NaosHFVWGoi242Sn9Z0CDg+LTq2uGc1YIuVMzsPi8jCPmTCR7Di4OtGyeaujFqrv0HhYGH9mekoaSU3avfot3Zo/Ws=
     file:
-      - "tct/build/libs/tct.jar"
-      - "tct/script/tct.sh"
+      - tct/build/libs/tct.jar
+      - tct/script/tct.sh
     skip_cleanup:  true
-    body: |
-      This command-line utility runs on your robot's hardware or a bench system. When run manually, it will run in the place of your robot program. When not being run manually, it will not interfere with normal robot program execution.
-
-      Any commands below run in a SSH session on the roboRIO.
-
-      1. Download `tct.jar` and the `tct.sh` shell script from above and copy to the same directory on the roboRIO, for example `/home/admin`
-      2. Make the `tct.sh` shell script executable with `chmod +x tct.sh`.
-      3. Optional, but recommended, stop the auto-run of any existing robot code on the roboRIO with `/etc/init.d/nilvrt stop`. Reboot the roboRIO to restore auto-run.
-      4. Run with `./tct.sh`
+    body: "This command-line utility runs on your robot's hardware or a bench system. When run manually, it will run in the place of your robot program. When not being run manually, it will not interfere with normal robot program execution.\n\nAny commands below run in a SSH session on the roboRIO.\n\n1. Download `tct.jar` and the `tct.sh` shell script from above and copy to the same directory on the roboRIO, for example `/home/admin`\n2. Make the `tct.sh` shell script executable with `chmod +x tct.sh`.\n3. Optional, but recommended, stop the fauto-run of any existing robot code on the roboRIO with `/etc/init.d/nilvrt stop`. Reboot the roboRIO to restore auto-run.\n4. Run with `./tct.sh`\n"
     on:
       tags:        true
 
@@ -41,9 +33,9 @@ before_cache:
   - rm -rf $HOME/.m2/repository/org/strykeforce
 cache:
   directories:
-    - "$HOME/.m2/"
-    - "$HOME/.gradle/caches/"
-    - "$HOME/.gradle/wrapper/"
+    - $HOME/.m2/
+    - $HOME/.gradle/caches/
+    - $HOME/.gradle/wrapper/
 env:
   global:
     secure:        StbRRMHj5mEAKLzQET5dJ9wjjBU0XnOy5LWUrYHMH/EIuk1RueCcofngmsS6V70Nr54F8/9xv4voL2JLSINtoVcQzJ6PTMLjB1Ujsm+xbW5aii29kFtVy4dY4N/fmRALEP8Be9o8Yve686bOUJFEyyGlYZsVqsipILyz/eHjhmqEv7s9QSA5IZzwyd4lEyCb1RY3xgPepXEDt2Du/AvOK6+mJM1mqHxE0awDS5jrORH8aigmugF7wtUcBWkgsvTO4MeelVi3l4uXRp/5a8JoJ0vTP3iMvVKADzS/g6s3fWSPIyvJYzWQoYuW85mKr63mJS+FXggzFXIDholYb27TqLGmU4HAbTl/bmWllWJe3FbkZSK5VFyGKpypNOBugzRgyubxAB1TBbGj0kW2fgncLsrKYPq63DhJzCXpPc4LsT9XaZxxTI47BhFRnsWGIaSvmBavBWD0Qq9WP0BMvJMxUR/PJ6C8D+YG+AHrs3w3zZLHe7iuaXyVwq97IC7IhAnkYWnX+bG6KIwY08QLki8DYYBeGPxkPHsyBep84tPfKqxnY+xdVNylteBJt0YJZyn/rNK89a9k110DjKvKCewQpx/b6v3JLaqjju5nFHcdM7M+0kJGbKGHWJUMLWv/0UMfBG9NuiEpq6+NNv3Hi+OITeUYVvRT8/Ditverjdv6KlU=

build.gradle

@@ -2,7 +2,7 @@ plugins {
     id "java"
     id "idea"
     id "net.ltgt.apt-idea" version "0.13"
-    id "jaci.openrio.gradle.GradleRIO" version "2017.11.27" apply false
+    id "jaci.openrio.gradle.GradleRIO" version "2018.01.15" apply false
     id "net.ltgt.errorprone" version "0.0.13"
     id "com.diffplug.gradle.spotless" version "3.8.0"
 }
@@ -25,9 +25,10 @@ ext {
             slf4j               : 'org.slf4j:slf4j-api:1.7.25',
             spock               : 'org.spockframework:spock-core:1.1-groovy-2.4',
             toml4j              : 'com.moandjiezana.toml:toml4j:0.7.2',
+            autoFactory         : 'com.google.auto.factory:auto-factory:1.0-beta5',
     ]
     specificationTitle = 'Third Coast Library'
-    specificationVersion = '17.2.0'
+    specificationVersion = '18.0.4'
 }
 
 subprojects {
@@ -36,21 +37,17 @@ subprojects {
     apply plugin: 'net.ltgt.apt-idea'
 //    apply plugin: 'net.ltgt.errorprone' // FIXME: https://github.com/google/dagger/issues/1004
 
-    wpi {
-        navxVersion = '3.0.331' // FIXME: remove for 2018 build
-    }
-
     repositories {
         jcenter()
         maven { url 'https://oss.sonatype.org/content/repositories/snapshots' } // nanohttpd
     }
 }
 
 spotless {
-  java {
-    googleJavaFormat()
-    target '**/*.java'
-  }
+    java {
+        googleJavaFormat()
+        target '**/*.java'
+    }
 }
 
 idea {

core/build.gradle

@@ -22,8 +22,10 @@ dependencies {
     compile libs.slf4j
     compileOnly libs.jetbrainsAnnotations
     compileOnly libs.jsr305
+    compileOnly libs.autoFactory
 
     apt libs.daggerCompiler
+    apt libs.autoFactory
 
     testCompile libs.spock
     testRuntime libs.logback

core/javadoc.gradle

@@ -4,17 +4,17 @@ javadoc {
     options.links = [
             "https://docs.oracle.com/javase/8/docs/api/",
             "http://first.wpi.edu/FRC/roborio/release/docs/java/",
-            "http://www.ctr-electronics.com/downloads/api/java/html/",
-            "http://www.kauailabs.com/public_files/navx-mxp/apidocs/java/"
+            "http://www.ctr-electronics.com/downloads/api/java/html/"
+//            "http://www.kauailabs.com/public_files/navx-mxp/apidocs/java/"
     ]
-    options.addBooleanOption("-allow-script-in-comments", true)
-    options.footer = "<script async src=\"https://www.googletagmanager.com/gtag/js?id=UA-108186367-1\"></script>\n" +
-            "<script>\n" +
-            "  window.dataLayer = window.dataLayer || [];\n" +
-            "  function gtag(){dataLayer.push(arguments);}\n" +
-            "  gtag('js', new Date());\n" +
-            "\n" +
-            "  gtag('config', 'UA-108186367-1');\n" +
-            "</script>\n"
+//    options.addBooleanOption("-allow-script-in-comments", true)
+//    options.footer = "<script async src=\"https://www.googletagmanager.com/gtag/js?id=UA-108186367-1\"></script>\n" +
+//            "<script>\n" +
+//            "  window.dataLayer = window.dataLayer || [];\n" +
+//            "  function gtag(){dataLayer.push(arguments);}\n" +
+//            "  gtag('js', new Date());\n" +
+//            "\n" +
+//            "  gtag('config', 'UA-108186367-1');\n" +
+//            "</script>\n"
 
 }

core/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDrive.java

@@ -162,9 +162,9 @@ public void zeroAzimuthEncoders() {
   }
 
   /**
-   * Register the swerve wheel azimuth and drive {@link com.ctre.CANTalon} with the Telemetry
-   * service for data collection. The Telemetry service will set the Talon status frame update rates
-   * to default values during registration.
+   * Register the swerve wheel azimuth and drive {@link com.ctre.phoenix.motorcontrol.can.TalonSRX}
+   * with the Telemetry service for data collection. The Telemetry service will set the Talon status
+   * frame update rates to default values during registration.
    *
    * @param telemetryService the active Telemetry service instance created by the robot
    */

core/src/main/java/org/strykeforce/thirdcoast/swerve/Wheel.java

@@ -1,11 +1,14 @@
 package org.strykeforce.thirdcoast.swerve;
 
-import com.ctre.CANTalon;
+import com.ctre.phoenix.ErrorCode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.strykeforce.thirdcoast.talon.Errors;
 import org.strykeforce.thirdcoast.talon.TalonConfiguration;
 import org.strykeforce.thirdcoast.talon.TalonFactory;
 import org.strykeforce.thirdcoast.talon.TalonProvisioner;
+import org.strykeforce.thirdcoast.talon.ThirdCoastTalon;
 
 /**
  * Controls a swerve drive wheel azimuth and drive motors. The azimuth and drive Talons are
@@ -25,11 +28,11 @@
  */
 public class Wheel {
 
-  static final Logger logger = LoggerFactory.getLogger(Wheel.class);
-
+  public static final double TICKS_PER_ROTATION = 4096;
+  private static final Logger logger = LoggerFactory.getLogger(Wheel.class);
   private final TalonProvisioner talonProvisioner;
-  private final CANTalon azimuthTalon;
-  private final CANTalon driveTalon;
+  private final ThirdCoastTalon azimuthTalon;
+  private final ThirdCoastTalon driveTalon;
 
   private double driveSetpointMax;
   private double azimuthSetpoint;
@@ -41,10 +44,10 @@ public class Wheel {
    * respectively. Assumes the Talon configurations have been registered.
    *
    * @param talonProvisioner the TalonProvisioner used to provision Talons
-   * @param azimuth the azimuthTalon CANTalon
-   * @param drive the driveTalon CANTalon
+   * @param azimuth the azimuthTalon TalonSRX
+   * @param drive the driveTalon TalonSRX
    */
-  public Wheel(TalonProvisioner talonProvisioner, CANTalon azimuth, CANTalon drive) {
+  public Wheel(TalonProvisioner talonProvisioner, ThirdCoastTalon azimuth, ThirdCoastTalon drive) {
     final String AZIMUTH_PARAMETERS = "azimuth";
     final String DRIVE_PARAMETERS = "drive";
 
@@ -65,8 +68,8 @@ public Wheel(TalonProvisioner talonProvisioner, CANTalon azimuth, CANTalon drive
   public Wheel(TalonFactory talonFactory, int index) {
     this(
         talonFactory.getProvisioner(),
-        talonFactory.getTalon(index),
-        talonFactory.getTalon(index + 10));
+        (ThirdCoastTalon) talonFactory.getTalon(index),
+        (ThirdCoastTalon) talonFactory.getTalon(index + 10));
   }
 
   /**
@@ -90,11 +93,12 @@ public void set(double azimuth, double drive) {
       return;
     }
 
-    double azimuthPosition = azimuthTalon.getPosition();
-    double azimuthError = Math.IEEEremainder(azimuth - azimuthPosition, 1.0);
-    if (Math.abs(azimuthError) > 0.25) {
-      azimuthError -= Math.copySign(0.5, azimuthError);
-      driveSetpoint *= -1.0;
+    double azimuthPosition = azimuthTalon.getSelectedSensorPosition(0);
+    double azimuthError =
+        Math.IEEEremainder(azimuth * TICKS_PER_ROTATION - azimuthPosition, TICKS_PER_ROTATION);
+    if (Math.abs(azimuthError) > 0.25 * TICKS_PER_ROTATION) {
+      azimuthError -= Math.copySign(0.5 * TICKS_PER_ROTATION, azimuthError);
+      driveSetpoint = -driveSetpoint;
     }
     azimuthSetpoint = azimuthPosition + azimuthError;
 
@@ -107,12 +111,12 @@ public void set(double azimuth, double drive) {
    * current position in case the wheel has been manually rotated away from its previous setpoint.
    */
   public void stop() {
-    azimuthSetpoint = azimuthTalon.getPosition();
+    azimuthSetpoint = azimuthTalon.getSelectedSensorPosition(0);
     azimuthTalon.set(azimuthSetpoint);
     driveTalon.set(0);
   }
 
-  void setAzimuthParameters(String name) {
+  public void setAzimuthParameters(String name) {
     try {
       TalonConfiguration talonConfiguration = talonProvisioner.configurationFor(name);
       talonConfiguration.configure(azimuthTalon);
@@ -122,7 +126,7 @@ void setAzimuthParameters(String name) {
     }
   }
 
-  void setDriveParameters(String name) {
+  public void setDriveParameters(String name) {
     try {
       TalonConfiguration talonConfiguration = talonProvisioner.configurationFor(name);
       talonConfiguration.configure(driveTalon);
@@ -139,9 +143,10 @@ void setDriveParameters(String name) {
    * @param zero encoder position (in ticks) where wheel is zeroed.
    */
   public void setAzimuthZero(int zero) {
-    double offset = getAzimuthAbsolutePosition() - zero; // encoder ticks
-    azimuthSetpoint = offset / 0xFFF; // wheel rotations
-    azimuthTalon.setPosition(azimuthSetpoint);
+    azimuthSetpoint = (double) (getAzimuthAbsolutePosition() - zero);
+    // TODO: test this timeout value is OK
+    ErrorCode e = azimuthTalon.setSelectedSensorPosition((int) azimuthSetpoint, 0, 10);
+    Errors.check(e, logger);
     azimuthTalon.set(azimuthSetpoint);
   }
 
@@ -155,15 +160,15 @@ public double getAzimuthSetpoint() {
     return azimuthSetpoint;
   }
 
-  /**
-   * Return the drive speed setpoint. Note this may differ from the actual speed if the wheel is
-   * accelerating.
-   *
-   * @return speed setpoint
-   */
-  public double getDriveSetpoint() {
-    return driveSetpoint;
-  }
+  //  /**
+  //   * Return the drive speed setpoint. Note this may differ from the actual speed if the wheel is
+  //   * accelerating.
+  //   *
+  //   * @return speed setpoint
+  //   */
+  //  public double getDriveSetpoint() {
+  //    return driveSetpoint;
+  //  }
 
   /**
    * Indicates if the wheel has reversed drive direction to optimize azimuth rotation.
@@ -180,15 +185,15 @@ public boolean isDriveReversed() {
    * @return 0 - 4095 encoder ticks
    */
   public int getAzimuthAbsolutePosition() {
-    return azimuthTalon.getPulseWidthPosition() & 0xFFF;
+    return azimuthTalon.getSensorCollection().getPulseWidthPosition() & 0xFFF;
   }
 
   /**
    * Get the azimuth Talon controller.
    *
    * @return azimuth Talon instance used by wheel
    */
-  public CANTalon getAzimuthTalon() {
+  public TalonSRX getAzimuthTalon() {
     return azimuthTalon;
   }
 
@@ -197,7 +202,7 @@ public CANTalon getAzimuthTalon() {
    *
    * @return drive Talon instance used by wheel
    */
-  public CANTalon getDriveTalon() {
+  public TalonSRX getDriveTalon() {
     return driveTalon;
   }