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feat: Initialize FRC robot project with core structure, utilities, and VS Code settings.
1 parent 22d3f9b commit 33d9fba

10 files changed

Lines changed: 293 additions & 16 deletions

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‎.vscode/settings.json‎

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@@ -67,7 +67,7 @@
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"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
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},
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"[java]": {
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"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
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"editor.defaultFormatter": "redhat.java"
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},
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"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
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}

‎src/main/java/frc/robot/Constants.java‎

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public final class Constants {
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public static final Mode simMode = Mode.SIM;
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public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
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public static final int PDH_ID = 1;
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public static enum Mode {
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/** Running on a real robot. */

‎src/main/java/frc/robot/Robot.java‎

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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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import frc.robot.util.battery.BatteryUtils;
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import org.littletonrobotics.junction.LogFileUtil;
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import org.littletonrobotics.junction.LoggedRobot;
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import org.littletonrobotics.junction.Logger;
@@ -84,6 +86,11 @@ public Robot() {
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robotContainer = new RobotContainer();
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}
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@Override
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public void robotInit() {
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BatteryUtils.scheduleMonitor();
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}
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/** This function is called periodically during all modes. */
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@Override
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public void robotPeriodic() {
@@ -104,11 +111,13 @@ public void robotPeriodic() {
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/** This function is called once when the robot is disabled. */
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@Override
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public void disabledInit() {}
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public void disabledInit() {
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}
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/** This function is called periodically when disabled. */
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@Override
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public void disabledPeriodic() {}
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public void disabledPeriodic() {
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}
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/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
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@Override

‎src/main/java/frc/robot/subsystems/exampleSubsystem.java‎

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package frc.robot.subsystems;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.util.motors.MotorIO.Motor;
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import frc.robot.util.motors.controllers.SparkBaseController;
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public class exampleSubsystem extends SubsystemBase {
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private final SparkBaseController motor;
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public exampleSubsystem(Motor motor) {
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this.motor = new SparkBaseController(motor);
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}
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}

‎src/main/java/frc/robot/util/AutoResetDashboardTrigger.java‎

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package frc.robot.util;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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/**
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* AutoResetDashboardTrigger
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* -------------------------
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* A dashboard-backed one-shot trigger designed to behave like
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* a gamepad "onTrue" button.
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*
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* Behavior:
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* - Exposes a Shuffleboard Toggle Button
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* - Detects a FALSE -> TRUE transition (rising edge)
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* - Fires TRUE for exactly one scheduler loop
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* - Automatically resets the dashboard value back to FALSE
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*
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* Intended use cases:
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* - Single-action commands (reset, zeroing, shoot-once, test actions)
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* - Debug and pit utilities where holding a button is unsafe
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*
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* Not intended for:
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* - whileTrue / continuous commands
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* - toggle or latch-style behaviors
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*/
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public final class AutoResetDashboardTrigger {
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/** NetworkTables-backed boolean entry shown on Shuffleboard */
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private final GenericEntry buttonEntry;
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/** Cached previous value for edge detection */
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private boolean previousValue = false;
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/**
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* Creates an auto-resetting dashboard trigger.
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*
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* @param tabName Shuffleboard tab name
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* @param buttonName Label displayed on the dashboard
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*/
47+
public AutoResetDashboardTrigger(String tabName, String buttonName) {
48+
ShuffleboardTab tab = Shuffleboard.getTab(tabName);
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this.buttonEntry = tab.add(buttonName, false)
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.withWidget("Toggle Button")
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.getEntry();
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}
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/**
58+
* Returns a WPILib Trigger that fires exactly once
59+
* when the dashboard button is pressed.
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*
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* @return one-shot Trigger (rising-edge based)
62+
*/
63+
public Trigger trigger() {
64+
return new Trigger(() -> {
65+
boolean currentValue = buttonEntry.getBoolean(false);
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67+
68+
// Rising edge detection
69+
if (currentValue && !previousValue) {
70+
buttonEntry.setBoolean(false); // auto-reset immediately
71+
previousValue = true;
72+
return true;
73+
}
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previousValue = currentValue;
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return false;
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});
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}
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/**
83+
* Programmatically fires the trigger once.
84+
* Useful for tests or internal control logic.
85+
*/
86+
public void fireOnce() {
87+
buttonEntry.setBoolean(true);
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}
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}
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/*
93+
========================
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Example usage (RobotContainer)
95+
========================
96+
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AutoResetDashboardTrigger shootOnce =
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new AutoResetDashboardTrigger("Driver", "Shoot Once");
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shootOnce.trigger()
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.onTrue(new ShootCommand());
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// Designed for onTrue only
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// whileTrue / toggle usage is intentionally unsupported
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*/

‎src/main/java/frc/robot/util/Motors/MotorConfig.java‎

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@@ -1,4 +1,4 @@
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package frc.robot.util.Motors;
1+
package frc.robot.util.motors;
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public class MotorConfig {
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‎src/main/java/frc/robot/util/Motors/MotorIO.java‎

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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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14-
package frc.robot.util.Motors;
14+
package frc.robot.util.motors;
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1616
import org.littletonrobotics.junction.AutoLog;
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@@ -21,23 +21,18 @@ public static class MotorIOInputs {
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public MotorIOData motorData = new MotorIOData(false, 0, null, false);
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}
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24-
record MotorIOData(boolean isConnected, int canID, MotorType motorType, boolean hasError) {}
24+
record MotorIOData(boolean isConnected, int canID, ControllerType controllerType, boolean hasError) {}
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26-
enum MotorType {
26+
enum ControllerType {
2727
TALON,
2828
SPARKMAX,
2929
SPARKFLEX
3030
}
31+
32+
record Motor(ControllerType controllerType, int canID) {
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32-
public default void updateInputs(MotorIOInputs inputs) {}
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34-
public default void setOpenLoop(double output) {}
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36-
public default void setDutyCycle(double dutyCycle) {}
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38-
public default void setCoastMode(boolean coastMode) {}
39-
40-
public default void applyConfig(MotorConfig config) {}
34+
}
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36+
public default void updateInputs(MotorIOInputs inputs) {}
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}

‎src/main/java/frc/robot/util/Motors/controllers/SparkBaseController.java‎

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package frc.robot.util.motors.controllers;
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import com.revrobotics.spark.ClosedLoopSlot;
4+
import com.revrobotics.spark.SparkBase;
5+
import com.revrobotics.spark.SparkBase.PersistMode;
6+
import com.revrobotics.spark.SparkBase.ResetMode;
7+
import com.revrobotics.spark.SparkFlex;
8+
import com.revrobotics.spark.SparkLowLevel.MotorType;
9+
import com.revrobotics.spark.SparkMax;
10+
import com.revrobotics.spark.config.SparkBaseConfig;
11+
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
12+
import com.revrobotics.spark.config.SparkFlexConfig;
13+
import com.revrobotics.spark.config.SparkMaxConfig;
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15+
import frc.robot.util.motors.MotorIO;
16+
17+
public class SparkBaseController implements MotorIO {
18+
19+
private SparkBase spark;
20+
private SparkBaseConfig sparkConfig;
21+
22+
/**
23+
* Setups the motor..
24+
*
25+
* @param motor The {@link Motor} dataclass containing motor configuration
26+
* details
27+
* @return the {@code MotorConfigurator} instance for chaining
28+
* @throws IllegalArgumentException if the motor type is unsupported
29+
*/
30+
public SparkBaseController(Motor motor) {
31+
createSparkMotor(motor.controllerType(), motor.canID());
32+
}
33+
34+
void createSparkMotor(ControllerType motorType, int canID) {
35+
switch (motorType) {
36+
case SPARKMAX:
37+
spark = new SparkMax(canID, MotorType.kBrushless);
38+
sparkConfig = new SparkMaxConfig();
39+
break;
40+
case SPARKFLEX:
41+
spark = new SparkFlex(canID, MotorType.kBrushless);
42+
sparkConfig = new SparkFlexConfig();
43+
break;
44+
default:
45+
throw new IllegalArgumentException("Invalid SparkBase Motor type");
46+
}
47+
48+
}
49+
50+
public void setNeutralMode(boolean b) {
51+
sparkConfig.idleMode(b ? IdleMode.kBrake : IdleMode.kCoast);
52+
spark.configure(sparkConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
53+
}
54+
55+
public void setClosedLoopRampRate(int closedLoopRampRate) {
56+
sparkConfig.closedLoopRampRate(closedLoopRampRate);
57+
spark.configure(sparkConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
58+
}
59+
60+
public void setOpenLoopRampRate(int openLoopRampRate) {
61+
sparkConfig.openLoopRampRate(openLoopRampRate);
62+
spark.configure(sparkConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
63+
}
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65+
}

‎src/main/java/frc/robot/util/battery/BatteryMonitor.java‎

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package frc.robot.util.battery;
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import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean;
4+
import org.littletonrobotics.junction.networktables.LoggedNetworkNumber;
5+
import org.littletonrobotics.junction.networktables.LoggedNetworkString;
6+
7+
import edu.wpi.first.math.filter.LinearFilter;
8+
import edu.wpi.first.wpilibj.DriverStation;
9+
import edu.wpi.first.wpilibj2.command.Command;
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11+
public class BatteryMonitor extends Command {
12+
13+
private static final int SAMPLE_COUNT = 50;
14+
private static final double MIN_VOLTAGE = 12.35;
15+
private static final String NT_TOPIC = "Battery/";
16+
17+
private final LinearFilter filter;
18+
private final LoggedNetworkBoolean lowBattery;
19+
private final LoggedNetworkNumber voltage;
20+
private double avgVoltage;
21+
22+
public BatteryMonitor() {
23+
filter = LinearFilter.movingAverage(SAMPLE_COUNT);
24+
lowBattery = new LoggedNetworkBoolean(NT_TOPIC + "Low");
25+
voltage = new LoggedNetworkNumber(NT_TOPIC + "Voltage");
26+
27+
avgVoltage = BatteryUtils.getCurrentVoltage();
28+
}
29+
30+
@Override
31+
public void initialize() {
32+
for (int i = 0; i < SAMPLE_COUNT; i++) {
33+
filter.calculate(avgVoltage);
34+
}
35+
}
36+
37+
@Override
38+
public void execute() {
39+
avgVoltage = filter.calculate(BatteryUtils.getCurrentVoltage());
40+
41+
boolean isLow = avgVoltage <= MIN_VOLTAGE;
42+
43+
if (isLow && !DriverStation.isEnabled()) {
44+
lowBattery.set(true);
45+
voltage.set(avgVoltage);
46+
} else {
47+
lowBattery.set(false);
48+
}
49+
}
50+
}

‎src/main/java/frc/robot/util/battery/BatteryUtils.java‎

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package frc.robot.util.battery;
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import edu.wpi.first.wpilibj.Alert;
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import edu.wpi.first.wpilibj.PowerDistribution;
5+
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
6+
import edu.wpi.first.wpilibj.RobotController;
7+
import edu.wpi.first.wpilibj2.command.Command;
8+
import frc.robot.Constants;
9+
10+
public class BatteryUtils {
11+
12+
public static final double DEFAULT_VOLTAGE = 12.35;
13+
14+
private static final PowerDistribution powerDistribution = new PowerDistribution(Constants.PDH_ID, ModuleType.kRev);
15+
16+
private static final Command monitor = new BatteryMonitor().ignoringDisable(true);
17+
18+
public static double getTotalCurrent() {
19+
return powerDistribution.getTotalCurrent();
20+
}
21+
22+
public static double getCurrentVoltage() {
23+
return RobotController.getBatteryVoltage();
24+
}
25+
26+
public static void scheduleMonitor() {
27+
if (!monitor.isScheduled()) {
28+
monitor.schedule();
29+
}
30+
}
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}

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