Rebase from staging

.github/workflows/testBuild.yml

@@ -15,10 +15,8 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install wpilib==2019.2.3
-        pip install pyfrc==2019.1.0
-        pip install pynetworktables==2019.0.2
-        pip install robotpy-ctre==2019.3.2
+        pip install -r workflow-requirements.txt
+
     - name: Build
       run: |
         python robot/robot.py add-tests

.gitignore

@@ -1,4 +1,7 @@
 .vscode/
 tests/
 __pycache__/
-characterization-project/
+characterization-project/
+imgui.ini
+.DS_Store
+robot/imgui.ini

.installer_config

@@ -0,0 +1,3 @@
+[auth]
+hostname = 8032
+

README.md

@@ -1,4 +1,4 @@
-# 8032 Codebase ![FRC Build](https://github.com/redshiftrobotics/8032/workflows/FRC%20Build/badge.svg?branch=master)
+# 8032 Codebase ![FRC Build](https://github.com/redshiftrobotics/8032/workflows/FRC%20Build/badge.svg?branch=staging)
 
 ## Getting Started
 

limelight/power_port.vpr

@@ -0,0 +1,52 @@
+area_max:16.9879162896
+area_min:0.0168896016
+area_similarity:9
+aspect_max:20
+aspect_min:0
+black_level:13
+blue_balance:1592
+calibration_type:0
+contour_grouping:0
+contour_sort_final:0
+convexity_max:100
+convexity_min:21.1
+corner_approx:2
+cross_a_a:0.025436
+cross_a_x:-0.084132
+cross_a_y:0
+cross_b_a:1
+cross_b_x:0
+cross_b_y:0
+desc:power_port
+desired_contour_region:0
+dilation_steps:1
+direction_filter:0
+dual_close_sort_origin:0
+erosion_steps:0
+exposure:2
+hue_max:83
+hue_min:56
+image_flip:1
+image_source:0
+img_to_show:0
+intersection_filter:0
+pipeline_led_enabled:1
+pipeline_res:0
+pipeline_type:0
+red_balance:727
+sat_max:255
+sat_min:169
+send_corners:0
+send_raw_contours:0
+solve3d:0
+solve3d_algo:0
+solve3d_conf:0.990000
+solve3d_error:8
+solve3d_guess:0
+solve3d_iterations:50
+solve3d_precies:1
+solve3d_precise:0
+val_max:255
+val_min:88
+y_max:1.000000
+y_min:-1.000000

requirements.txt

@@ -2,3 +2,4 @@ wpilib>=2020.1.2.1
 pyfrc>=2020.0.1
 robotpy-ctre>=2020.1.0
 pynetworktables>=2020.0.1
+opencv-python>=4.2.0.32

robot/.deploy_cfg

@@ -0,0 +1,3 @@
+[auth]
+hostname = 8032
+

robot/drive.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+import wpilib
+from ctre import WPI_TalonSRX, ControlMode
+
+class Drive:
+
+    def __init__(self, rightMaster, leftMaster, rightAlt, leftAlt):
+        self.rightMaster = rightMaster
+        self.leftMaster = leftMaster
+        self.rightAlt = rightAlt
+        self.leftAlt = leftAlt
+
+        self.leftSpeed = 0
+        self.rightSpeed = 0
+        self.controlMode = ControlMode.PercentOutput
+
+
+    def arcadeDrive(self, xAxis, tAxis, controlMode):
+        self.leftSpeed = xAxis + tAxis
+        self.rightSpeed = xAxis - tAxis
+        self.controlMode = controlMode
+
+    def tankDrive(self, leftAxis, rightAxis, controlMode):
+        self.leftSpeed = leftAxis
+        self.rightSpeed = rightAxis
+        self.controlMode = controlMode
+
+    def update(self):
+        self.leftMaster.set(self.controlMode, self.leftSpeed)
+        self.rightMaster.set(self.controlMode, self.rightSpeed)
+
+    def getEncoderAverage(self):
+        return (self.leftMaster.getSelectedSensorPosition() + self.rightMaster.getSelectedSensorPosition())/2
+
+    def getLeftEncoder(self):
+        return self.leftMaster.getSelectedSensorPosition()
+
+    def getRightEncoder(self):
+        return self.rightMaster.getSelectedSensorPosition()
+
+    def stop(self):
+        self.leftSpeed = 0
+        self.rightSpeed = 0
+        self.controlMode = ControlMode.PercentOutput

robot/hang.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+import wpilib
+from ctre import WPI_TalonSRX, ControlMode, NeutralMode, FeedbackDevice
+
+class Hang:
+
+    def __init__(self, left_motor_id, right_motor_id, max_speed, stop_point, kP=0.05, kD=0, kI=0):
+        self.kPIDLoopIdx = 0
+        self.kTimeoutMs = 10
+        self.kP = kP
+        self.kD = kD
+        self.kI = kI
+
+        self.left_motor = WPI_TalonSRX(left_motor_id)
+        self.left_motor.setInverted(False)
+        self.left_motor.configSelectedFeedbackSensor(
+            FeedbackDevice.CTRE_MagEncoder_Relative,
+            self.kPIDLoopIdx,
+            self.kTimeoutMs,
+        )
+
+        self.left_motor.config_kP(self.kPIDLoopIdx, self.kP, self.kTimeoutMs)
+        self.left_motor.config_kD(self.kPIDLoopIdx, self.kD, self.kTimeoutMs)
+        self.left_motor.config_kI(self.kPIDLoopIdx, self.kI, self.kTimeoutMs)
+
+        self.right_motor = WPI_TalonSRX(right_motor_id)
+        self.right_motor.setInverted(True)
+        self.right_motor.configSelectedFeedbackSensor(
+            FeedbackDevice.CTRE_MagEncoder_Relative,
+            self.kPIDLoopIdx,
+            self.kTimeoutMs,
+        )
+
+        self.right_motor.config_kP(self.kPIDLoopIdx, self.kP, self.kTimeoutMs)
+        self.right_motor.config_kD(self.kPIDLoopIdx, self.kD, self.kTimeoutMs)
+        self.right_motor.config_kI(self.kPIDLoopIdx, self.kI, self.kTimeoutMs)
+
+        self.right_tgt = 0
+        self.left_tgt = 0
+        self.hang_mode = ControlMode.PercentOutput
+        self.max_speed = max_speed
+        self.stop_point = stop_point
+
+    def set_pid(self, kP, kD, kI):
+        self.kP = kP
+        self.kD = kD
+        self.kI = kI
+
+        self.left_motor.config_kP(self.kPIDLoopIdx, self.kP, self.kTimeoutMs)
+        self.left_motor.config_kD(self.kPIDLoopIdx, self.kD, self.kTimeoutMs)
+        self.left_motor.config_kI(self.kPIDLoopIdx, self.kI, self.kTimeoutMs)
+
+        self.right_motor.config_kP(self.kPIDLoopIdx, self.kP, self.kTimeoutMs)
+        self.right_motor.config_kD(self.kPIDLoopIdx, self.kD, self.kTimeoutMs)
+        self.right_motor.config_kI(self.kPIDLoopIdx, self.kI, self.kTimeoutMs)
+
+    def retract(self):
+        """Retracts hang"""
+        self.right_tgt = -self.max_speed
+        self.left_tgt = -self.max_speed
+        self.hang_mode = ControlMode.PercentOutput
+
+    def move(self, left, right):
+        """Moves hang"""
+        self.right_tgt = self.max_speed * right
+        self.left_tgt = self.max_speed * left
+        self.hang_mode = ControlMode.PercentOutput
+
+    def stop(self):
+        """Stops hang"""
+        self.right_tgt = 0
+        self.left_tgt = 0
+
+    def left(self, l):
+        self.left_tgt = l
+
+    def right(self, r):
+        self.right_tgt = r
+
+    def update(self):
+        """Updates the values if they are changed"""
+        self.right_motor.set(self.hang_mode, self.right_tgt)
+        self.left_motor.set(self.hang_mode, self.left_tgt)

robot/imgui.ini

@@ -0,0 +1,149 @@
+[Window][Debug##Default]
+Pos=60,60
+Size=400,400
+Collapsed=0
+
+[Window][Robot State]
+Pos=5,20
+Size=92,99
+Collapsed=0
+
+[Window][Analog Inputs]
+Pos=936,31
+Size=204,65
+Collapsed=0
+
+[Window][FMS]
+Pos=7,810
+Size=235,169
+Collapsed=0
+
+[Window][System Joysticks]
+Pos=13,597
+Size=192,150
+Collapsed=0
+
+[Window][DIO]
+Pos=705,30
+Size=104,48
+Collapsed=0
+
+[Window][Encoders]
+Pos=960,322
+Size=85,48
+Collapsed=0
+
+[Window][PWM Outputs]
+Pos=1259,30
+Size=104,48
+Collapsed=0
+
+[Window][Relays]
+Pos=270,30
+Size=73,48
+Collapsed=0
+
+[Window][Other Devices]
+Pos=1259,29
+Size=250,695
+Collapsed=0
+
+[Window][Solenoids]
+Pos=435,30
+Size=92,48
+Collapsed=0
+
+[Window][Timing]
+Pos=6,223
+Size=135,104
+Collapsed=0
+
+[Window][Joysticks]
+Pos=350,516
+Size=796,240
+Collapsed=0
+
+[SimWindow][GLOBAL]
+width=1920
+height=1017
+maximized=1
+xpos=0
+ypos=23
+userScale=2
+style=0
+disableOutputsOnDS=1
+[SimWindow][Addressable LEDs]
+visible=0
+enabled=1
+
+[SimWindow][Analog Inputs]
+visible=1
+enabled=1
+
+[SimWindow][FMS]
+visible=1
+enabled=1
+
+[SimWindow][System Joysticks]
+visible=1
+enabled=1
+
+[SimWindow][Joysticks]
+visible=1
+enabled=1
+
+[SimWindow][DIO]
+visible=1
+enabled=1
+
+[SimWindow][Encoders]
+visible=1
+enabled=1
+
+[SimWindow][PDP]
+visible=0
+enabled=1
+
+[SimWindow][PWM Outputs]
+visible=1
+enabled=1
+
+[SimWindow][Relays]
+visible=1
+enabled=1
+
+[SimWindow][RoboRIO]
+visible=0
+enabled=1
+
+[SimWindow][Other Devices]
+visible=1
+enabled=1
+
+[SimWindow][Solenoids]
+visible=1
+enabled=1
+
+[SimWindow][Timing]
+visible=1
+enabled=1
+
+[Joystick][0]
+guid=78696e70757401000000000000000000
+useGamepad=0
+
+[DriverStation][Main]
+disable=0
+
+[Device][Talon SRX[0]]
+open=1
+
+[Device][Talon SRX[1]]
+open=1
+
+[Device][Talon SRX[2]]
+open=1
+
+[Device][Talon SRX[3]]
+open=1
+