Visualizer & Subsystem

.github/workflows/addTestsLabels.yml

@@ -1,65 +1,65 @@
-name: Add Tests Labels
-
-on:
-  pull_request:
-    types:
-      - opened
-      - reopened
-      - synchronize
-
-jobs:
-  add-tests-labels:
-    runs-on: ubuntu-latest
-    env:
-      ROBOT_TESTING: "needs-robot-testing"
-      NO_ROBOT_TESTING: "no-need-of-robot-testing"
-      SIMULATION_TESTING: "needs-simulation-testing"
-      NO_SIMULATION_TESTING: "no-need-of-simulation-testing"
-      PASSED_ALL_TESTS: "passed-all-tests"
-      stop: 'false'
-    steps:
-
-      - name: get existing labels
-        run: |
-          existingLabels=$(jq -r '.pull_request.labels[].name' $GITHUB_EVENT_PATH | tr '\n' ' ')
-          echo "existing-labels=${existingLabels}" >>$GITHUB_ENV
-          echo "Existing labels: $existingLabels"
-
-
-      - name: Open Behavior
-        if: ${{ github.event.action == 'opened' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
-        run: |
-          echo "stop=true" >>$GITHUB_ENV
-
-
-      - name: add needs robot test
-        if: ${{ env.stop == 'false'
-          && !contains(env.existing-labels, env.ROBOT_TESTING)
-          && !contains(env.existing-labels, env.NO_ROBOT_TESTING)}}
-        run: |
-          curl -X POST \
-            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
-            -d "{\"labels\":[\"${ROBOT_TESTING}\"]}"
-
-
-      - name: add needs simulation test
-        if: ${{env.stop == 'false'
-          && !contains(env.existing-labels, env.SIMULATION_TESTING)
-          && !contains(env.existing-labels, env.NO_SIMULATION_TESTING)}}
-        run: |
-          curl -X POST \
-            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
-            -d "{\"labels\":[\"${SIMULATION_TESTING}\"]}"
-
-
-      - name: remove passed all tests
-        if: ${{env.stop == 'false' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
-        run: |
-          curl -X DELETE \
-                  -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
-                  -H "Accept: application/vnd.github.v3+json" \
-                  "https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels/${PASSED_ALL_TESTS}"
+#name: Add Tests Labels
+#
+#on:
+#  pull_request:
+#    types:
+#      - opened
+#      - reopened
+#      - synchronize
+#
+#jobs:
+#  add-tests-labels:
+#    runs-on: ubuntu-latest
+#    env:
+#      ROBOT_TESTING: "needs-robot-testing"
+#      NO_ROBOT_TESTING: "no-need-of-robot-testing"
+#      SIMULATION_TESTING: "needs-simulation-testing"
+#      NO_SIMULATION_TESTING: "no-need-of-simulation-testing"
+#      PASSED_ALL_TESTS: "passed-all-tests"
+#      stop: 'false'
+#    steps:
+#
+#      - name: get existing labels
+#        run: |
+#          existingLabels=$(jq -r '.pull_request.labels[].name' $GITHUB_EVENT_PATH | tr '\n' ' ')
+#          echo "existing-labels=${existingLabels}" >>$GITHUB_ENV
+#          echo "Existing labels: $existingLabels"
+#
+#
+#      - name: Open Behavior
+#        if: ${{ github.event.action == 'opened' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
+#        run: |
+#          echo "stop=true" >>$GITHUB_ENV
+#
+#
+#      - name: add needs robot test
+#        if: ${{ env.stop == 'false'
+#          && !contains(env.existing-labels, env.ROBOT_TESTING)
+#          && !contains(env.existing-labels, env.NO_ROBOT_TESTING)}}
+#        run: |
+#          curl -X POST \
+#            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+#            -H "Accept: application/vnd.github.v3+json" \
+#            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
+#            -d "{\"labels\":[\"${ROBOT_TESTING}\"]}"
+#
+#
+#      - name: add needs simulation test
+#        if: ${{env.stop == 'false'
+#          && !contains(env.existing-labels, env.SIMULATION_TESTING)
+#          && !contains(env.existing-labels, env.NO_SIMULATION_TESTING)}}
+#        run: |
+#          curl -X POST \
+#            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+#            -H "Accept: application/vnd.github.v3+json" \
+#            https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels \
+#            -d "{\"labels\":[\"${SIMULATION_TESTING}\"]}"
+#
+#
+#      - name: remove passed all tests
+#        if: ${{env.stop == 'false' && contains(env.existing-labels, env.PASSED_ALL_TESTS)}}
+#        run: |
+#          curl -X DELETE \
+#                  -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+#                  -H "Accept: application/vnd.github.v3+json" \
+#                  "https://api.github.com/repos/${{ github.repository }}/issues/${{ github.event.number }}/labels/${PASSED_ALL_TESTS}"

.github/workflows/checkLabels.yml

@@ -1,63 +1,63 @@
-name: Check Labels
-
-on:
-  pull_request:
-    types:
-      - opened
-      - labeled
-      - unlabeled
-      - synchronize
-
-
-jobs:
-  check-labels:
-    runs-on: ubuntu-latest
-    env:
-      PASSED_ALL_TESTS: "passed-all-tests"
-      NO_NEED_ROBOT: "no-need-of-robot-testing"
-      NO_NEED_SIMULATION: "no-need-of-simulation-testing"
-    steps:
-      - name: Get PR Labels
-        id: pr-info
-        run: |
-          LABELS=$(curl -s "https://api.github.com/repos/${GITHUB_REPOSITORY}/issues/${{ github.event.pull_request.number }}/labels" | jq -r '.[].name' | tr '\n' ' ')
-          echo "Labels for PR: ${LABELS}"
-          echo "existing_labels=${LABELS}" >> $GITHUB_ENV
-
-      - name: Check On Push if no need appear
-        if: ${{ github.event.action == 'synchronize' }}
-        run: |
-          EXISTING_LABELS="${{env.existing_labels}}"
-          
-          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
-            echo "Label '${NO_NEED_ROBOT}' and label '${NO_NEED_SIMULATION}' found."
-            exit 0
-          fi
-          
-          echo "This is a push event and no no-need-testing was found"
-          exit 1
-
-      - name: Check Absent Labels
-        run: |
-          EXISTING_LABELS="${{env.existing_labels}}"
-          declare -a absent_labels=("waiting-for-another-pr" "needs-robot-testing" "needs-simulation-testing")
-          for label in "${absent_labels[@]}"; do
-            if [[ "${EXISTING_LABELS}" =~ "${label}" ]]; then
-              echo "Label '${label}' should not be present."
-              exit 1
-            fi
-          done
-
-      - name: Check Present Label
-        run: |
-          EXISTING_LABELS="${{env.existing_labels}}"
-          if [[ "${EXISTING_LABELS}" =~ "${PASSED_ALL_TESTS}" ]]; then
-            echo "Label '${PASSED_ALL_TESTS}' found."
-            exit 0
-          fi
-          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
-            echo "Label "${NO_NEED_ROBOT}" and label "${NO_NEED_SIMULATION}" found."
-            exit 0
-          fi
-          echo "no passed-all-tests Or no-need-of-robot-testing And no-need-of-simulation-testing was found."
-          exit 1
+#name: Check Labels
+#
+#on:
+#  pull_request:
+#    types:
+#      - opened
+#      - labeled
+#      - unlabeled
+#      - synchronize
+#
+#
+#jobs:
+#  check-labels:
+#    runs-on: ubuntu-latest
+#    env:
+#      PASSED_ALL_TESTS: "passed-all-tests"
+#      NO_NEED_ROBOT: "no-need-of-robot-testing"
+#      NO_NEED_SIMULATION: "no-need-of-simulation-testing"
+#    steps:
+#      - name: Get PR Labels
+#        id: pr-info
+#        run: |
+#          LABELS=$(curl -s "https://api.github.com/repos/${GITHUB_REPOSITORY}/issues/${{ github.event.pull_request.number }}/labels" | jq -r '.[].name' | tr '\n' ' ')
+#          echo "Labels for PR: ${LABELS}"
+#          echo "existing_labels=${LABELS}" >> $GITHUB_ENV
+#
+#      - name: Check On Push if no need appear
+#        if: ${{ github.event.action == 'synchronize' }}
+#        run: |
+#          EXISTING_LABELS="${{env.existing_labels}}"
+#
+#          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
+#            echo "Label '${NO_NEED_ROBOT}' and label '${NO_NEED_SIMULATION}' found."
+#            exit 0
+#          fi
+#
+#          echo "This is a push event and no no-need-testing was found"
+#          exit 1
+#
+#      - name: Check Absent Labels
+#        run: |
+#          EXISTING_LABELS="${{env.existing_labels}}"
+#          declare -a absent_labels=("waiting-for-another-pr" "needs-robot-testing" "needs-simulation-testing")
+#          for label in "${absent_labels[@]}"; do
+#            if [[ "${EXISTING_LABELS}" =~ "${label}" ]]; then
+#              echo "Label '${label}' should not be present."
+#              exit 1
+#            fi
+#          done
+#
+#      - name: Check Present Label
+#        run: |
+#          EXISTING_LABELS="${{env.existing_labels}}"
+#          if [[ "${EXISTING_LABELS}" =~ "${PASSED_ALL_TESTS}" ]]; then
+#            echo "Label '${PASSED_ALL_TESTS}' found."
+#            exit 0
+#          fi
+#          if [[ "${EXISTING_LABELS}" =~ "${NO_NEED_ROBOT}" && "${EXISTING_LABELS}" =~ "${NO_NEED_SIMULATION}" ]]; then
+#            echo "Label "${NO_NEED_ROBOT}" and label "${NO_NEED_SIMULATION}" found."
+#            exit 0
+#          fi
+#          echo "no passed-all-tests Or no-need-of-robot-testing And no-need-of-simulation-testing was found."
+#          exit 1

src/main/java/frc/robot/Robot.java

@@ -9,6 +9,8 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.RobotManager;
 import frc.robot.hardware.phoenix6.BusChain;
+import frc.robot.subsystems.DoubleJointedArm;
+import frc.robot.visualizers.DoubleJointedArmVisualizer;
 import frc.utils.battery.BatteryUtil;
 
 /**
@@ -20,18 +22,34 @@ public class Robot {
 
 	public static final RobotType ROBOT_TYPE = RobotType.determineRobotType();
 
+	private final DoubleJointedArm arm = new DoubleJointedArm("Arm");
+	private final DoubleJointedArmVisualizer armVisualizer = new DoubleJointedArmVisualizer(
+		"",
+		2.5,
+		2.5,
+		DoubleJointedArm.FIRST_JOINT_LENGTH_METERS,
+		DoubleJointedArm.SECOND_JOINT_LENGTH_METERS
+	);
+
 	public Robot() {
 		BatteryUtil.scheduleLimiter();
 	}
 
 	public void periodic() {
 		BatteryUtil.logStatus();
 		BusChain.logChainsStatuses();
+
+		armVisualizer.setAngles(arm.getFirstJointAngle(), arm.getSecondJointAngle());
+
 		CommandScheduler.getInstance().run(); // Should be last
 	}
 
 	public Command getAutonomousCommand() {
 		return new InstantCommand();
 	}
 
+	public DoubleJointedArm getArm() {
+		return arm;
+	}
+
 }

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

@@ -0,0 +1,54 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.joysticks.SmartJoystick;
+import org.littletonrobotics.junction.Logger;
+
+public class DoubleJointedArm extends GBSubsystem {
+
+	public static final double FIRST_JOINT_LENGTH_METERS = 0.8;
+	public static final double SECOND_JOINT_LENGTH_METERS = 0.5;
+
+	private Rotation2d firstJointAngle = new Rotation2d();
+	private Rotation2d secondJointAngle = new Rotation2d();
+
+	public DoubleJointedArm(String logPath) {
+		super(logPath);
+	}
+
+	@Override
+	protected void subsystemPeriodic() {
+		Logger.recordOutput(getLogPath() + "/FirstJointAngleDeg", firstJointAngle.getDegrees());
+		Logger.recordOutput(getLogPath() + "/SecondJointAngleDeg", secondJointAngle.getDegrees());
+	}
+
+	public Rotation2d getFirstJointAngle() {
+		return firstJointAngle;
+	}
+
+	public Rotation2d getSecondJointAngle() {
+		return secondJointAngle;
+	}
+
+	public void setFirstJointAngle(Rotation2d firstJointAngle) {
+		this.firstJointAngle = firstJointAngle;
+	}
+
+	public void setSecondJointAngle(Rotation2d secondJointAngle) {
+		this.secondJointAngle = secondJointAngle;
+	}
+
+	public void setAngles(Rotation2d a1, Rotation2d a2) {
+		setFirstJointAngle(a1);
+		setSecondJointAngle(a2);
+	}
+
+	public void applyTestBinds(SmartJoystick joystick) {
+		joystick.A.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(100), Rotation2d.fromDegrees(210))));
+		joystick.B.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(60), Rotation2d.fromDegrees(80))));
+		joystick.X.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(150), Rotation2d.fromDegrees(75))));
+		joystick.Y.onTrue(new InstantCommand(() -> setAngles(Rotation2d.fromDegrees(95), Rotation2d.fromDegrees(85))));
+	}
+
+}