27 stream camera on shuffleboard

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2022",
+    "projectYear": "2023",
     "teamNumber": 1014
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.4.1"
+    id "edu.wpi.first.GradleRIO" version "2023.1.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -46,7 +46,7 @@ wpi.java.debugJni = false
 def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 4.
+// Also defines JUnit 5.
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
@@ -65,7 +65,14 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'junit:junit:4.13.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -85,3 +92,8 @@ jar {
 deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2022'
+        String frcYear = '2023'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,7 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  }
+}

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

@@ -12,4 +12,66 @@
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {}
+public final class Constants {
+
+    public static final class VisionConstants {
+        // See <https://docs.limelightvision.io/en/latest/getting_started.html#basic-programming>.
+        public static final int kVisionProcessorCamMode = 0;
+
+        public static final int kRedCargoPipelineId = 1;
+        public static final int kBlueCargoPipelineId = 2;
+        public static final int kHubPipelineId = 3;
+    }
+
+    public final class ControllerConstants {
+
+        public final static int kRightJoystickPort = 0;
+        public final static int kLeftJoystickPort = 1;
+
+        public final static double kMaxThrottle = 1.0;
+        public final static double kSlowThrottle = 0.5;
+
+        public final static int kThrottleButton = 2;
+
+    }
+
+    public final class DriveConstants {
+
+        public final static int kRightPort = 2;
+        public final static int kLeftPort = 3;
+
+    }
+
+    public final class LightsConstants {
+
+        public final static int kLightPort = 0;
+
+    }
+
+    public final static class MovementConstants {
+        public final static String kStationary = "Stationary";
+        public final static String kPivotingOffOfRight = "Pivoting off of right";
+        public final static String kPivotingOffOfLeft = "Pivoting off of left";
+        public final static String kBackward = "Backward";
+        public final static String kTurningCounterclockwise = "Turning Counterclockwise";
+        public final static String kTurningClockwise = "Turning Clockwise";
+        public final static String kForward = "Forward";
+        public final static String kSpinningInPlace = "Spinning in place";
+        public final static String kGetDirectionEdgeCase = "getDirection edge case";
+    }
+
+    public final static class BlinkinPatternConstants {
+        public final static double solidRed = 0.61; 
+        public final static double solidBlue = 0.87; 
+        public final static double solidGreen = 0.77;
+        public final static double solidOrange = 0.65;
+        public final static double breatheColor1 = 0.09; //Color1 and 2 have to be physically set. Color1 is green
+        public final static double breatheColor2 = 0.29; //Color2 is orange
+        public final static double solidWhite = 0.93; 
+        public final static double breatheRed = -0.17;
+        public final static double breatheBlue = -0.15;
+        public final static double confetti = -0.87;
+
+    }
+
+}