add: support for roadrunner

* setup gradle for roadrunner extension

* refactor: update unit test to use JUnit 5 assertions

* add: implement FollowTrajectoryCommand and FollowTurnCommand classes

* define RoadRunner version in gradle.properties and use it in roadrunn…

* refactor: rename FollowTrajectoryCommand and FollowTurnCommand classe…

* add: initialize Turn class with name based on angle

Author: zachwaffle4

.gitignore

@@ -13,3 +13,5 @@
 .externalNativeBuild
 .cxx
 local.properties
+
+/**/build

.idea/gradle.xml

@@ -13,7 +13,7 @@ plugins {
 
 allprojects {
     version = property("version") as String
-    group = "dev.nextftc"
+    group = "dev.nextftc.extensions"
 }
 
 subprojects {

build.gradle.kts

@@ -2,5 +2,8 @@ kotlin.code.style=official
 org.jetbrains.dokka.experimental.gradle.pluginMode=V2Enabled
 org.jetbrains.dokka.experimental.gradle.pluginMode.noWarn=true
 
-version=1.0.0
-automaticMavenCentralSync=true
+automaticMavenCentralSync=true
+
+android.useAndroidX=true
+
+versions.roadrunner=0.1.25-1-local.3

gradle.properties

@@ -1,10 +1,12 @@
 [versions]
 kotlin = "2.0.0"
 android = "8.7.3"
-nextftc = "1.0.0-SNAPSHOT"
+nextftc = "1.0.0-beta.2"
 kotest = "5.9.1"
 ftc = "10.3.0"
 pedro = "2.0.0"
+rr-core = "1.0.1"
+rr-ftc = "0.1.25"
 
 [libraries]
 kotest-runner = { module = "io.kotest:kotest-runner-junit5", version.ref = "kotest" }
@@ -18,11 +20,14 @@ ftc-common = { group = "org.firstinspires.ftc", name = "FtcCommon", version.ref
 nextftc-ftc = { group = "dev.nextftc", name = "ftc", version.ref = "nextftc" }
 nextftc-hardware = { group = "dev.nextftc", name = "hardware", version.ref = "nextftc" }
 pedro = { module = "com.pedropathing:ftc", version.ref = "pedro" }
+rr-core = { module = "com.acmerobotics.roadrunner:core", version.ref = "rr-core" }
+rr-ftc = { module = "com.acmerobotics.roadrunner:ftc", version.ref = "rr-ftc" }
 
 [bundles]
 kotest = ["kotest-runner", "kotest-assertations", "kotest-property"]
 ftc = ["ftc-robot-core", "ftc-hardware", "ftc-common"]
 nextftc = ["nextftc-ftc", "nextftc-hardware"]
+roadrunner = ["rr-core", "rr-ftc"]
 
 [plugins]
 kotlin-jvm = { id = "org.jetbrains.kotlin.jvm", version.ref = "kotlin" }

gradle/libs.versions.toml

@@ -1,8 +1,8 @@
 package dev.nextftc.extensions
 
-import org.junit.Test
 
-import org.junit.Assert.*
+import org.junit.jupiter.api.Assertions.assertEquals
+import org.junit.jupiter.api.Test
 
 /**
  * Example local unit test, which will execute on the development machine (host).

pedro/src/test/java/dev/nextftc/extensions/ExampleUnitTest.kt

@@ -0,0 +1,42 @@
+plugins {
+    kotlin("android")
+    id("com.android.library")
+}
+
+android {
+    namespace = "dev.nextftc.extensions.roadrunner"
+    compileSdk = 35
+
+    defaultConfig {
+        minSdk = 24
+    }
+
+    compileOptions {
+        sourceCompatibility = JavaVersion.VERSION_1_8
+        targetCompatibility = JavaVersion.VERSION_1_8
+    }
+
+    kotlinOptions {
+        jvmTarget = "1.8"
+        freeCompilerArgs += "-Xjvm-default=all"
+    }
+
+    publishing {
+        singleVariant("release")
+    }
+}
+
+dependencies {
+    implementation(libs.bundles.nextftc)
+    implementation(libs.bundles.roadrunner)
+    implementation(libs.bundles.ftc)
+}
+
+description =
+    "Support for using RoadRunner with NextFTC."
+
+nextFTCPublishing {
+    displayName = "NextFTC Extensions - RoadRunner"
+    logoPath = "../assets/logo-icon.svg"
+    version = property("versions.roadrunner") as String
+}

roadrunner/build.gradle.kts

@@ -0,0 +1,47 @@
+package dev.nextftc.extensions.roadrunner
+
+import com.acmerobotics.roadrunner.Pose2dDual
+import com.acmerobotics.roadrunner.PoseVelocity2d
+import com.acmerobotics.roadrunner.Time
+import com.acmerobotics.roadrunner.TimeTrajectory
+import com.acmerobotics.roadrunner.Trajectory
+import com.acmerobotics.roadrunner.Vector2d
+import com.qualcomm.robotcore.util.ElapsedTime
+import dev.nextftc.core.commands.Command
+
+/**
+ * Follows a trajectory parametrized by time.
+ *
+ * Note that the output of [TrajectoryCommandBuilder.build] only returns a [Command]
+ * object and not a [FollowTrajectory] object,
+ * because the builder sequences the trajectory with other actions,
+ * such as [Turn]s, [dev.nextftc.core.commands.delays.Delay]s or user-specified callbacks.
+ */
+class FollowTrajectory(private val mecanumDrive: NextFTCMecanumDrive, private val trajectory: TimeTrajectory) : Command() {
+    constructor(mecanumDrive: NextFTCMecanumDrive, trajectory: Trajectory) :
+            this(mecanumDrive, TimeTrajectory(trajectory))
+
+    val timer = ElapsedTime()
+
+    override val isDone: Boolean
+        get() = timer.seconds() >= trajectory.duration
+
+    override fun start() {
+        timer.reset()
+    }
+
+    override fun update() {
+        val txWorldTarget: Pose2dDual<Time> = trajectory[timer.seconds()]
+
+        val robotVelRobot: PoseVelocity2d = mecanumDrive.updatePoseEstimate()
+
+        val command =
+            mecanumDrive.controller.compute(txWorldTarget, mecanumDrive.getPose(), robotVelRobot)
+
+        mecanumDrive.setDrivePowersFF(command)
+    }
+
+    override fun stop(interrupted: Boolean) {
+        mecanumDrive.setDrivePowersFF(PoseVelocity2d(Vector2d(0.0, 0.0), 0.0))
+    }
+}

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/FollowTrajectory.kt

@@ -0,0 +1,27 @@
+package dev.nextftc.extensions.roadrunner
+
+import com.acmerobotics.roadrunner.HolonomicController
+import com.acmerobotics.roadrunner.Pose2d
+import com.acmerobotics.roadrunner.PoseVelocity2d
+import com.acmerobotics.roadrunner.PoseVelocity2dDual
+import com.acmerobotics.roadrunner.Time
+
+/**
+ * Represents a RoadRunner Mecanum drivetrain from the QuickStart.
+ */
+abstract class NextFTCMecanumDrive {
+    abstract val controller: HolonomicController
+
+    abstract fun getPose(): Pose2d
+
+    abstract fun setDrivePowersFF(powers: PoseVelocity2dDual<Time>)
+
+    open fun setDrivePowersFF(powers: PoseVelocity2d) =
+        setDrivePowersFF(PoseVelocity2dDual.constant(powers, 1))
+
+    abstract fun updatePoseEstimate(): PoseVelocity2d
+
+    abstract fun commandBuilder(beginPose: Pose2d): TrajectoryCommandBuilder
+
+    open fun commandBuilder() = commandBuilder(getPose())
+}